diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_000.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_000.json new file mode 100644 index 0000000000000000000000000000000000000000..33f333191d07ee647326133c667bcb8e05e0a063 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_000.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_001.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_001.json new file mode 100644 index 0000000000000000000000000000000000000000..2862801de9f1e5826c9f0b548cdfcc6f68395282 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_001.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_002.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_002.json new file mode 100644 index 0000000000000000000000000000000000000000..884c0b7545249a7994c92c8d5b6c282541e28895 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_002.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_003.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_003.json new file mode 100644 index 0000000000000000000000000000000000000000..a766efe1f57e7e16e76174b151a6d159659720c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_003.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_004.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_004.json new file mode 100644 index 0000000000000000000000000000000000000000..90ca9c0fac0f688896a8138b4f3b37811552bb37 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_004.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_005.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_005.json new file mode 100644 index 0000000000000000000000000000000000000000..12173eed1494f4fdf4d06db78556064bf0584c83 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_005.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_006.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_006.json new file mode 100644 index 0000000000000000000000000000000000000000..25e31f275c16c9b3b9552f14e640ef8dbc44630b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_006.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_007.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_007.json new file mode 100644 index 0000000000000000000000000000000000000000..2ec063fcca366acfbd7585b8732e146fd5298ffa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_007.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_008.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_008.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc500108d72bd1aa934aa94c3485cd172694cf5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_008.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_009.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_009.json new file mode 100644 index 0000000000000000000000000000000000000000..5d3c6042d11cfcca282af47f4c200ecacd09076c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_009.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_010.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_010.json new file mode 100644 index 0000000000000000000000000000000000000000..8b66f56befe640408227f4671fa95cd813bed1c3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_010.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_011.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_011.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae5153d78fdbd263546d171c931b81a7a464162 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_011.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_012.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_012.json new file mode 100644 index 0000000000000000000000000000000000000000..083f8dc6e41289c4f46292d526b432a879d65bba --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_012.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_013.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_013.json new file mode 100644 index 0000000000000000000000000000000000000000..3de766bc3f7f58211ef691af3e1524b2bb229837 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_013.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_014.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_014.json new file mode 100644 index 0000000000000000000000000000000000000000..6a372d28d9b347d12979951eb4191768f39a8d48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_014.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_015.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_015.json new file mode 100644 index 0000000000000000000000000000000000000000..fda0111dbe740a9f6d0e69eff60a7349b01dfe4d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_015.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_016.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_016.json new file mode 100644 index 0000000000000000000000000000000000000000..088504b2b8daba3380c00dcfb30e45cef8f65ae7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_016.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_017.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_017.json new file mode 100644 index 0000000000000000000000000000000000000000..312c0c807451162636470c7237ab37240db4edf5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_017.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_018.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_018.json new file mode 100644 index 0000000000000000000000000000000000000000..85a9352c38364584e3b53e9714b0a977b9509231 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_018.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_019.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_019.json new file mode 100644 index 0000000000000000000000000000000000000000..4b7fb37f1bfa2eb258ca2ec129e7b703a9bf4108 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_019.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_020.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_020.json new file mode 100644 index 0000000000000000000000000000000000000000..7d605be59b3098e1129b4cb880d86dfe06a43d0d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_020.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_021.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_021.json new file mode 100644 index 0000000000000000000000000000000000000000..72f0cd7e9045ead4137bcc15568a45667480a18d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_021.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_022.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_022.json new file mode 100644 index 0000000000000000000000000000000000000000..3d47136fdef6b82dc8482fd5d6430bf489791ad7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_022.json @@ -0,0 +1,1157 @@ +{ + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009284173138439655, + "parts": [ + { + "vertices_raw": [ + [ + -0.03767168149352074, + 0.09650573134422302, + 0.014735303819179535 + ], + [ + -0.03753133490681648, + 0.09698597341775894, + -0.014421169646084309 + ], + [ + -0.03661573305726051, + 0.09527143836021423, + -0.01879185065627098 + ], + [ + -0.034779854118824005, + 0.09137185662984848, + -0.020802000537514687 + ], + [ + -0.021914299577474594, + 0.06519405543804169, + -0.02122657373547554 + ], + [ + -0.020080070942640305, + 0.061217326670885086, + -0.019269099459052086 + ], + [ + -0.019147761166095734, + 0.05934629589319229, + -0.014922774396836758 + ], + [ + -0.01931137964129448, + 0.058817893266677856, + 0.01316662598401308 + ], + [ + -0.019975878298282623, + 0.06008939445018768, + 0.017974872142076492 + ], + [ + -0.022129513323307037, + 0.06443091481924057, + 0.02065662480890751 + ], + [ + -0.034905146807432175, + 0.09065797179937363, + 0.021039104089140892 + ], + [ + -0.03684298321604729, + 0.09460142999887466, + 0.01909629814326763 + ], + [ + -0.0185614712536335, + 0.10603322088718414, + -0.01376466266810894 + ], + [ + -0.019768960773944855, + 0.10518085211515427, + 0.01536810677498579 + ], + [ + -0.0009347088634967804, + 0.06784257292747498, + 0.014088981784880161 + ], + [ + -0.002319570630788803, + 0.06930460780858994, + 0.018848489969968796 + ], + [ + -0.0038556810468435287, + 0.0735592171549797, + -0.020943578332662582 + ], + [ + -0.0011909287422895432, + 0.07055708765983582, + -0.018871286883950233 + ], + [ + -0.001280520111322403, + 0.06811586022377014, + -0.015071212314069271 + ], + [ + -0.016476746648550034, + 0.1006716638803482, + -0.020503150299191475 + ], + [ + -0.01899762824177742, + 0.1045217514038086, + -0.017856653779745102 + ], + [ + 0.0002458672970533371, + 0.07052523642778397, + 0.014631884172558784 + ], + [ + -0.001897316426038742, + 0.0741482824087143, + 0.019543873146176338 + ], + [ + -0.0019694045186042786, + 0.07538348436355591, + -0.019619109109044075 + ], + [ + -0.013884440064430237, + 0.10087498277425766, + -0.01761234924197197 + ], + [ + -9.277835488319397e-05, + 0.07255181670188904, + -0.016040176153182983 + ], + [ + -0.01627231389284134, + 0.1046389788389206, + -0.01701454631984234 + ], + [ + -0.0039185453206300735, + 0.07377190887928009, + 0.020894642919301987 + ], + [ + -0.016373246908187866, + 0.09929986298084259, + 0.021260028705000877 + ], + [ + -0.017505228519439697, + 0.10540067404508591, + 0.014583573676645756 + ], + [ + -0.016749873757362366, + 0.10373673588037491, + 0.018729232251644135 + ], + [ + 0.000268787145614624, + 0.06975561380386353, + -0.014235044829547405 + ], + [ + -0.018299859017133713, + 0.10202805697917938, + 0.020425621420145035 + ], + [ + -0.014566615223884583, + 0.10011439770460129, + 0.01997711881995201 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 1, + 0, + 13, + 8, + 7, + 14, + 8, + 14, + 15, + 8, + 15, + 9, + 16, + 17, + 5, + 14, + 7, + 6, + 18, + 18, + 5, + 17, + 3, + 19, + 16, + 4, + 4, + 16, + 5, + 0, + 11, + 13, + 20, + 1, + 12, + 6, + 5, + 18, + 2, + 1, + 20, + 2, + 20, + 19, + 2, + 19, + 3, + 21, + 22, + 15, + 21, + 15, + 14, + 23, + 24, + 25, + 23, + 25, + 17, + 23, + 17, + 16, + 23, + 16, + 19, + 23, + 19, + 24, + 26, + 24, + 19, + 26, + 19, + 20, + 26, + 20, + 12, + 27, + 28, + 10, + 9, + 27, + 9, + 15, + 27, + 15, + 22, + 29, + 12, + 13, + 29, + 13, + 30, + 29, + 24, + 26, + 29, + 26, + 12, + 31, + 25, + 21, + 31, + 21, + 14, + 31, + 14, + 18, + 31, + 18, + 17, + 31, + 17, + 25, + 32, + 11, + 10, + 32, + 10, + 28, + 32, + 30, + 13, + 32, + 13, + 11, + 33, + 30, + 32, + 28, + 33, + 28, + 27, + 22, + 33, + 22, + 21, + 25, + 24, + 33, + 24, + 29, + 33, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.8990454077720642, + -0.43770331144332886, + -0.011537112295627594, + 0.00854232907295227 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.4335254430770874, + 0.9010509848594666, + 0.012754587456583977, + -0.1034761592745781 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.4108380377292633, + -0.8657787442207336, + 0.28572574257850647, + 0.055095087736845016 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.4142223298549652, + -0.8292221426963806, + 0.3752472400665283, + 0.05135688930749893 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.18960459530353546, + -0.44619691371917725, + 0.8746190071105957, + 0.014878056943416595 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.2224862277507782, + -0.4123368561267853, + -0.8834467530250549, + 0.01268647238612175 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.44090980291366577, + -0.8974372744560242, + -0.014313843101263046, + 0.06148841232061386 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.39463895559310913, + -0.7772634029388428, + -0.49002206325531006, + 0.04606408253312111 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.006612676661461592, + 0.019319364801049232, + -0.9997915029525757, + -0.022334830835461617 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.1832897961139679, + -0.3648014962673187, + -0.9128662347793579, + 0.00842253677546978 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4060666263103485, + 0.8066707253456116, + 0.42940911650657654, + -0.09947303682565689 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.40559709072113037, + 0.8706366419792175, + -0.278357595205307, + -0.10367639362812042 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.39416664838790894, + -0.8104173541069031, + -0.4334239065647125, + 0.04917479306459427 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.40778928995132446, + 0.8177410960197449, + -0.4062109589576721, + -0.1004723310470581 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.19779787957668304, + 0.4640197455883026, + -0.8634591698646545, + -0.06767634302377701 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.17960752546787262, + 0.38261207938194275, + -0.9062830805778503, + -0.06005920469760895 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.8633619546890259, + -0.14466463029384613, + 0.48340290784835815, + 0.0029171407222747803 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8193585276603699, + -0.43592727184295654, + 0.3723156154155731, + 0.025094741955399513 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8942578434944153, + 0.42822811007499695, + -0.13009130954742432, + -0.033072445541620255 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9080484509468079, + 0.08284541964530945, + -0.4105907380580902, + -0.012512287124991417 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5930516123771667, + -0.029018007218837738, + -0.8046413660049438, + -0.012430909089744091 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.41837817430496216, + 0.20911650359630585, + -0.8838720917701721, + -0.032280758023262024 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.6793890595436096, + 0.3675505518913269, + -0.6350882649421692, + -0.03882911428809166 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.6295088529586792, + 0.49453970789909363, + -0.5992904305458069, + -0.051701225340366364 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.20130448043346405, + 0.6409584879875183, + -0.7407082319259644, + -0.07639636844396591 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.06864703446626663, + 0.9334399700164795, + -0.3521040976047516, + -0.10254804790019989 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.004321995656937361, + -0.016686536371707916, + 0.9998514652252197, + -0.019674072042107582 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.17198456823825836, + -0.35867518186569214, + 0.9174821972846985, + 0.007963618263602257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5690829157829285, + -0.1652529090642929, + 0.8055036067962646, + -0.002409711480140686 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.0878634974360466, + 0.9958062171936035, + 0.025493621826171875, + -0.10686850547790527 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.036723993718624115, + 0.9297071099281311, + 0.366464227437973, + -0.10269325971603394 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.8456848859786987, + 0.5333023071289062, + 0.020141810178756714, + -0.04170025885105133 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5198568105697632, + 0.8542534112930298, + -0.00030829812749288976, + -0.08093418180942535 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.9919511675834656, + 0.1265946924686432, + -0.002587554743513465, + -0.009134148247539997 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.9143673181533813, + -0.40472182631492615, + 0.011516300961375237, + 0.028149783611297607 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.7306093573570251, + -0.6826295256614685, + -0.01506186556071043, + 0.04720645397901535 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7641390562057495, + -0.5507550835609436, + -0.3357981741428375, + 0.033432766795158386 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9468886256217957, + -0.0788181722164154, + -0.3117522895336151, + 0.0008056908845901489 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + -0.20547392964363098, + 0.3494061231613159, + 0.9141640663146973, + -0.058081742376089096 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.1127309799194336, + 0.2169547826051712, + 0.9696505665779114, + -0.04400414973497391 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.25089597702026367, + 0.7870725393295288, + 0.5635318160057068, + -0.09640532732009888 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.3410301208496094, + 0.7500720620155334, + 0.5666481852531433, + -0.09434334933757782 + ] + }, + { + "index_base": 139, + "num_vertices": 4, + "plane": [ + 0.3470980226993561, + 0.4856000542640686, + 0.8023188710212708, + -0.05958753079175949 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + 0.5011380910873413, + 0.2325672060251236, + 0.833530604839325, + -0.032609518617391586 + ] + }, + { + "index_base": 147, + "num_vertices": 5, + "plane": [ + 0.8954730033874512, + 0.4446887671947479, + 0.019494924694299698, + -0.03186719864606857 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + 0.8622913956642151, + 0.5057507157325745, + 0.025882257148623466, + -0.038589317351579666 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + 0.8459348082542419, + 0.5300552248954773, + 0.05861508846282959, + -0.04191471263766289 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 0, + 7, + 8 + ], + [ + 0, + 8, + 9 + ], + [ + 0, + 9, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 8, + 7, + 14 + ], + [ + 8, + 14, + 15 + ], + [ + 8, + 15, + 9 + ], + [ + 16, + 17, + 5 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 18 + ], + [ + 18, + 5, + 17 + ], + [ + 3, + 19, + 16 + ], + [ + 3, + 16, + 4 + ], + [ + 4, + 16, + 5 + ], + [ + 0, + 11, + 13 + ], + [ + 20, + 1, + 12 + ], + [ + 6, + 5, + 18 + ], + [ + 2, + 1, + 20 + ], + [ + 2, + 20, + 19 + ], + [ + 2, + 19, + 3 + ], + [ + 21, + 22, + 15 + ], + [ + 21, + 15, + 14 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 17 + ], + [ + 23, + 17, + 16 + ], + [ + 23, + 16, + 19 + ], + [ + 23, + 19, + 24 + ], + [ + 26, + 24, + 19 + ], + [ + 26, + 19, + 20 + ], + [ + 26, + 20, + 12 + ], + [ + 27, + 28, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 22 + ], + [ + 29, + 12, + 13 + ], + [ + 29, + 13, + 30 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 12 + ], + [ + 31, + 25, + 21 + ], + [ + 31, + 21, + 14 + ], + [ + 31, + 14, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 25 + ], + [ + 32, + 11, + 10 + ], + [ + 32, + 10, + 28 + ], + [ + 32, + 30, + 13 + ], + [ + 32, + 13, + 11 + ], + [ + 33, + 30, + 32 + ], + [ + 33, + 32, + 28 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 25 + ], + [ + 33, + 25, + 24 + ], + [ + 33, + 24, + 29 + ], + [ + 33, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.03767168149352074, + 0.058817893266677856, + -0.02122657373547554 + ], + [ + 0.000268787145614624, + 0.10603322088718414, + 0.021260028705000877 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0030443300493061543, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_023.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_023.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d2d6ab5dba65c8b2f85fbd197bffc629e296c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_023.json @@ -0,0 +1,6561 @@ +{ + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018057493958622217, + "parts": [ + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + -0.0012191341957077384, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + -0.009664913639426231, + -0.003963652998209 + ], + [ + -0.0012191341957077384, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + -0.024906819686293602 + ] + ], + "indices_raw": [ + 25, + 6, + 5, + 20, + 3, + 2, + 17, + 15, + 14, + 21, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 2, + 1, + 18, + 17, + 18, + 16, + 15, + 19, + 4, + 8, + 0, + 20, + 5, + 4, + 19, + 20, + 19, + 0, + 3, + 21, + 14, + 13, + 22, + 21, + 22, + 12, + 11, + 8, + 7, + 23, + 9, + 24, + 9, + 12, + 22, + 24, + 25, + 10, + 9, + 23, + 25, + 23, + 7, + 6, + 26, + 1, + 0, + 8, + 24, + 24, + 22, + 13, + 16, + 26, + 26, + 16, + 18, + 26, + 18, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0012191339628770947 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.048975951969623566 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.5144957900047302, + 0.8574929237365723, + -0.03030753880739212 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9920614957809448, + -0.06469966471195221, + 0.10783277451992035, + -0.008834896609187126 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.02851376309990883 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + -0.44721347093582153, + -0.8944272398948669, + -0.029409438371658325 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + 0.20601052045822144, + -0.9785498380661011, + -0.030363336205482483 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.029095452278852463 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.841793954372406, + 0.03367171809077263, + 0.5387478470802307, + -0.020207379013299942 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029545413330197334 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + 0.0, + 0.16439898312091827, + 0.9863938689231873, + -0.030997546389698982 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + -0.7071067690849304, + -0.7071067690849304, + -0.028888624161481857 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8944271802902222, + -0.4472135305404663, + -0.02914929762482643 + ] + }, + { + "index_base": 59, + "num_vertices": 5, + "plane": [ + 0.9970225095748901, + -0.06139301881194115, + 0.04665869474411011, + -0.007370374631136656 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9927272796630859, + -0.11679144948720932, + -0.02919785864651203, + -0.008350582793354988 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9486832618713379, + 0.31622788310050964, + -0.029770798981189728 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8000000715255737, + 0.5999999642372131, + -0.030066676437854767 + ] + }, + { + "index_base": 76, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131338655949 + ] + }, + { + "index_base": 81, + "num_vertices": 5, + "plane": [ + 0.99400395154953, + -0.07000028342008591, + -0.08400034159421921, + -0.008124706335365772 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.8944271802902222, + 0.0, + -0.44721367955207825, + -0.017541099339723587 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.8498364686965942, + 0.06537207961082458, + -0.5229765176773071, + -0.020120026543736458 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 21 + ], + [ + 25, + 21, + 11 + ], + [ + 25, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 17, + 2, + 1 + ], + [ + 17, + 1, + 18 + ], + [ + 17, + 18, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 19, + 4, + 8 + ], + [ + 19, + 8, + 0 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 19 + ], + [ + 20, + 19, + 0 + ], + [ + 20, + 0, + 3 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 22 + ], + [ + 21, + 22, + 12 + ], + [ + 21, + 12, + 11 + ], + [ + 8, + 7, + 23 + ], + [ + 8, + 23, + 9 + ], + [ + 8, + 9, + 24 + ], + [ + 9, + 12, + 22 + ], + [ + 9, + 22, + 24 + ], + [ + 25, + 10, + 9 + ], + [ + 25, + 9, + 23 + ], + [ + 25, + 23, + 7 + ], + [ + 25, + 7, + 6 + ], + [ + 26, + 1, + 0 + ], + [ + 26, + 0, + 8 + ], + [ + 26, + 8, + 24 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 16 + ], + [ + 24, + 16, + 26 + ], + [ + 26, + 16, + 18 + ], + [ + 26, + 18, + 1 + ] + ], + "raw_bounds": [ + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.029095452278852463 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.029545413330197334 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.011690717190504074, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 11, + 10, + 0, + 3, + 7, + 8, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 1, + 0, + 10, + 11, + 13, + 9, + 10, + 14, + 12, + 8, + 4, + 6, + 14, + 6, + 5, + 2, + 1, + 9, + 13, + 14, + 13, + 11, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180544644594193 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5824863314628601, + -0.2398473024368286, + -0.7766485214233398, + 0.027118032798171043 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.015879349783062935 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9745191335678101, + -0.19233931601047516, + -0.1154036894440651, + 0.006136382929980755 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9778023958206177, + -0.2095291018486023, + 0.0, + 0.004827888682484627 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.039544425904750824 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 37, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 7 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 10 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 10 + ], + [ + 14, + 12, + 8 + ], + [ + 14, + 8, + 4 + ], + [ + 14, + 4, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 9 + ], + [ + 14, + 9, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 12 + ] + ], + "raw_bounds": [ + [ + -0.015879349783062935, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.015879349783062935, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 16, + 1, + 0, + 8, + 17, + 5, + 4, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 0, + 3, + 9, + 10, + 6, + 7, + 11, + 2, + 12, + 11, + 12, + 4, + 6, + 11, + 6, + 10, + 13, + 2, + 14, + 7, + 15, + 14, + 13, + 10, + 7, + 16, + 12, + 2, + 16, + 2, + 1, + 18, + 9, + 3, + 2, + 13, + 14, + 15, + 18, + 15, + 7, + 5, + 17, + 18, + 17, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.008152286522090435 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09714522957801819 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.980580747127533, + -0.19611585140228271, + -0.10917942225933075 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.26578179001808167, + 0.9634605646133423, + -0.033222731202840805, + -0.11186352372169495 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.863063633441925, + -0.4746849834918976, + -0.17261278629302979, + 0.0641951784491539 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9805806279182434, + 0.0, + -0.19611617922782898, + 0.016025833785533905 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.015879347920417786 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.309425950050354, + 0.9282792806625366, + 0.20628394186496735, + -0.11328282952308655 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.948683500289917, + 0.31622734665870667, + -0.11209964752197266 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.6904503107070923, + -0.6904515027999878, + -0.2157660871744156, + 0.08350910246372223 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.43643617630004883, + -0.8728713989257812, + -0.21821808815002441, + 0.09725892543792725 + ] + }, + { + "index_base": 50, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 57, + "num_vertices": 5, + "plane": [ + -0.44721338152885437, + 0.8944272994995117, + 3.920385793776404e-08, + -0.10803990811109543 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.7071073651313782, + 0.7071061134338379, + 0.0, + -0.09769126027822495 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 1, + 0 + ], + [ + 16, + 0, + 8 + ], + [ + 16, + 8, + 17 + ], + [ + 16, + 17, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 10, + 6, + 7 + ], + [ + 11, + 2, + 12 + ], + [ + 11, + 12, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 10 + ], + [ + 11, + 10, + 13 + ], + [ + 11, + 13, + 2 + ], + [ + 14, + 7, + 15 + ], + [ + 14, + 13, + 10 + ], + [ + 14, + 10, + 7 + ], + [ + 16, + 12, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 18, + 9, + 3 + ], + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 14 + ], + [ + 18, + 14, + 15 + ], + [ + 18, + 15, + 7 + ], + [ + 18, + 7, + 5 + ], + [ + 18, + 5, + 17 + ], + [ + 18, + 17, + 8 + ], + [ + 18, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0029694989789277315, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0029694989789277315, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.07620206475257874, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 15, + 11, + 9, + 8, + 13, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 10, + 5, + 4, + 9, + 11, + 12, + 13, + 8, + 7, + 12, + 1, + 0, + 13, + 14, + 2, + 1, + 12, + 7, + 6, + 14, + 6, + 5, + 15, + 3, + 2, + 14, + 5, + 10, + 15, + 10, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.08248502016067505 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8574930429458618, + -0.5144956707954407, + 0.059352561831474304 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.8320502042770386, + -0.5547003149986267, + 0.0, + 0.03689424321055412 + ] + }, + { + "index_base": 19, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8944272398948669, + 0.4472135007381439, + 0.0, + -0.03954441472887993 + ] + }, + { + "index_base": 32, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.00815228745341301 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.8164966702461243, + -0.4082482159137726, + -0.4082481861114502, + 0.02593078278005123 + ] + }, + { + "index_base": 41, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0033134508412331343 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.9230769276618958, + -0.23076939582824707, + 0.3076923191547394, + 0.009946474805474281 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 13 + ], + [ + 15, + 13, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 11 + ], + [ + 12, + 13, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 12 + ], + [ + 14, + 12, + 7 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 10 + ], + [ + 15, + 10, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0033134508412331343, + 0.06782480329275131, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.08248502016067505, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.005407767370343208, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 8, + 7, + 9, + 10, + 12, + 14, + 0, + 1, + 2, + 3, + 0, + 2, + 4, + 1, + 0, + 3, + 5, + 6, + 7, + 8, + 1, + 4, + 7, + 4, + 6, + 9, + 10, + 5, + 11, + 12, + 10, + 9, + 6, + 5, + 13, + 14, + 2, + 13, + 2, + 1, + 13, + 1, + 8, + 15, + 11, + 5, + 3, + 15, + 3, + 2, + 15, + 2, + 14, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9701424241065979, + 0.0, + 0.24253563582897186, + -0.005300870165228844 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5642765164375305, + -0.2821383476257324, + 0.7758802175521851, + 0.02654591202735901 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.00815228745341301 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09923955053091049 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8944271206855774, + 0.4472135603427887, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596401825547218 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.9932110905647278, + 0.03678560629487038, + 0.11035677790641785, + -0.010202080011367798 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.9863938689231873, + 0.1643989533185959, + 0.0, + -0.023714888840913773 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + -0.70710688829422, + 0.7071066498756409, + 0.058166634291410446 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38411056995391846, + -0.5121477842330933, + 0.7682211995124817, + 0.04374859854578972 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 9 + ], + [ + 13, + 9, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 14 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 5, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 9, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 13, + 14, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 8 + ], + [ + 15, + 11, + 5 + ], + [ + 15, + 5, + 3 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 12 + ], + [ + 15, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.09923955053091049, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005407767370343208, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + -0.005407767370343208, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + 0.014885196462273598 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.002319296821951866 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 3, + 2, + 0, + 1, + 2, + 3, + 8, + 9, + 10, + 11, + 12, + 13, + 8, + 13, + 1, + 0, + 8, + 0, + 9, + 14, + 12, + 11, + 5, + 4, + 14, + 4, + 2, + 1, + 14, + 1, + 13, + 12, + 15, + 9, + 0, + 3, + 15, + 3, + 7, + 16, + 10, + 9, + 15, + 16, + 15, + 7, + 6, + 16, + 6, + 5, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08248502016067505 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.6000003218650818, + -0.7999998927116394, + 0.04296920448541641 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.8652899265289307, + -0.4944513440132141, + -0.08240808546543121, + 0.035433728247880936 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751824498176575 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5999999046325684, + 0.0, + -0.800000011920929, + -0.007046938873827457 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8778955936431885, + -0.47885221242904663, + 0.0, + 0.03475068509578705 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.8919529914855957, + -0.44597649574279785, + 0.07432956993579865, + 0.030856501311063766 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.986393928527832, + 0.0, + 0.16439904272556305, + -0.018110405653715134 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.11180544644594193 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 14, + 12, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 13 + ], + [ + 14, + 13, + 12 + ], + [ + 15, + 9, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 7 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 15 + ], + [ + 16, + 15, + 7 + ], + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 11 + ], + [ + 16, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08248502016067505, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.11180544644594193, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.002319296821951866 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.020718185231089592 + ], + [ + -0.0033134508412331343, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.0636361688375473, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 14, + 9, + 1, + 0, + 13, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 0, + 2, + 7, + 2, + 1, + 8, + 7, + 1, + 9, + 8, + 9, + 10, + 11, + 7, + 8, + 11, + 8, + 10, + 3, + 6, + 2, + 11, + 2, + 7, + 12, + 5, + 13, + 12, + 13, + 0, + 6, + 12, + 6, + 3, + 12, + 3, + 5, + 14, + 4, + 3, + 10, + 14, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751825080253184 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.1168634369969368, + -0.19477233290672302, + -0.9738616943359375, + -0.0091081028804183 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9958932399749756, + 0.09053561836481094, + -0.06984195858240128 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.4472135901451111, + -0.8944271802902222, + 0.0071182288229465485 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071064710617065, + 0.7071070671081543, + 0.024105779826641083 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.7067064046859741, + -0.7067062258720398, + -0.03365268558263779, + 0.034532882273197174 + ] + }, + { + "index_base": 29, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596400894224644 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.577350378036499, + -0.5773502588272095, + -0.5773502588272095, + 0.016819916665554047 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06991912424564362 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9701426029205322, + -0.2425353080034256, + -0.07133256644010544 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.31622734665870667, + 0.948683500289917, + 0.0, + -0.0673789232969284 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.1279057115316391, + 0.9912706613540649, + 0.031976427882909775, + -0.06927098333835602 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12549108266830444, + -0.31372764706611633, + 0.9411838054656982, + -0.004010792821645737 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 13 + ], + [ + 14, + 13, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 6 + ], + [ + 11, + 6, + 2 + ], + [ + 11, + 2, + 7 + ], + [ + 12, + 5, + 13 + ], + [ + 12, + 13, + 0 + ], + [ + 12, + 0, + 6 + ], + [ + 12, + 6, + 3 + ], + [ + 12, + 3, + 5 + ], + [ + 14, + 4, + 3 + ], + [ + 14, + 3, + 10 + ], + [ + 14, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 12, + 11, + 10, + 5, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 0, + 4, + 7, + 8, + 0, + 9, + 8, + 7, + 4, + 6, + 9, + 6, + 5, + 10, + 9, + 10, + 11, + 8, + 12, + 8, + 11, + 12, + 1, + 0, + 12, + 0, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.07201343774795532 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7071064114570618, + -0.7071070671081543, + -0.03595302253961563 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.20507566630840302, + 0.41015151143074036, + -0.8886617422103882, + -0.015699541196227074 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + -0.7071067690849304, + -0.0021838797256350517 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944271206855774, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8944271206855774, + -0.4472135603427887, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.024256616830825806 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.930198609828949, + -0.328305184841156, + -0.16415302455425262, + 0.004553729668259621 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 5 + ], + [ + 12, + 5, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 8, + 0 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 8 + ] + ], + "raw_bounds": [ + [ + -0.024256616830825806, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.020718185231089592 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.01652955263853073 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 4, + 3, + 12, + 9, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 5, + 8, + 9, + 10, + 11, + 0, + 4, + 13, + 12, + 3, + 2, + 14, + 7, + 6, + 15, + 14, + 15, + 1, + 0, + 0, + 11, + 7, + 14, + 16, + 10, + 9, + 12, + 13, + 16, + 13, + 2, + 16, + 2, + 1, + 15, + 6, + 5, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + 0.008152286522090435 + ] + }, + { + "index_base": 7, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.01797366701066494 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.707107424736023, + 0.7071061730384827, + 0.0, + -0.09769126772880554 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.3746344745159149, + -0.6556100845336914, + 0.6556100249290466, + 0.08125989139080048 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.10971113294363022 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -0.7071061134338379, + -0.7071073651313782, + 0.0, + 0.04265468567609787 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09505091607570648 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.022645514458417892, + -0.9737582802772522, + 0.22645507752895355, + 0.09718111902475357 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + -0.4472135305404663, + 0.8944271802902222, + 0.0, + -0.10803990811109543 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.2182176411151886, + 0.8728719353675842, + -0.43643510341644287, + -0.10964211821556091 + ] + }, + { + "index_base": 47, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 4, + 3 + ], + [ + 11, + 3, + 12 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 5, + 8, + 9 + ], + [ + 5, + 9, + 10 + ], + [ + 11, + 0, + 4 + ], + [ + 13, + 12, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 0, + 11, + 7 + ], + [ + 0, + 7, + 14 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 12 + ], + [ + 16, + 12, + 13 + ], + [ + 16, + 13, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 16, + 1, + 15 + ], + [ + 16, + 15, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 10 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.018623869866132736 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.018623869866132736 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 9, + 10, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 11, + 5, + 4, + 8, + 11, + 8, + 10, + 12, + 13, + 9, + 6, + 7, + 13, + 7, + 2, + 1, + 5, + 11, + 12, + 13, + 12, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.018623871728777885 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.70710688829422, + 0.7071066498756409, + 0.0, + -0.05450182780623436 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09505091607570648 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.0322883240878582 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03472819924354553 + ] + }, + { + "index_base": 31, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + -0.9103664755821228, + -0.4138028621673584, + 0.0, + 0.006850318983197212 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 12 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 7 + ], + [ + 13, + 7, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 5 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 12 + ], + [ + 13, + 12, + 10 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03472819924354553, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.09505091607570648, + -0.018623869866132736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.02326246351003647 + ], + [ + -0.020067984238266945, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 10, + 8, + 7, + 5, + 1, + 0, + 12, + 0, + 1, + 2, + 3, + 4, + 1, + 5, + 4, + 6, + 2, + 1, + 7, + 8, + 9, + 6, + 4, + 7, + 4, + 5, + 10, + 11, + 9, + 8, + 13, + 3, + 2, + 6, + 9, + 11, + 13, + 11, + 10, + 12, + 13, + 12, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021168144419789314 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.07201343774795532 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.37186795473098755, + 0.16903091967105865, + -0.9127665162086487, + 0.010717673227190971 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9701424241065979, + 0.24253563582897186, + 0.0, + -0.008155949413776398 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09714522957801819 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.2182178646326065, + 0.43643632531166077, + -0.8728712797164917, + -0.018627416342496872 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.025356778874993324 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.033769235014915466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 5 + ], + [ + 10, + 5, + 1 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 6, + 9 + ], + [ + 13, + 9, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.09714522957801819, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.013785033486783504, + 0.11180544644594193, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 6, + 5, + 12, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 4, + 5, + 6, + 2, + 1, + 7, + 8, + 0, + 3, + 9, + 7, + 9, + 10, + 7, + 10, + 11, + 8, + 12, + 5, + 4, + 12, + 4, + 0, + 8, + 11, + 13, + 9, + 3, + 2, + 6, + 13, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366887331009 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.8944270610809326, + 0.447213739156723, + 0.0, + -0.03954443708062172 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.6246950626373291, + 0.4685215950012207, + -0.6246948838233948, + -0.05802267789840698 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.007502084132283926 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071067094802856, + 0.7071068286895752, + 0.0744565799832344 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08667364716529846 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.33333316445350647, + 0.6666673421859741, + -0.6666661500930786, + -0.09434036910533905 + ] + }, + { + "index_base": 33, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.29059654474258423, + -0.20756895840168, + 0.9340603351593018, + 0.030163493007421494 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 6, + 5 + ], + [ + 13, + 5, + 12 + ], + [ + 13, + 12, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 7, + 11, + 8 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 0 + ], + [ + 12, + 0, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 13, + 9, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.11180544644594193, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.0636361688375473, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.018623869866132736 + ], + [ + -0.020067984238266945, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06573048233985901, + -0.018623869866132736 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 6, + 0, + 1, + 2, + 3, + 6, + 7, + 2, + 3, + 2, + 1, + 8, + 5, + 9, + 8, + 9, + 10, + 8, + 10, + 7, + 6, + 5, + 11, + 12, + 9, + 11, + 9, + 5, + 11, + 5, + 4, + 11, + 4, + 1, + 0, + 12, + 13, + 2, + 7, + 13, + 7, + 10, + 13, + 10, + 9, + 12, + 13, + 12, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.009596399962902069 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.1543031483888626, + 0.6172134876251221, + 0.771516740322113, + -0.030913468450307846 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06782480329275131 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.11704131960868835, + 0.7022461295127869, + 0.7022476196289062, + -0.03714504837989807 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8944270610809326, + -0.44721370935440063, + 0.04296942055225372 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.666666567325592, + -0.666666567325592, + -0.33333343267440796, + 0.020045073702931404 + ] + }, + { + "index_base": 21, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.057353220880031586 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.16222147643566132, + -0.9733285307884216, + -0.16222147643566132, + 0.05571804940700531 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.44721370935440063, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0221622996032238 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9370425939559937, + -0.3123472332954407, + -0.156173974275589, + -0.003144848393276334 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957300141453743 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.70710688829422, + 0.0, + 0.7071067690849304, + -0.002502049319446087 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 8, + 5, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 5 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 12 + ], + [ + 13, + 2, + 7 + ], + [ + 13, + 7, + 10 + ], + [ + 13, + 10, + 9 + ], + [ + 13, + 9, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0221622996032238, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.06782480329275131, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 1, + 0, + 4, + 7, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 4, + 3, + 6, + 7, + 4, + 5, + 6, + 5, + 8, + 6, + 8, + 9, + 10, + 7, + 11, + 2, + 1, + 12, + 2, + 11, + 12, + 11, + 10, + 9, + 12, + 9, + 8, + 5, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0008751824498176575 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.2425355315208435, + 0.9701425433158875, + -0.008657712489366531 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.14002802968025208, + -0.14002789556980133, + 0.9801961183547974, + -0.015773065388202667 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6666662096977234, + 0.6666672825813293, + 0.33333319425582886, + -0.061233341693878174 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.07410775125026703 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.0, + -0.24253572523593903, + -0.9701424241065979, + -0.006189386360347271 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.06523294001817703, + -0.19569841027259827, + -0.9784920811653137, + -0.009515592828392982 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 6, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.007158131804317236 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 7 + ], + [ + 11, + 7, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 6, + 10, + 7 + ], + [ + 11, + 2, + 1 + ], + [ + 12, + 2, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 5 + ], + [ + 12, + 5, + 3 + ], + [ + 12, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + 0.02326246351003647 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + -0.020718185231089592 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 7, + 4, + 5, + 9, + 7, + 6, + 8, + 9, + 8, + 3, + 2, + 9, + 2, + 1, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02326246351003647 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.05735321715474129 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131804317236 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.048975951969623566 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + -0.5547002553939819, + 0.0, + 0.0261525921523571 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005407767370343208 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.020718185231089592 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005407767370343208, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 8, + 0, + 3, + 10, + 4, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 8, + 9, + 1, + 0, + 11, + 5, + 4, + 10, + 11, + 10, + 3, + 2, + 11, + 2, + 1, + 9, + 6, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.7071067690849304, + 0.7071067690849304, + 0.0, + -0.05622595548629761 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.31622737646102905, + 0.9486834406852722, + 0.0, + -0.06539206206798553 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 9 + ], + [ + 11, + 9, + 6 + ], + [ + 11, + 6, + 5 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.008461074903607368, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_024.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_024.json new file mode 100644 index 0000000000000000000000000000000000000000..67371afb52db5323fe02c0785a01321617c4aa4a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_024.json @@ -0,0 +1,1349 @@ +{ + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12854695972055197, + "parts": [ + { + "vertices_raw": [ + [ + 0.018593167886137962, + 0.08097150921821594, + -0.021438807249069214 + ], + [ + 5.1595037803053856e-05, + 0.08342776447534561, + -0.023732446134090424 + ], + [ + 0.01447334885597229, + 0.08229271322488785, + 0.02242007479071617 + ], + [ + -0.02634771168231964, + 0.001998230814933777, + -0.011162007227540016 + ], + [ + -0.012175701558589935, + 0.03909830003976822, + -0.037554528564214706 + ], + [ + -0.006837090943008661, + 0.0020171217620372772, + -0.02773931622505188 + ], + [ + -0.019787151366472244, + -1.862645149230957e-08, + 0.003154065925627947 + ], + [ + 0.02637120895087719, + 0.0019925106316804886, + 0.011089342646300793 + ], + [ + 0.011553199961781502, + 0.0020041316747665405, + 0.026135701686143875 + ], + [ + 0.025628598406910896, + 0.0019912607967853546, + -0.012611716985702515 + ], + [ + -0.027768991887569427, + 0.001998230814933777, + 0.006904747802764177 + ], + [ + -0.016303081065416336, + 0.001998230814933777, + 0.02351602166891098 + ], + [ + -0.018583431839942932, + 0.04023250937461853, + 0.03507610037922859 + ], + [ + 0.009741099551320076, + 0.002014441415667534, + -0.026918556541204453 + ], + [ + 0.018599899485707283, + 0.04705861955881119, + -0.03517469763755798 + ], + [ + -4.991190508008003e-05, + 0.08099988102912903, + 0.028812013566493988 + ], + [ + 0.0185991283506155, + 0.05706439167261124, + 0.03383197262883186 + ], + [ + 0.028389547020196915, + 0.031500257551670074, + -0.00032774999272078276 + ], + [ + -0.018599700182676315, + 0.04722455143928528, + -0.035109907388687134 + ], + [ + 4.801899194717407e-05, + 0.05029944330453873, + -0.03964218869805336 + ], + [ + -0.013108989223837852, + 0.06076536327600479, + 0.03547974303364754 + ], + [ + 0.005243339110165834, + 0.04012010246515274, + 0.03931775316596031 + ], + [ + -0.018602270632982254, + 0.07896379381418228, + 0.024146221578121185 + ], + [ + 0.010589808225631714, + 0.07880374789237976, + -0.02872374653816223 + ], + [ + -0.027727261185646057, + 0.03689667955040932, + 0.0022640489041805267 + ], + [ + -0.018585700541734695, + 0.07945641875267029, + -0.023796048015356064 + ], + [ + 0.018600909039378166, + 0.039589740335941315, + 0.03495677188038826 + ], + [ + 0.002489723265171051, + 0.0020270217210054398, + 0.02857973426580429 + ], + [ + 0.018595367670059204, + 0.080972820520401, + 0.021401964128017426 + ], + [ + -0.013116918504238129, + 0.06820365786552429, + -0.03305211663246155 + ], + [ + -0.010273776017129421, + 0.08328322321176529, + 0.021275483071804047 + ], + [ + 0.005125262308865786, + 0.0401710607111454, + -0.039358288049697876 + ], + [ + -0.008777698501944542, + 0.07996837049722672, + -0.028448548167943954 + ], + [ + 0.018592149019241333, + 0.06753019243478775, + -0.030588295310735703 + ] + ], + "indices_raw": [ + 26, + 21, + 27, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 5, + 6, + 7, + 8, + 6, + 7, + 6, + 9, + 10, + 3, + 6, + 10, + 6, + 11, + 10, + 11, + 12, + 13, + 14, + 9, + 13, + 9, + 6, + 13, + 6, + 5, + 15, + 16, + 2, + 17, + 16, + 7, + 17, + 7, + 9, + 17, + 9, + 14, + 18, + 4, + 3, + 18, + 19, + 4, + 20, + 12, + 21, + 20, + 21, + 16, + 20, + 16, + 15, + 20, + 15, + 22, + 20, + 22, + 12, + 23, + 1, + 0, + 24, + 25, + 18, + 24, + 18, + 3, + 24, + 3, + 10, + 24, + 10, + 12, + 24, + 12, + 22, + 24, + 22, + 25, + 26, + 8, + 7, + 26, + 7, + 16, + 26, + 16, + 21, + 28, + 2, + 16, + 28, + 16, + 17, + 28, + 17, + 0, + 28, + 0, + 2, + 29, + 19, + 18, + 29, + 18, + 25, + 29, + 23, + 19, + 30, + 22, + 15, + 30, + 15, + 2, + 30, + 2, + 1, + 30, + 1, + 25, + 30, + 25, + 22, + 27, + 21, + 12, + 27, + 12, + 11, + 27, + 11, + 6, + 27, + 6, + 8, + 31, + 13, + 5, + 31, + 5, + 4, + 31, + 4, + 19, + 31, + 19, + 14, + 31, + 14, + 13, + 32, + 1, + 23, + 32, + 23, + 29, + 32, + 29, + 25, + 32, + 25, + 1, + 33, + 14, + 19, + 33, + 19, + 23, + 33, + 23, + 0, + 33, + 0, + 17, + 33, + 17, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2725587785243988, + -0.2792445123195648, + 0.9207248687744141, + -0.026426630094647408 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.13341094553470612, + 0.9909094572067261, + -0.017318377271294594, + -0.0830872505903244 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.6208861470222473, + -0.2829010486602783, + -0.7310727834701538, + -0.023953869938850403 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.08393854647874832, + -0.9914484620094299, + -0.0999210774898529, + -0.0013457655441015959 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.03675341606140137, + -0.9986402988433838, + 0.036966919898986816, + 0.0006106306682340801 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.043351080268621445, + -0.9990590810775757, + -0.0013056030729785562, + 0.0008618938736617565 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.25154760479927063, + -0.9676425457000732, + -0.01978881098330021, + -0.0049150134436786175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.18423812091350555, + -0.9746200442314148, + 0.127170130610466, + -0.004046669229865074 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.803621768951416, + -0.21564161777496338, + 0.5546988844871521, + -0.025714922696352005 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.646187424659729, + -0.2586871087551117, + -0.7179991602897644, + -0.025100968778133392 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.031204357743263245, + -0.9988546967506409, + -0.03627029061317444, + 0.0007318256539292634 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.0030023057479411364, + -0.9979516863822937, + -0.06390134245157242, + 0.00026093749329447746 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.33045271039009094, + 0.43331974744796753, + 0.8384717702865601, + -0.05924041569232941 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.9668712019920349, + 0.03186018392443657, + 0.2532689571380615, + -0.028369631618261337 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.9962881207466125, + -0.08022282272577286, + -0.031211845576763153, + -0.025767359882593155 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.9647355675697327, + 0.019023140892386436, + -0.26253238320350647, + -0.028073687106370926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6277990937232971, + -0.2775203585624695, + -0.7272211313247681, + -0.024103766307234764 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.2495606541633606, + 0.09269029647111893, + -0.9639129042625427, + -0.042861904948949814 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.1750744879245758, + 0.027330823242664337, + 0.9841757416725159, + -0.03887411952018738 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.07931802421808243, + 0.2499076873064041, + 0.9650154113769531, + -0.04838445037603378 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08081348240375519, + 0.2645120918750763, + 0.9609904885292053, + -0.04910948872566223 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.26391687989234924, + 0.45124104619026184, + 0.8524842858314514, + -0.061125434935092926 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.7361868023872375, + 0.18347501754760742, + 0.6514337658882141, + -0.04391229525208473 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.1717333197593689, + 0.8766072988510132, + -0.4495190382003784, + -0.08381044119596481 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.9732696413993835, + 0.07644213736057281, + -0.2165704220533371, + -0.029316237196326256 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.9733037352561951, + 0.04788282513618469, + -0.22447079420089722, + -0.028245553374290466 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.9968773722648621, + -0.009236379526555538, + -0.07842261344194412, + -0.027122333645820618 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.9636079668998718, + 0.036369144916534424, + 0.2648339867591858, + -0.02865970879793167 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.962613582611084, + 0.07313434034585953, + 0.26081910729408264, + -0.029979558661580086 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9774680733680725, + 0.211075097322464, + 0.0018310380401089787, + -0.03489463031291962 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6826552152633667, + -0.2858397960662842, + 0.6725157499313354, + -0.024890664964914322 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9588593244552612, + 0.01833231747150421, + 0.2832890450954437, + -0.02846429869532585 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.3119693696498871, + 0.061060406267642975, + 0.9481280446052551, + -0.04136377573013306 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.34441429376602173, + 0.43310368061065674, + 0.8329465389251709, + -0.05930083245038986 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.9740151762962341, + 0.10459345579147339, + 0.20088496804237366, + -0.030880730599164963 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.9809566736221313, + 0.19422662258148193, + -5.631510430248454e-05, + -0.03396712243556976 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.30494314432144165, + 0.9523705840110779, + -4.480905772652477e-05, + -0.0827856957912445 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + -0.25806522369384766, + 0.1608859747648239, + -0.9526374936103821, + -0.04584471881389618 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.6748825311660767, + 0.24466420710086823, + -0.6961846947669983, + -0.04854975640773773 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.012671082280576229, + 0.35358288884162903, + -0.9353173971176147, + -0.05486366152763367 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.22669196128845215, + 0.8032118082046509, + 0.5508735179901123, + -0.08094315230846405 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.026816027238965034, + 0.9662106037139893, + 0.25635483860969543, + -0.08564770221710205 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.03942440077662468, + 0.9991474151611328, + 0.012253166176378727, + -0.0830678790807724 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.20805417001247406, + 0.9771002531051636, + -0.04459225386381149, + -0.0825648382306099 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.4579385817050934, + 0.8889384269714355, + 0.008975902572274208, + -0.0789293721318245 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.17059944570064545, + -0.25589442253112793, + 0.9515323638916016, + -0.02625109814107418 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.2482616901397705, + -0.29388561844825745, + 0.9230371117591858, + -0.025166340172290802 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.02596966363489628, + -0.9944418668746948, + 0.1020345538854599, + -0.0008357078768312931 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + 0.015311419032514095, + -0.9976938962936401, + 0.06612512469291687, + 9.438768029212952e-05 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + 0.047051072120666504, + -0.3044682443141937, + -0.9513596892356873, + -0.02545422688126564 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + -0.08360948413610458, + -0.26621881127357483, + -0.9602797031402588, + -0.026672156527638435 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + -0.09864556789398193, + -0.07725920528173447, + -0.9921189546585083, + -0.035438936203718185 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.24912211298942566, + 0.09787458926439285, + -0.9635137319564819, + -0.043130792677402496 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.3978307545185089, + -0.2405204325914383, + -0.8853703737258911, + -0.02722368948161602 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.03734022006392479, + 0.7711450457572937, + -0.6355635523796082, + -0.0794203132390976 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.00850102212280035, + 0.3616645038127899, + -0.9322695732116699, + -0.0553688183426857 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.4003576338291168, + 0.45819589495658875, + -0.7935807108879089, + -0.06273161619901657 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.196921244263649, + 0.9291509985923767, + -0.31289055943489075, + -0.08493249118328094 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.2635309398174286, + 0.21098531782627106, + -0.9412952065467834, + -0.047940101474523544 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.18915846943855286, + 0.28945985436439514, + -0.9383134841918945, + -0.051765553653240204 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5145388841629028, + 0.48247429728507996, + -0.7088499665260315, + -0.06383047997951508 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.9773878455162048, + 0.11893592029809952, + -0.17483505606651306, + -0.03155141323804855 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.9674341082572937, + 0.055685944855213165, + -0.2469213902950287, + -0.029300065711140633 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 27 + ], + [ + 26, + 27, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 3, + 6 + ], + [ + 10, + 6, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 5 + ], + [ + 15, + 16, + 2 + ], + [ + 17, + 16, + 7 + ], + [ + 17, + 7, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 18, + 4, + 3 + ], + [ + 18, + 19, + 4 + ], + [ + 20, + 12, + 21 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 22 + ], + [ + 20, + 22, + 12 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 3 + ], + [ + 24, + 3, + 10 + ], + [ + 24, + 10, + 12 + ], + [ + 24, + 12, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 26, + 8, + 7 + ], + [ + 26, + 7, + 16 + ], + [ + 26, + 16, + 21 + ], + [ + 28, + 2, + 16 + ], + [ + 28, + 16, + 17 + ], + [ + 28, + 17, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 29, + 19, + 18 + ], + [ + 29, + 18, + 25 + ], + [ + 29, + 23, + 19 + ], + [ + 30, + 22, + 15 + ], + [ + 30, + 15, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 25 + ], + [ + 30, + 25, + 22 + ], + [ + 27, + 21, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 6 + ], + [ + 27, + 6, + 8 + ], + [ + 31, + 13, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 31, + 4, + 19 + ], + [ + 31, + 19, + 14 + ], + [ + 31, + 14, + 13 + ], + [ + 32, + 1, + 23 + ], + [ + 32, + 23, + 29 + ], + [ + 32, + 29, + 25 + ], + [ + 32, + 25, + 1 + ], + [ + 33, + 14, + 19 + ], + [ + 33, + 19, + 23 + ], + [ + 33, + 23, + 0 + ], + [ + 33, + 0, + 17 + ], + [ + 33, + 17, + 14 + ] + ], + "raw_bounds": [ + [ + -0.027768991887569427, + -1.862645149230957e-08, + -0.03964218869805336 + ], + [ + 0.028389547020196915, + 0.08342776447534561, + 0.03931775316596031 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.008286104071885347, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_025.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_025.json new file mode 100644 index 0000000000000000000000000000000000000000..9b020127d41ead8e0f01692910d23f5e008771ad --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_025.json @@ -0,0 +1,1325 @@ +{ + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16495313309133053, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026839999482035637, + 0.01812800019979477, + 0.002948000095784664 + ], + [ + 0.03532699868083, + 0.01042800024151802, + 0.01865600049495697 + ], + [ + 0.002423000056296587, + 0.01812800019979477, + -0.003200999926775694 + ], + [ + -0.006533999927341938, + -0.003372000064700842, + 0.011051000095903873 + ], + [ + -0.0038900000508874655, + -0.018672000616788864, + 0.0009159999899566174 + ], + [ + 0.022525999695062637, + -0.009589999914169312, + 0.022586999461054802 + ], + [ + 0.020020000636577606, + 0.009045000188052654, + 0.02181600034236908 + ], + [ + -0.006506999954581261, + 0.0028280001133680344, + 0.011005000211298466 + ], + [ + 0.03247400000691414, + 0.006827999837696552, + 0.024309000000357628 + ], + [ + 0.032561998814344406, + -0.008636999875307083, + 0.024142999202013016 + ], + [ + 0.03483700007200241, + -0.01177200023084879, + 0.018881000578403473 + ], + [ + 0.03685100004076958, + -0.00737199978902936, + 0.018629999831318855 + ], + [ + -0.0030769999139010906, + 0.01812800019979477, + -0.0025740000419318676 + ], + [ + -0.003703000023961067, + -0.003372000064700842, + -0.012271000072360039 + ], + [ + -0.010197999887168407, + -0.003372000064700842, + -0.007753999903798103 + ], + [ + -0.006446000188589096, + 0.0028280001133680344, + -0.011076999828219414 + ], + [ + 0.03437599912285805, + -0.009591000154614449, + 0.014213000424206257 + ], + [ + 0.0026990000624209642, + -0.018672000616788864, + -0.0029700000304728746 + ], + [ + 0.00420599989593029, + -0.003372000064700842, + -0.0121069997549057 + ], + [ + 0.006754999980330467, + 0.0028280001133680344, + -0.010890999808907509 + ], + [ + 0.03258100152015686, + 0.00532800005748868, + 0.011490999720990658 + ], + [ + -0.0023169999476522207, + -0.018672000616788864, + -0.0032790000550448895 + ], + [ + 0.03119100071489811, + 0.01042800024151802, + 0.023019999265670776 + ], + [ + -0.011799000203609467, + -0.003372000064700842, + 0.004945000167936087 + ], + [ + -0.010592999868094921, + 0.0028280001133680344, + 0.0071669998578727245 + ], + [ + -0.011714999563992023, + 0.0028280001133680344, + -0.005175999831408262 + ], + [ + 0.030987000092864037, + -0.01177200023084879, + 0.022531000897288322 + ], + [ + -0.0009260000078938901, + 0.0028280001133680344, + -0.012784999795258045 + ], + [ + 0.03627200052142143, + 0.006827999837696552, + 0.021105999127030373 + ], + [ + 0.036322999745607376, + 0.006827999837696552, + 0.01607000082731247 + ], + [ + 0.03438499942421913, + 0.009727999567985535, + 0.014646000228822231 + ], + [ + -0.012779000215232372, + -0.003372000064700842, + -0.0007489999989047647 + ], + [ + -0.012799999676644802, + -0.00027200000477023423, + -0.0001250000059371814 + ], + [ + -0.012601999565958977, + 0.0028280001133680344, + 0.0022169998846948147 + ] + ], + "indices_raw": [ + 5, + 6, + 7, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 8, + 6, + 5, + 9, + 8, + 5, + 10, + 11, + 9, + 12, + 0, + 2, + 13, + 14, + 15, + 16, + 11, + 10, + 16, + 10, + 17, + 16, + 17, + 18, + 16, + 18, + 19, + 16, + 19, + 20, + 21, + 14, + 13, + 21, + 13, + 18, + 21, + 18, + 17, + 21, + 17, + 4, + 22, + 6, + 8, + 22, + 1, + 0, + 22, + 0, + 6, + 23, + 4, + 3, + 23, + 3, + 24, + 25, + 12, + 15, + 25, + 15, + 14, + 26, + 5, + 4, + 26, + 4, + 17, + 26, + 17, + 10, + 26, + 10, + 9, + 26, + 9, + 5, + 27, + 19, + 18, + 27, + 18, + 13, + 27, + 13, + 15, + 27, + 15, + 12, + 27, + 12, + 2, + 27, + 2, + 19, + 28, + 1, + 22, + 28, + 22, + 8, + 28, + 8, + 9, + 28, + 9, + 11, + 29, + 11, + 16, + 29, + 16, + 20, + 29, + 1, + 28, + 29, + 28, + 11, + 30, + 1, + 29, + 30, + 29, + 20, + 30, + 20, + 19, + 30, + 19, + 2, + 30, + 2, + 1, + 31, + 32, + 25, + 31, + 25, + 14, + 31, + 14, + 21, + 4, + 31, + 4, + 23, + 7, + 6, + 0, + 7, + 0, + 24, + 7, + 24, + 3, + 33, + 24, + 0, + 33, + 0, + 12, + 33, + 12, + 25, + 33, + 25, + 32, + 33, + 32, + 31, + 23, + 33, + 23, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.37598150968551636, + -0.007047585677355528, + 0.9266003370285034, + -0.012623818591237068 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1479942947626114, + 0.9813202619552612, + 0.12291540950536728, + -0.017754511907696724 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.40699267387390137, + -0.5522811412811279, + 0.7275592684745789, + -0.012561840936541557 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.1937749981880188, + 0.01452657300978899, + 0.9809383749961853, + -0.01765216886997223 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.15213719010353088, + -0.011473992839455605, + 0.9882928133010864, + -0.019005561247467995 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.780780017375946, + -0.32701343297958374, + 0.5323951840400696, + -0.041101790964603424 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.01812800019979477 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5684247612953186, + -0.09407851099967957, + -0.8173387050628662, + -0.012451673857867718 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.8671820759773254, + -0.4128212034702301, + -0.27852073311805725, + -0.029811004176735878 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.45119428634643555, + -0.7906122207641602, + -0.4139516055583954, + -0.017209522426128387 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.5209053754806519, + -0.47490203380584717, + -0.7093134522438049, + -0.012379955500364304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6396760940551758, + -0.11390049755573273, + -0.7601585984230042, + -0.012277789413928986 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.6570210456848145, + -0.058086298406124115, + -0.7516312003135681, + -0.012459925375878811 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.5035997033119202, + -0.4711983799934387, + -0.7241266369819641, + -0.01233946904540062 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.017888875678181648, + -0.5053991079330444, + -0.8627002239227295, + -0.012224158272147179 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.052674856036901474, + -0.5158279538154602, + -0.8550713658332825, + -0.01231327187269926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018672000616788864 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.137966126203537, + 0.28992775082588196, + 0.9470518827438354, + -0.020521199330687523 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.14272043108940125, + 0.9804766774177551, + 0.1352638602256775, + -0.017789779230952263 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.16134604811668396, + 0.7992663979530334, + 0.5789133906364441, + -0.016628792509436607 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.659807026386261, + -0.49089089035987854, + 0.5689295530319214, + -0.01225370541214943 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.7545040845870972, + -0.08639750629663467, + 0.6505836844444275, + -0.012410862371325493 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.6578753590583801, + 0.4713192284107208, + -0.5874164700508118, + -0.012080367654561996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.7426183223724365, + 0.09401248395442963, + -0.6630834937095642, + -0.012397761456668377 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.2004859447479248, + -0.7922033071517944, + 0.5763847231864929, + -0.01609988324344158 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.09477370232343674, + -0.9824433326721191, + 0.16069570183753967, + -0.018122712150216103 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.12301618605852127, + -0.9838852882385254, + 0.12975680828094482, + -0.018317749723792076 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5586577653884888, + -0.5836637616157532, + 0.5892691016197205, + -0.037458840757608414 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.10088272392749786, + -0.4143989682197571, + 0.9044866561889648, + -0.022131241858005524 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.23840472102165222, + 0.0916094109416008, + -0.9668355584144592, + -0.012399301864206791 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.02064395137131214, + -0.09178199619054794, + -0.9955650568008423, + -0.01244962215423584 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.29517605900764465, + 0.0531235933303833, + -0.95396488904953, + -0.012620007619261742 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.2539156973361969, + 0.5119706988334656, + -0.8206173777580261, + -0.012174572795629501 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.09509026259183884, + 0.5433152318000793, + -0.8341261148452759, + -0.012288852594792843 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.20926295220851898, + 0.4857953190803528, + -0.8486529588699341, + -0.012030079960823059 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6061393022537231, + 0.550071120262146, + 0.5744710564613342, + -0.03786655515432358 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5758235454559326, + 0.4496940076351166, + 0.6827902793884277, + -0.038367755711078644 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.6446806192398071, + -0.0045371027663350105, + 0.7644385695457458, + -0.039487119764089584 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.7951945066452026, + -0.07254453748464584, + 0.6019992232322693, + -0.041053757071495056 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.8820550441741943, + -0.0516299344599247, + -0.4683089554309845, + -0.024160627275705338 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7775325179100037, + -0.021119071170687675, + -0.6284878849983215, + -0.017998311668634415 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9655303955078125, + 0.2601065933704376, + 0.009777862578630447, + -0.037004102021455765 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.9991887807846069, + 0.03897717595100403, + 0.010118715465068817, + -0.03672228008508682 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8561676740646362, + 0.43602272868156433, + -0.27723827958106995, + -0.029620522633194923 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7353038191795349, + 0.16912102699279785, + -0.6562975645065308, + -0.01731649413704872 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + 0.6135073900222778, + 0.2783605456352234, + -0.7390021085739136, + -0.012979917228221893 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + 0.5189911723136902, + 0.496620774269104, + -0.6957125067710876, + -0.012487232685089111 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + 0.3715055584907532, + 0.8958867788314819, + -0.24366049468517303, + -0.017920754849910736 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.9810357689857483, + 0.03183993324637413, + -0.1911938339471817, + -0.012572497129440308 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.9348964095115662, + -0.0855177789926529, + -0.34446367621421814, + -0.01249341107904911 + ] + }, + { + "index_base": 151, + "num_vertices": 4, + "plane": [ + -0.8094019293785095, + -0.5047253370285034, + -0.300201416015625, + -0.012283976189792156 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + -0.8620215654373169, + -0.4846722185611725, + 0.148363396525383, + -0.012538964860141277 + ] + }, + { + "index_base": 158, + "num_vertices": 3, + "plane": [ + -0.42468133568763733, + 0.5026414394378662, + 0.7529922723770142, + -0.012471551075577736 + ] + }, + { + "index_base": 161, + "num_vertices": 3, + "plane": [ + -0.5986503958702087, + 0.4852049946784973, + 0.6373333930969238, + -0.012281432747840881 + ] + }, + { + "index_base": 164, + "num_vertices": 3, + "plane": [ + -0.6846169829368591, + 0.008388981223106384, + 0.728854775428772, + -0.012499573640525341 + ] + }, + { + "index_base": 167, + "num_vertices": 3, + "plane": [ + -0.8005982041358948, + 0.5034515857696533, + 0.3249295651912689, + -0.012233268469572067 + ] + }, + { + "index_base": 170, + "num_vertices": 3, + "plane": [ + -0.8389223217964172, + 0.5409663915634155, + 0.059705983847379684, + -0.012234320864081383 + ] + }, + { + "index_base": 173, + "num_vertices": 3, + "plane": [ + -0.8585682511329651, + 0.5022446513175964, + -0.10300961136817932, + -0.012011653743684292 + ] + }, + { + "index_base": 176, + "num_vertices": 3, + "plane": [ + -0.981397807598114, + 0.15163841843605042, + -0.1177464947104454, + -0.012535365298390388 + ] + }, + { + "index_base": 179, + "num_vertices": 4, + "plane": [ + -0.9843317270278931, + -0.04888606444001198, + 0.16941432654857635, + -0.012616727501153946 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.9256370067596436, + 0.045413363724946976, + 0.3756776750087738, + -0.012626182287931442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 9, + 8, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 4 + ], + [ + 22, + 6, + 8 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 6 + ], + [ + 23, + 4, + 3 + ], + [ + 23, + 3, + 24 + ], + [ + 25, + 12, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 26, + 5, + 4 + ], + [ + 26, + 4, + 17 + ], + [ + 26, + 17, + 10 + ], + [ + 26, + 10, + 9 + ], + [ + 26, + 9, + 5 + ], + [ + 27, + 19, + 18 + ], + [ + 27, + 18, + 13 + ], + [ + 27, + 13, + 15 + ], + [ + 27, + 15, + 12 + ], + [ + 27, + 12, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 28, + 1, + 22 + ], + [ + 28, + 22, + 8 + ], + [ + 28, + 8, + 9 + ], + [ + 28, + 9, + 11 + ], + [ + 29, + 11, + 16 + ], + [ + 29, + 16, + 20 + ], + [ + 29, + 1, + 28 + ], + [ + 29, + 28, + 11 + ], + [ + 30, + 1, + 29 + ], + [ + 30, + 29, + 20 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 32, + 25 + ], + [ + 31, + 25, + 14 + ], + [ + 31, + 14, + 21 + ], + [ + 31, + 21, + 4 + ], + [ + 31, + 4, + 23 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 24 + ], + [ + 7, + 24, + 3 + ], + [ + 33, + 24, + 0 + ], + [ + 33, + 0, + 12 + ], + [ + 33, + 12, + 25 + ], + [ + 33, + 25, + 32 + ], + [ + 33, + 32, + 31 + ], + [ + 33, + 31, + 23 + ], + [ + 33, + 23, + 24 + ] + ], + "raw_bounds": [ + [ + -0.012799999676644802, + -0.018672000616788864, + -0.012784999795258045 + ], + [ + 0.03685100004076958, + 0.01812800019979477, + 0.024309000000357628 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004243833944201469, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_026.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_026.json new file mode 100644 index 0000000000000000000000000000000000000000..5da03fd465290f2903af3e806b61e3fed68391fc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_026.json @@ -0,0 +1,1313 @@ +{ + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19572971714660525, + "parts": [ + { + "vertices_raw": [ + [ + 0.00036100001307204366, + 0.01850000023841858, + 0.003984000068157911 + ], + [ + -0.03325900062918663, + 0.020500000566244125, + -0.0050650001503527164 + ], + [ + -0.0010179999517276883, + -0.015789000317454338, + 0.004722000099718571 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + -0.005121000111103058 + ], + [ + -0.015515999868512154, + -0.02495500072836876, + -0.00990699976682663 + ], + [ + -0.015351999551057816, + -0.020920999348163605, + -0.013396999798715115 + ], + [ + 0.00443900004029274, + -0.01769999973475933, + -0.0007389999809674919 + ], + [ + -0.03207699954509735, + 0.02449999935925007, + -0.013717000372707844 + ], + [ + -0.0354279987514019, + 0.02449999935925007, + -0.00887800008058548 + ], + [ + -0.024991000071167946, + 0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.015807999297976494, + 0.02518800087273121, + -0.008384999819099903 + ], + [ + -0.01617399975657463, + 0.02390800043940544, + -0.012168999761343002 + ], + [ + 0.0035000001080334187, + -0.014499999582767487, + 0.003570999950170517 + ], + [ + 0.004776999820023775, + 0.014499999582767487, + 0.0014779999619349837 + ], + [ + -0.03238900005817413, + -0.02370000071823597, + -0.005338999908417463 + ], + [ + -0.03600599989295006, + -0.02370000071823597, + -0.009344000369310379 + ], + [ + -0.024991000071167946, + -0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.0020940001122653484, + -0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.011460999958217144, + 0.01676500029861927, + -0.012227999977767467 + ], + [ + -0.0020940001122653484, + 0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.03317800164222717, + -0.02370000071823597, + -0.013939999975264072 + ], + [ + -0.032016001641750336, + -0.020948000252246857, + -0.014709999784827232 + ], + [ + 0.002580000087618828, + -0.01769999973475933, + 0.0036869999021291733 + ], + [ + -0.03292600065469742, + 0.02449999935925007, + -0.006008000113070011 + ], + [ + 0.0032689999788999557, + 0.01850000023841858, + -0.002305000089108944 + ], + [ + -0.023507000878453255, + 0.020500000566244125, + -0.014805999584496021 + ], + [ + -0.03413600102066994, + 0.020500000566244125, + -0.014019000343978405 + ], + [ + 0.0033400000538676977, + 0.01850000023841858, + 0.0022009999956935644 + ], + [ + -0.036302000284194946, + 0.020500000566244125, + -0.011233000084757805 + ], + [ + -0.03579400107264519, + -0.020500000566244125, + -0.01235899981111288 + ], + [ + -0.017098000273108482, + -0.02512899972498417, + -0.007063999772071838 + ], + [ + 0.002518000081181526, + 0.014499999582767487, + 0.00431999983265996 + ], + [ + 0.003854000009596348, + -0.014499999582767487, + -0.0031850000377744436 + ], + [ + -0.03577600046992302, + 0.020500000566244125, + -0.007120999973267317 + ] + ], + "indices_raw": [ + 7, + 9, + 10, + 11, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 8, + 9, + 12, + 6, + 13, + 14, + 2, + 3, + 14, + 3, + 15, + 14, + 15, + 16, + 17, + 6, + 5, + 5, + 18, + 19, + 17, + 20, + 21, + 5, + 20, + 5, + 4, + 20, + 4, + 16, + 20, + 16, + 15, + 22, + 6, + 12, + 22, + 2, + 14, + 23, + 9, + 8, + 23, + 1, + 0, + 10, + 24, + 11, + 10, + 9, + 23, + 10, + 23, + 0, + 25, + 26, + 7, + 25, + 7, + 11, + 25, + 11, + 18, + 25, + 18, + 5, + 25, + 5, + 21, + 25, + 21, + 26, + 27, + 13, + 24, + 27, + 24, + 10, + 27, + 10, + 0, + 28, + 8, + 7, + 28, + 7, + 26, + 19, + 18, + 11, + 19, + 11, + 24, + 29, + 15, + 28, + 29, + 28, + 26, + 26, + 21, + 20, + 29, + 29, + 20, + 15, + 30, + 4, + 6, + 30, + 6, + 22, + 30, + 22, + 14, + 30, + 14, + 16, + 30, + 16, + 4, + 31, + 12, + 13, + 31, + 13, + 27, + 31, + 27, + 0, + 31, + 0, + 2, + 31, + 2, + 22, + 12, + 32, + 6, + 17, + 32, + 17, + 19, + 32, + 19, + 24, + 32, + 24, + 13, + 32, + 13, + 6, + 33, + 1, + 23, + 33, + 23, + 8, + 33, + 8, + 28, + 33, + 28, + 15, + 33, + 15, + 3, + 33, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.09191659837961197, + 0.9254609942436218, + -0.3675232231616974, + -0.024939177557826042 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2580503225326538, + 0.031161170452833176, + 0.9656288027763367, + -0.004330390598624945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2907710373401642, + -0.0002926961751654744, + 0.9567925930023193, + -0.004818600602447987 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.5047945976257324, + -0.5764406323432922, + -0.6425719261169434, + -0.012918642722070217 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.10196014493703842, + 0.992279589176178, + -0.07060722261667252, + -0.02854994311928749 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9725351929664612, + -0.026132727041840553, + 0.2312842756509781, + -0.004608714021742344 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.267561137676239, + -0.14954526722431183, + 0.9518651366233826, + -0.0071282535791397095 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.714544951915741, + -0.2701604664325714, + 0.6453205943107605, + -0.02610083296895027 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1529802680015564, + -0.978523850440979, + 0.13815969228744507, + -0.027408258989453316 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.5297884345054626, + -0.4632146954536438, + -0.7104620337486267, + -0.011075662449002266 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.41420218348503113, + -0.014535641297698021, + -0.9100688695907593, + -0.006137460470199585 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.07545790076255798, + -0.29810070991516113, + -0.9515472650527954, + -0.017826015129685402 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.1244371086359024, + -0.6520766615867615, + -0.7478712201118469, + -0.02175096794962883 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.04955287277698517, + -0.8713471293449402, + -0.48815858364105225, + -0.02581179514527321 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.16540244221687317, + -0.9809607267379761, + -0.10177499055862427, + -0.030155235901474953 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.8942309617996216, + -0.24347613751888275, + 0.3755931854248047, + -0.008001456037163734 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.09812956303358078, + -0.6104356646537781, + 0.7859636545181274, + -0.01344938576221466 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.0877046212553978, + 0.9932079911231995, + 0.07645881175994873, + -0.026761993765830994 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.2387775182723999, + 0.24160966277122498, + 0.94053715467453, + -0.008130678907036781 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.40391185879707336, + 0.8539947271347046, + -0.32794544100761414, + -0.017875205725431442 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.00606840243563056, + 0.9713795185089111, + 0.23745547235012054, + -0.022571973502635956 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.026381274685263634, + 0.8933627605438232, + 0.44856107234954834, + -0.018323803320527077 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.0733710527420044, + 0.1125829815864563, + -0.9909297227859497, + -0.01870439015328884 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.10296253859996796, + 0.460614949464798, + -0.8816080093383789, + -0.020075354725122452 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.25849807262420654, + 0.1784006655216217, + -0.9493955969810486, + -0.011637449264526367 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.21177111566066742, + 0.008449878543615341, + -0.977282702922821, + -0.009664766490459442 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.07856549322605133, + -0.018437571823596954, + -0.9967384934425354, + -0.01253290195018053 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.07383441179990768, + 0.012848081067204475, + -0.9971876740455627, + -0.016763372346758842 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.9401538968086243, + 0.3404277563095093, + -0.014813792891800404, + -0.009405422955751419 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.33231863379478455, + 0.943152666091919, + -0.005236217752099037, + -0.01854674331843853 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.17118361592292786, + 0.942811906337738, + 0.28601008653640747, + -0.018643280491232872 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.7309419512748718, + 0.45772239565849304, + -0.5061760544776917, + -0.04160384461283684 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.7192039489746094, + 0.41242653131484985, + -0.5591511130332947, + -0.040844231843948364 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.4741263687610626, + 0.3196081519126892, + -0.8203991651535034, + -0.009956111200153828 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.5003477334976196, + 0.37871766090393066, + -0.7786046862602234, + -0.01043659821152687 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + -0.9966763257980347, + -0.010129128582775593, + -0.08083165436983109, + -0.03688168153166771 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + -0.7894546389579773, + 0.007074643392115831, + -0.6137681007385254, + -0.03569827228784561 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.5297442674636841, + -0.01295719388872385, + -0.8480584025382996, + -0.02970666065812111 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7803236842155457, + -0.400691956281662, + -0.48014670610427856, + -0.04207922890782356 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.2960875928401947, + -0.9491862058639526, + 0.10666650533676147, + -0.018036101013422012 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.2913316488265991, + -0.9487637877464294, + 0.12236455827951431, + -0.017995914444327354 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.010452709160745144, + -0.8135984539985657, + 0.5813331007957458, + -0.016517098993062973 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.05727130174636841, + -0.9568250775337219, + 0.2849661707878113, + -0.02301028184592724 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.057366594672203064, + -0.9979274272918701, + -0.029153840616345406, + -0.024302007630467415 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.782784104347229, + 0.010436615906655788, + 0.622205913066864, + -0.004810310900211334 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.7719117403030396, + 0.16640755534172058, + 0.6135639548301697, + -0.007007179316133261 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.48487988114356995, + 0.32952210307121277, + 0.8101274967193604, + -0.009498748928308487 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.10716138035058975, + 0.025701558217406273, + 0.9939094185829163, + -0.004396528471261263 + ] + }, + { + "index_base": 147, + "num_vertices": 4, + "plane": [ + 0.25879350304603577, + -0.01739414967596531, + 0.9657761454582214, + -0.004571579862385988 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.5408830046653748, + -0.44613879919052124, + -0.713025689125061, + -0.010824562981724739 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6043630242347717, + 0.0, + -0.7967090606689453, + -0.004866733681410551 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.6968936920166016, + 0.031460270285606384, + -0.7164840698242188, + -0.004511656239628792 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.937711775302887, + 0.025861751288175583, + -0.3464505076408386, + -0.004342390689998865 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.9741137027740479, + 0.005334840621799231, + -0.22599554061889648, + -0.0043966746889054775 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + -0.6158075332641602, + 0.2289944291114807, + 0.75388503074646, + -0.02135710045695305 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.7105207443237305, + 0.33389386534690857, + 0.6194152235984802, + -0.02785356156527996 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.982061505317688, + 0.14061996340751648, + 0.12562358379364014, + -0.03712237998843193 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9919167757034302, + -0.0012199876364320517, + 0.12688425183296204, + -0.034558262676000595 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + -0.8432195782661438, + -0.02262483537197113, + 0.537092924118042, + -0.025878580287098885 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + -0.6326172351837158, + 0.0011486286530271173, + 0.7744638323783875, + -0.017141105607151985 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 2, + 3 + ], + [ + 14, + 3, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 6, + 5 + ], + [ + 5, + 18, + 19 + ], + [ + 5, + 19, + 17 + ], + [ + 20, + 21, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 6, + 12 + ], + [ + 22, + 2, + 14 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 1, + 0 + ], + [ + 10, + 24, + 11 + ], + [ + 10, + 9, + 23 + ], + [ + 10, + 23, + 0 + ], + [ + 25, + 26, + 7 + ], + [ + 25, + 7, + 11 + ], + [ + 25, + 11, + 18 + ], + [ + 25, + 18, + 5 + ], + [ + 25, + 5, + 21 + ], + [ + 25, + 21, + 26 + ], + [ + 27, + 13, + 24 + ], + [ + 27, + 24, + 10 + ], + [ + 27, + 10, + 0 + ], + [ + 28, + 8, + 7 + ], + [ + 28, + 7, + 26 + ], + [ + 19, + 18, + 11 + ], + [ + 19, + 11, + 24 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 26 + ], + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 29 + ], + [ + 29, + 20, + 15 + ], + [ + 30, + 4, + 6 + ], + [ + 30, + 6, + 22 + ], + [ + 30, + 22, + 14 + ], + [ + 30, + 14, + 16 + ], + [ + 30, + 16, + 4 + ], + [ + 31, + 12, + 13 + ], + [ + 31, + 13, + 27 + ], + [ + 31, + 27, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 31, + 2, + 22 + ], + [ + 31, + 22, + 12 + ], + [ + 32, + 6, + 17 + ], + [ + 32, + 17, + 19 + ], + [ + 32, + 19, + 24 + ], + [ + 32, + 24, + 13 + ], + [ + 32, + 13, + 6 + ], + [ + 33, + 1, + 23 + ], + [ + 33, + 23, + 8 + ], + [ + 33, + 8, + 28 + ], + [ + 33, + 28, + 15 + ], + [ + 33, + 15, + 3 + ], + [ + 33, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + -0.036302000284194946, + -0.025499999523162842, + -0.014805999584496021 + ], + [ + 0.004776999820023775, + 0.025499999523162842, + 0.004722000099718571 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004513915162533522, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_027.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_027.json new file mode 100644 index 0000000000000000000000000000000000000000..14ac9ec420a2790f58d29593332e38b1be2d493c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_027.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2879912620410323, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + -0.005249989219009876, + 0.02026689052581787 + ], + [ + 0.016393516212701797, + 0.005355285946279764, + 0.020274700596928596 + ], + [ + -0.010551173239946365, + -0.001936863991431892, + 0.0015893022064119577 + ], + [ + 0.021058708429336548, + -0.004999947268515825, + 0.019783440977334976 + ], + [ + -0.0038393354043364525, + -0.00549997016787529, + 0.002347175031900406 + ], + [ + -0.004447362385690212, + -0.005432975012809038, + -0.0016682108398526907 + ], + [ + 0.0016016149893403053, + -0.005432975012809038, + -0.004471834748983383 + ], + [ + 0.021798528730869293, + -0.004999947268515825, + 0.012355390004813671 + ], + [ + 0.023115016520023346, + -0.004999947268515825, + 0.015911880880594254 + ], + [ + -0.004105887375771999, + 0.005463290028274059, + 0.0022624770645052195 + ], + [ + 0.022002436220645905, + 0.005192446056753397, + 0.018826300278306007 + ], + [ + 0.022146016359329224, + 0.005355285946279764, + 0.013035180978477001 + ], + [ + 0.0021148710511624813, + 0.0053552258759737015, + -0.004366633482277393 + ], + [ + -0.0035197939723730087, + 0.0053552258759737015, + -0.003339346731081605 + ], + [ + 0.012750902213156223, + 0.004999982658773661, + 0.0036200531758368015 + ], + [ + 0.014267423190176487, + -0.004999947268515825, + 0.0049940370954573154 + ], + [ + -0.0013361778110265732, + 0.004999982658773661, + -0.004818137735128403 + ], + [ + -0.0021025147289037704, + -0.004999947268515825, + -0.004536387510597706 + ], + [ + 0.019002286717295647, + 0.004999982658773661, + 0.0206608809530735 + ], + [ + 0.023111678659915924, + 0.004999982658773661, + 0.015489219687879086 + ], + [ + -0.004848381504416466, + 0.0053552258759737015, + -0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + -0.9995930790901184, + -0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + 0.01206897757947445, + 0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + 0.4508727192878723, + 0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + 0.9999979734420776, + 0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + -0.037696633487939835, + 0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + -0.7347155213356018, + 0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + -0.01986261084675789, + -0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + 0.008559993468225002, + -0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + -0.979090690612793, + -0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + 0.003514686366543174, + -0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + -0.029233338311314583, + -0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + 0.9484537839889526, + -0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + 0.002508311765268445, + 0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + -0.06626430153846741, + 0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + 0.03201968967914581, + 0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + 0.9626887440681458, + 0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + 0.9626891016960144, + 0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + 0.013617747463285923, + 0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + -0.008036171086132526, + -0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + -0.5307285189628601, + -0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + -0.9659310579299927, + -0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + -0.8791415095329285, + 0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + 0.015754459425807, + -0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + 0.9361693859100342, + -0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + 0.9978163838386536, + -0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + 0.5309804081916809, + -0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + 0.6332581043243408, + 0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.00549997016787529, + -0.004818137735128403 + ], + [ + 0.023115016520023346, + 0.005463290028274059, + 0.0206608809530735 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006917398888617754, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_028.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_028.json new file mode 100644 index 0000000000000000000000000000000000000000..a6c58880aa34260805ab201146102f6bc97fd5e8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_028.json @@ -0,0 +1,9301 @@ +{ + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3380834199488163, + "parts": [ + { + "vertices_raw": [ + [ + 0.003435140708461404, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.002645079977810383 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.003435140708461404, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 7, + 6, + 3, + 1, + 4, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 1, + 0, + 5, + 0, + 2, + 5, + 2, + 3, + 6, + 7, + 4, + 0, + 7, + 0, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.5038278102874756, + 0.013086438179016113, + -0.8637048602104187, + 0.005367162637412548 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5547001957893372, + 0.0, + -0.8320503234863281, + 0.005286477040499449 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.0, + -0.0905357375741005, + -0.9958932399749756, + 0.0031694448553025723 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999541163444519, + 0.030289139598608017, + 0.0, + -0.006448087282478809 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8778955340385437, + -0.47885218262672424, + 0.0, + -0.0016245779115706682 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.009690405800938606 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 5, + 2, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + 0.0005983792361803353, + -0.009690406732261181, + 0.002645079977810383 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.015883300453424454 + ], + [ + 0.0029623471200466156, + -0.012999962083995342, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.015410506166517735 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 7, + 1, + 5, + 1, + 0, + 8, + 1, + 7, + 8, + 7, + 3, + 2, + 8, + 2, + 1, + 9, + 7, + 6, + 9, + 6, + 4, + 9, + 4, + 3, + 9, + 3, + 7, + 10, + 4, + 6, + 10, + 6, + 5, + 0, + 10, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9934325814247131, + -0.09934321790933609, + -0.056767553091049194, + -0.005399323999881744 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.015883300453424454 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10693860054016113, + -0.24952343106269836, + 0.962445855140686, + -0.01839236170053482 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6542210578918457, + -0.6178755760192871, + 0.43614742159843445, + -0.01669164188206196 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.26754844188690186, + 0.026754843071103096, + 0.9631729125976562, + -0.01529643777757883 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.6837635040283203, + 0.5698027014732361, + 0.4558424949645996, + -0.0030875466763973236 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.8320502042770386, + 0.0, + 0.5547002553939819, + -0.01080404594540596 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6882472038269043, + -0.22941558063030243, + 0.6882472038269043, + -0.014803793281316757 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.44721361994743347, + 0.8944272398948669, + 0.0, + 0.007032010704278946 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.11883514374494553, + 0.6238844990730286, + -0.7724288105964661, + 0.015506066381931305 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 8, + 1, + 7 + ], + [ + 8, + 7, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 10, + 4, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 0 + ], + [ + 10, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.005435265135020018, + -0.002555649261921644 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + -0.0011372686130926013 + ], + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.003435140708461404, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + -0.012054375372827053, + 0.001226699212566018 + ], + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + -0.004446823615580797 + ], + [ + -0.001765588647685945, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.012054375372827053, + 0.0007539056241512299 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + -0.012054375372827053, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0010711727663874626, + -0.004489677958190441, + -0.002555649261921644 + ] + ], + "indices_raw": [ + 16, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 4, + 7, + 9, + 2, + 1, + 10, + 11, + 8, + 12, + 10, + 12, + 9, + 10, + 9, + 1, + 13, + 3, + 2, + 13, + 2, + 9, + 14, + 5, + 4, + 14, + 4, + 8, + 11, + 14, + 11, + 5, + 15, + 7, + 13, + 15, + 13, + 9, + 15, + 9, + 12, + 15, + 12, + 8, + 15, + 8, + 7, + 16, + 3, + 13, + 13, + 7, + 6, + 16, + 17, + 11, + 10, + 17, + 10, + 1, + 17, + 1, + 0, + 17, + 0, + 5, + 17, + 5, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.9946268200874329, + 0.10289238393306732, + -0.011432486586272717, + -0.0040475912392139435 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.5291267037391663, + -0.11338429152965546, + 0.8409334421157837, + -0.007334135472774506 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.5038530826568604, + -0.8220758438110352, + 0.2651858925819397, + -0.011727501638233662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.7279386520385742, + -0.6846945881843567, + -0.03603654354810715, + -0.010365767404437065 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8102372884750366, + -0.0925985798239708, + -0.5787410140037537, + -0.00571135338395834 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.09919000416994095, + -0.079352006316185, + -0.9918994903564453, + -0.005486194044351578 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6393464803695679, + 0.051147665828466415, + -0.7672157287597656, + -0.0046252296306192875 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.6854345798492432, + -0.7139943242073059, + 0.14279890060424805, + -0.010572746396064758 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.43158718943595886, + -0.8477606177330017, + -0.30827656388282776, + -0.011156921274960041 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071067094802856, + -0.006639573723077774 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.44721361994743347, + 0.8944271206855774, + 0.0, + 0.002479448216035962 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012054375372827053 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.2568807303905487, + -0.9082568287849426, + -0.3302752375602722, + -0.011395921930670738 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.06311160326004028, + -0.773116946220398, + -0.6311157941818237, + -0.010834909975528717 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + 0.22355104982852936, + -0.7824282646179199, + -0.5812323093414307, + -0.011262265965342522 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5096874833106995, + -0.8388605117797852, + -0.19113285839557648, + -0.011387349106371403 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.5633991956710815, + -0.7887589335441589, + 0.24584698677062988, + -0.01122081559151411 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + -0.015590788796544075, + -0.9822190999984741, + 0.1870894581079483, + -0.01202335488051176 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9284766912460327, + -0.3713906407356262, + 0.0032194172963500023 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.16129031777381897, + 0.9677419662475586, + -0.19354836642742157, + 0.004022978246212006 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.1634203940629959, + 0.9805224537849426, + -0.10894693434238434, + 0.0042988513596355915 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.004489677958190441 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.18878205120563507, + 0.9806178212165833, + -0.052439458668231964, + 0.004066423047333956 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 0 + ], + [ + 16, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 4, + 7 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 8 + ], + [ + 10, + 8, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 9 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 15, + 7, + 13 + ], + [ + 15, + 13, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 8 + ], + [ + 15, + 8, + 7 + ], + [ + 16, + 3, + 13 + ], + [ + 13, + 7, + 6 + ], + [ + 13, + 6, + 16 + ], + [ + 17, + 11, + 10 + ], + [ + 17, + 10, + 1 + ], + [ + 17, + 1, + 0 + ], + [ + 17, + 0, + 5 + ], + [ + 17, + 5, + 11 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012054375372827053, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.008791396394371986 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.008791396394371986 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 4, + 2, + 1, + 5, + 6, + 0, + 1, + 2, + 3, + 7, + 3, + 2, + 4, + 8, + 3, + 7, + 8, + 7, + 4, + 6, + 9, + 0, + 3, + 8, + 9, + 8, + 6, + 5, + 9, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0024895535316318274 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9805806875228882, + 0.1961161196231842, + 0.0, + -0.003600603900849819 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.19611623883247375, + 0.9805806875228882, + -0.009780069813132286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.2576627731323242, + 0.0, + 0.9662349224090576, + -0.007853087969124317 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999687671661377, + -0.024992188438773155, + 0.0, + -0.0010264815064147115 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 4 + ], + [ + 8, + 3, + 7 + ], + [ + 8, + 7, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0012927950592711568, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.008791396394371986 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + 0.0059117809869349, + -0.0035012364387512207 + ], + [ + -0.0008200015290640295, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + -0.003656762884929776, + 0.005438987165689468, + -0.000664475082885474 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.004063460510224104 + ], + [ + -0.0027111757081001997, + 0.0059117809869349, + 0.003117873566225171 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + 0.0016994928009808064 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + -0.0016100622015073895 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + -0.0035012364387512207 + ] + ], + "indices_raw": [ + 10, + 1, + 8, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 3, + 6, + 3, + 5, + 6, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 10, + 3, + 2, + 10, + 2, + 1, + 11, + 9, + 8, + 11, + 8, + 1, + 0, + 11, + 0, + 6, + 5, + 11, + 5, + 7, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0011838451027870178 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.7353563904762268, + -0.20285692811012268, + -0.6466065049171448, + -0.0020153415389358997 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + -0.37139061093330383, + 0.9284766912460327, + -0.0015772486804053187 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.9551337957382202, + -0.14694367349147797, + 0.25715145468711853, + -0.002522602677345276 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2119995355606079, + -0.2119995802640915, + 0.9539981484413147, + -0.002295918297022581 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2595711350440979, + 0.9641208648681641, + -0.05562238395214081, + -0.006229991093277931 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6494998931884766, + -0.2823912501335144, + 0.7059782147407532, + -0.002202085219323635 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8741572499275208, + -0.4856429398059845, + 0.0, + -0.0007747432682663202 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.9622505307197571, + -0.1924501210451126, + 0.19245010614395142, + -0.00234411028213799 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7587982416152954, + -0.23607057332992554, + -0.6070385575294495, + -0.0018941224552690983 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.5975551605224609, + -0.15725137293338776, + -0.7862568497657776, + -0.0027458404656499624 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.1961161494255066, + -0.9805806875228882, + -0.002273849444463849 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.19611620903015137, + 0.9805806279182434, + 0.0, + -0.00609977450221777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 8 + ], + [ + 10, + 8, + 4 + ], + [ + 10, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 11, + 7, + 9 + ] + ], + "raw_bounds": [ + [ + -0.003656762884929776, + 0.0011838451027870178, + -0.0035012364387512207 + ], + [ + 0.003907934296876192, + 0.0059117809869349, + 0.004063460510224104 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.008791396394371986 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 9, + 2, + 3, + 6, + 8, + 0, + 1, + 2, + 3, + 2, + 1, + 3, + 1, + 4, + 3, + 4, + 5, + 6, + 3, + 5, + 7, + 5, + 4, + 7, + 4, + 1, + 0, + 7, + 0, + 8, + 6, + 7, + 6, + 5, + 9, + 8, + 0, + 9, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.15205712616443634, + 0.0, + 0.988371729850769, + -0.008813855238258839 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.28885573148727417, + 0.18775634467601776, + 0.9387811422348022, + -0.0060492344200611115 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.9309493899345398, + 0.07161153852939606, + 0.3580574691295624, + -0.002980258082970977 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.9592642188072205, + -0.06851880997419357, + 0.2740755081176758, + -0.004086846485733986 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.9486833214759827, + 0.3162277936935425, + 0.0, + 0.0018379230750724673 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.09950368851423264, + -0.9950372576713562, + 0.006748180370777845 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.5883482098579407, + 0.19611608982086182, + -0.7844647169113159, + 0.005811032373458147 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6001487970352173, + -0.34808629751205444, + -0.7201787233352661, + -0.0017875595949590206 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9523809552192688, + -0.19047610461711884, + -0.23809513449668884, + -0.0052305348217487335 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 3 + ], + [ + 9, + 3, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 8 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 9, + 8, + 0 + ], + [ + 9, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008318603038787842 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.007373015861958265 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 7, + 8, + 3, + 0, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 2, + 1, + 5, + 6, + 2, + 4, + 7, + 6, + 0, + 2, + 9, + 5, + 1, + 3, + 9, + 3, + 8, + 9, + 8, + 7, + 4, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.9874838590621948, + -0.07053456455469131, + 0.14106911420822144, + 0.0011016115313395858 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9761870503425598, + 0.0, + 0.21693044900894165, + -0.0002973582595586777 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.15617398917675018, + 0.9370424151420593, + -0.3123478889465332, + -0.008351076394319534 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 0, + 2 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ], + [ + -0.0022383821196854115, + 0.012058096937835217, + 0.004063460510224104 + ], + [ + -0.001765588647685945, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.003435140708461404, + 0.012058096937835217, + 0.0035906671546399593 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + -0.0011372686130926013 + ], + [ + -0.003656762884929776, + 0.012058096937835217, + -0.0020828559063374996 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + -0.003974030259996653 + ], + [ + 0.003907934296876192, + 0.012058096937835217, + -0.002555649261921644 + ], + [ + -0.0041295564733445644, + 0.012058096937835217, + 0.001226699212566018 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 16, + 14, + 13, + 12, + 15, + 4, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 7, + 5, + 8, + 2, + 1, + 6, + 9, + 8, + 5, + 7, + 10, + 4, + 3, + 11, + 6, + 1, + 11, + 1, + 0, + 11, + 12, + 7, + 11, + 7, + 6, + 13, + 14, + 9, + 13, + 9, + 7, + 13, + 7, + 12, + 15, + 12, + 11, + 15, + 11, + 0, + 15, + 0, + 4, + 16, + 10, + 3, + 16, + 3, + 2, + 8, + 9, + 16, + 9, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.012058096937835217 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.05941757187247276, + 0.5941759943962097, + 0.8021374344825745, + -0.010557085275650024 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.6401844620704651, + 0.0, + -0.7682211995124817, + -0.0049096569418907166 + ] + }, + { + "index_base": 17, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.05094815790653229, + 0.7896967530250549, + 0.6113781929016113, + -0.011892510578036308 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.9950220584869385, + -0.08291845768690109, + -0.05527897924184799, + -0.004230517894029617 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.7180995345115662, + 0.29920828342437744, + -0.628337025642395, + -0.0075425379909574986 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.7470113635063171, + 0.12138932198286057, + -0.6536349058151245, + -0.005826096516102552 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.1844417154788971, + 0.7131746411323547, + -0.6762862205505371, + -0.011048667132854462 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.08211291581392288, + 0.5337336659431458, + -0.8416566252708435, + -0.009674426168203354 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.5048437118530273, + 0.5889846086502075, + -0.6310546398162842, + -0.010262523777782917 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.7374095916748047, + 0.6671804189682007, + -0.10534423589706421, + -0.010960875079035759 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.8908706903457642, + 0.445435494184494, + 0.08908711373806, + -0.009159289300441742 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5321810841560364, + 0.768706202507019, + 0.3547874391078949, + -0.01190202310681343 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5570861101150513, + 0.7427813410758972, + 0.3713906705379486, + -0.012203739956021309 + ] + }, + { + "index_base": 62, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.9534626007080078, + 0.28603869676589966, + -0.09534622728824615, + -0.007418823428452015 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 14, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 8, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 6 + ], + [ + 9, + 8, + 5 + ], + [ + 9, + 5, + 7 + ], + [ + 10, + 4, + 3 + ], + [ + 11, + 6, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 7 + ], + [ + 13, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 0 + ], + [ + 15, + 0, + 4 + ], + [ + 16, + 10, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 8 + ], + [ + 16, + 8, + 9 + ], + [ + 16, + 9, + 14 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.010166922584176064, + 0.013046538457274437 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 4, + 6, + 3, + 0, + 3, + 1, + 0, + 4, + 2, + 5, + 4, + 5, + 6, + 0, + 1, + 2, + 4, + 0, + 2, + 7, + 3, + 6, + 5, + 7, + 5, + 2, + 1, + 7, + 1, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.8317734599113464, + 0.02579141966998577, + 0.5545157790184021, + -0.01106267236173153 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9997296929359436, + -0.02324952930212021, + 0.0, + 0.0005834902403876185 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + 0.0, + -0.1643989533185959, + 0.0029536818619817495 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.5297672748565674, + -0.029568379744887352, + 0.8476274609565735, + -0.014198040589690208 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.1961144059896469, + 0.004560800269246101, + 0.9805704355239868, + -0.01568915694952011 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.12403467297554016, + 0.0, + -0.9922778606414795, + 0.01304750144481659 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.004602350294589996 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 6, + 3 + ], + [ + 4, + 3, + 0 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 0, + 2 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.008318603038787842 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 2, + 1, + 5, + 1, + 0, + 4, + 6, + 7, + 5, + 4, + 8, + 3, + 2, + 9, + 3, + 8, + 9, + 6, + 4, + 3, + 10, + 8, + 2, + 10, + 2, + 5, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071068286895752, + -0.004967996850609779 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.2979356348514557, + -0.8938066959381104, + -0.33517760038375854, + -0.0073323845863342285 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.33129462599754333, + 0.8834521770477295, + -0.3312946557998657, + -0.007855238392949104 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.009736982174217701 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9816026091575623, + 0.02230914682149887, + -0.18962779641151428, + 0.0021608122624456882 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0008200014708563685 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.9950372576713562, + 0.09950371831655502, + 0.0, + 0.00022768788039684296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 5, + 0, + 4 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 8, + 3, + 2 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 10, + 8, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + 0.010639716871082783, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + -0.007326439023017883, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 6, + 5, + 4, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 9, + 2, + 5, + 6, + 9, + 6, + 8, + 3, + 9, + 3, + 2, + 10, + 0, + 3, + 8, + 10, + 8, + 7, + 10, + 7, + 0, + 11, + 1, + 0, + 11, + 0, + 7, + 11, + 7, + 4, + 11, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.03521473705768585, + -0.9977520704269409, + -0.05701443552970886, + -0.009289816953241825 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.7999998927116394, + 0.0, + 0.6000000238418579, + 0.0018229754641652107 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07114565372467041, + -0.9960376620292664, + 0.0533592514693737, + -0.00948988925665617 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.5723052024841309, + 0.8155349493026733, + -0.08584579080343246, + 0.007058598101139069 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.31622758507728577, + 0.0, + -0.9486833214759827, + -0.0029828313272446394 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.2983115613460541, + -0.5220453143119812, + -0.7990487217903137, + -0.010331927798688412 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.06830870360136032, + -0.11954023689031601, + -0.9904766082763672, + -0.006338475272059441 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.48776865005493164, + 0.18291334807872772, + -0.8535951375961304, + -0.00707156490534544 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.5734623670578003, + 0.0, + -0.8192318081855774, + -0.008982653729617596 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 9, + 2, + 5 + ], + [ + 9, + 5, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 7 + ], + [ + 11, + 7, + 4 + ], + [ + 11, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010639716871082783, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + -0.002555649261921644 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + 0.00827574823051691, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 7, + 8, + 6, + 4, + 5, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 2, + 1, + 4, + 9, + 8, + 7, + 9, + 7, + 5, + 0, + 3, + 9, + 3, + 2, + 10, + 8, + 9, + 10, + 9, + 2, + 10, + 2, + 6, + 10, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05255891755223274, + 0.9986178278923035, + 0.0, + -0.010855256579816341 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.052558813244104385, + 0.0, + 0.9986178874969482, + -0.01563110202550888 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.19611604511737823, + 0.0, + -0.980580747127533, + -0.003964951261878014 + ] + }, + { + "index_base": 20, + "num_vertices": 5, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.004380727652460337 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.08762271702289581, + 0.9249054789543152, + -0.3699623644351959, + -0.011170078068971634 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.051917411386966705, + 0.15575221180915833, + -0.9864309430122375, + -0.006590181030333042 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.2242944985628128, + 0.6728833913803101, + -0.7049253582954407, + -0.010973555967211723 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.5734624266624451, + 0.0, + -0.8192319273948669, + -0.00898265466094017 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.4842175245285034, + -0.2178979516029358, + -0.847380518913269, + -0.006547159049659967 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 4 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 5 + ], + [ + 9, + 5, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 8, + 9 + ], + [ + 10, + 9, + 2 + ], + [ + 10, + 2, + 6 + ], + [ + 10, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + 0.004380727652460337, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.010639716871082783, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.005438987165689468, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 0, + 4, + 5, + 1, + 6, + 4, + 3, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.04461493715643883, + 0.988963782787323, + 0.14128059148788452, + -0.008053954690694809 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + 0.998617947101593, + -0.015904447063803673 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0008200014708563685 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + -0.998617947101593, + 0.013457550667226315 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 4, + 3 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.005481841508299112 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + 0.004063460510224104 + ] + ], + "indices_raw": [ + 0, + 2, + 3, + 4, + 0, + 1, + 2, + 5, + 6, + 3, + 2, + 5, + 2, + 1, + 7, + 6, + 5, + 1, + 7, + 4, + 3, + 7, + 3, + 6, + 8, + 4, + 7, + 8, + 7, + 1, + 8, + 1, + 0, + 8, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + -0.16439901292324066, + 0.0, + 0.0002261999761685729 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.14142130315303802, + 0.0, + 0.9899495244026184, + -0.008921387605369091 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.9899495244026184, + 0.0, + 0.1414213627576828, + -0.0027717400807887316 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8311627507209778, + -0.04617565497756004, + -0.5541085600852966, + 0.0016683712601661682 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8479982614517212, + 0.0, + -0.5299990177154541, + 0.0008568784687668085 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.800000011920929, + 0.0, + -0.5999999046325684, + 0.0014038399094715714 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.06285564601421356, + 0.7752197980880737, + -0.6285566687583923, + -0.006874820217490196 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.20507574081420898, + 0.4101516604423523, + -0.8886616826057434, + -0.0010694856755435467 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004063460510224104 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.012999962083995342, + 0.009264189749956131 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.008791396394371986 + ], + [ + -0.0027111757081001997, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 8, + 4, + 0, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 1, + 0, + 6, + 2, + 3, + 6, + 3, + 7, + 6, + 7, + 8, + 9, + 7, + 3, + 1, + 5, + 9, + 5, + 4, + 8, + 9, + 8, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.12275607138872147, + 0.14321544766426086, + 0.9820489883422852, + -0.011051204055547714 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.9974586963653564, + 0.0, + 0.07124704122543335, + 0.0003936674911528826 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9801960587501526, + -0.1400279700756073, + 0.14002792537212372, + -0.008092239499092102 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8099418878555298, + -0.09642163664102554, + -0.5785300135612488, + -4.437286406755447e-06 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.010163201950490475 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.7682212591171265, + 0.0, + -0.6401844024658203, + 0.0017292811535298824 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 8, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 1 + ], + [ + 9, + 1, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004853521473705769, + 0.010639716871082783, + 0.013519331812858582 + ], + [ + 0.004853521473705769, + 0.013476477935910225, + 0.013519331812858582 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + 0.005326314829289913, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + 0.0029623471200466156, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + 0.010639716871082783, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 9, + 5, + 4, + 8, + 9, + 8, + 6, + 7, + 9, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.2747209966182709, + 0.0, + 0.9615239500999451, + -0.011665796861052513 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9950372576713562, + 0.0, + 0.09950368851423264, + -0.006174658425152302 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.7682213187217712, + 0.0, + -0.6401843428611755, + 0.0015363255515694618 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 7 + ], + [ + 9, + 7, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.013519331812858582 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0022383821196854115, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.009264189749956131 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0022383821196854115, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 7, + 0, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 3, + 6, + 2, + 1, + 8, + 2, + 6, + 3, + 8, + 3, + 5, + 8, + 5, + 0, + 2, + 9, + 1, + 0, + 7, + 9, + 7, + 4, + 9, + 4, + 6, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.16439896821975708, + 0.004275036975741386 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.16437670588493347, + -0.016437672078609467, + 0.9862606525421143, + -0.012935986742377281 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.19611603021621704, + 0.0, + -0.9805806875228882, + 0.010079602710902691 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06237826123833656, + -0.9980525374412537, + 0.008877381682395935 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.9862606525421143, + 0.016437672078609467, + 0.1643766611814499, + -0.006827469449490309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.0, + -0.02939903922379017, + -0.9995677471160889, + 0.009433986619114876 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.9863939881324768, + 0.16439901292324066, + 0.0, + 0.00045876787044107914 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 4, + 3 + ], + [ + 6, + 2, + 1 + ], + [ + 8, + 2, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 1 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009264189749956131 + ], + [ + -0.0022383821196854115, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + 0.005799108650535345, + -0.004489677958190441, + 0.0007539056241512299 + ], + [ + 0.00627190200611949, + 0.0026022258680313826, + -0.0011372686130926013 + ], + [ + 0.005799108650535345, + 0.0059117809869349, + 0.0021722863893955946 + ], + [ + 0.005326314829289913, + -0.0030712971929460764, + 0.003117873566225171 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9837124347686768, + 0.017885657027363777, + -0.17885679006576538, + 0.005919797345995903 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9738617539405823, + -0.11686335504055023, + -0.19477225840091705, + -0.0060253688134253025 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9946228265762329, + 0.053283341228961945, + 0.08880557864904404, + -0.006275836378335953 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.8207634687423706, + -0.5471756458282471, + 0.1641526073217392, + 0.002179298084229231 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.1441291868686676, + 0.09608612209558487, + 0.9848828315734863, + -0.0035433084703981876 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.015410506166517735 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.0139921260997653 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 5, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 4, + 6, + 8, + 7, + 6, + 8, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + 0.0, + 0.5547003746032715, + -0.01080404780805111 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010166922584176064 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.09950388967990875, + 0.0, + 0.9950372576713562, + -0.015603799372911453 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.06644416600465775, + -0.04746011272072792, + 0.9966608285903931, + -0.015056665055453777 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.5704789757728577, + 0.4074849486351013, + 0.7130986452102661, + -0.01796834170818329 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 0, + 3, + 6, + 7, + 2, + 1, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0024895535316318274 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.013046538457274437 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 6 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.002016759943217039, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.0016994928009808064 + ] + ], + "indices_raw": [ + 4, + 1, + 3, + 5, + 3, + 1, + 0, + 0, + 1, + 2, + 4, + 2, + 1, + 6, + 2, + 4, + 6, + 4, + 5, + 6, + 5, + 3, + 0, + 6, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.002589479088783264 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439664712175727 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9935203194618225, + -0.05519557371735573, + 0.09935203194618225, + 0.00149308773688972 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.004489677492529154 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.9669876098632812, + -0.08058230578899384, + 0.2417469024658203, + -0.0029514108318835497 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0029623471200466156 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.00402060616761446 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.554436981678009, + 0.030802056193351746, + 0.8316554427146912, + -0.003179670311510563 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 3, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 6, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.002645079977810383 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005481841508299112 + ], + [ + 0.0006617542239837348, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + 0.005481841508299112 + ] + ], + "indices_raw": [ + 4, + 1, + 0, + 3, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 3, + 2, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.09053570032119751, + 0.0, + 0.9958932399749756, + -0.005876006092876196 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9985359311103821, + 0.0, + 0.05409111827611923, + -0.0009195960592478514 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.08996749669313431, + 0.11185961961746216, + -0.9896429181098938, + 0.005177837796509266 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.13128377497196198, + 0.0, + -0.9913448095321655, + 0.004830181133002043 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0006617542239837348, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.002984528196975589, + -0.008272026665508747, + 0.012078770436346531 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 3, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071066498756409, + 0.0, + 0.7071069478988647, + -0.007464918773621321 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.8903087377548218, + 0.0, + 0.4553573429584503, + -0.008157309144735336 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272027596831322 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06807220727205276, + -0.9976803660392761, + 0.012613847851753235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.002984528196975589, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.02849319949746132, + -0.0101632010191679, + 0.022502409294247627 + ], + [ + 0.02849319949746132, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.014309393242001534, + 0.010639716871082783, + 0.016828887164592743 + ], + [ + 0.04362259432673454, + 0.009694129228591919, + 0.018247267231345177 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.021556822583079338 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.020138442516326904 + ], + [ + 0.032275550067424774, + -0.010635994374752045, + 0.011155364103615284 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0011372686130926013 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0011372686130926013 + ], + [ + 0.04787773638963699, + -0.0030712971929460764, + 0.022975202649831772 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.022975202649831772 + ], + [ + 0.042677007615566254, + -0.009690406732261181, + 0.022502409294247627 + ], + [ + 0.040785834193229675, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.045986562967300415, + 0.007802954874932766, + 0.021556822583079338 + ], + [ + 0.04125862568616867, + 0.011112510226666927, + 0.02061123587191105 + ], + [ + 0.0388946570456028, + 0.011112510226666927, + 0.015410506166517735 + ], + [ + 0.030384374782443047, + -0.01110878773033619, + 0.02061123587191105 + ], + [ + 0.01336380559951067, + -0.010635994374752045, + 0.013046538457274437 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.021556822583079338 + ], + [ + 0.04362259432673454, + -0.009690406732261181, + 0.01872006058692932 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.011112510226666927, + 0.0139921260997653 + ], + [ + 0.030384374782443047, + 0.011585303582251072, + 0.02061123587191105 + ], + [ + 0.04125862568616867, + -0.010635994374752045, + 0.01966564916074276 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 11, + 2, + 1, + 10, + 1, + 12, + 13, + 2, + 11, + 14, + 4, + 15, + 14, + 15, + 13, + 14, + 13, + 11, + 16, + 15, + 4, + 16, + 4, + 9, + 17, + 12, + 1, + 5, + 4, + 14, + 5, + 14, + 11, + 5, + 11, + 10, + 8, + 7, + 17, + 18, + 18, + 17, + 1, + 0, + 19, + 10, + 12, + 19, + 12, + 20, + 21, + 0, + 3, + 22, + 9, + 8, + 18, + 0, + 21, + 22, + 21, + 3, + 6, + 5, + 10, + 6, + 10, + 19, + 6, + 19, + 20, + 6, + 20, + 7, + 23, + 15, + 16, + 16, + 9, + 22, + 23, + 23, + 22, + 3, + 23, + 3, + 2, + 23, + 2, + 13, + 23, + 13, + 15, + 24, + 12, + 17, + 24, + 17, + 7, + 24, + 7, + 20, + 24, + 20, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.5487039089202881, + -0.004039752297103405, + -0.8360070586204529, + -0.0084267258644104 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.37396830320358276, + 0.0, + 0.9274414777755737, + -0.010214114561676979 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.023618821054697037, + 0.000429434614488855, + 0.9997208714485168, + -0.02182772196829319 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.002438429743051529, + -0.07315284758806229, + 0.9973177313804626, + -0.02325499802827835 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.0, + 0.05546998977661133, + 0.9984602928161621, + -0.023057948797941208 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5628597140312195, + 0.8236973285675049, + 0.06864141672849655, + -0.0337909497320652 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.4977046549320221, + 0.8039843440055847, + 0.3254217803478241, + -0.03617624193429947 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.354749470949173, + 0.36319589614868164, + 0.8615344166755676, + -0.03771965578198433 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.37572842836380005, + 0.9108569622039795, + -0.17078568041324615, + -0.022103842347860336 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.5368949174880981, + 0.1193106472492218, + -0.8351699113845825, + -0.009337794035673141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.029399093240499496, + -0.8819714784622192, + 0.4703848958015442, + -0.020386122167110443 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.8450430035591125, + 0.3521014153957367, + -0.40240147709846497, + -0.0329335555434227 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.923076868057251, + 0.38461554050445557, + 0.0, + -0.04545026645064354 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.995893120765686, + -0.09053604304790497, + 0.0, + -0.04795917123556137 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.010436422191560268, + -0.9981001615524292, + -0.06072093918919563, + -0.00960158184170723 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + -0.15411591529846191, + -0.9452441930770874, + 0.28768303990364075, + -0.01174730435013771 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5368158221244812, + -0.4717472493648529, + 0.6994878649711609, + -0.043221279978752136 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6027487516403198, + -0.7835735082626343, + 0.150687113404274, + -0.03670748323202133 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.44721323251724243, + 0.0, + 0.8944272994995117, + -0.008652868680655956 + ] + }, + { + "index_base": 64, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.013363806530833244 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.544949471950531, + 0.7784987688064575, + 0.3113996982574463, + -0.005725621245801449 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9209275841712952, + -0.1782442033290863, + -0.34658530354499817, + -0.036676499992609024 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.9138116836547852, + -0.4061383605003357, + 0.0, + -0.04499860480427742 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7071066498756409, + -0.70710688829422, + 0.0, + -0.03769798204302788 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5571632385253906, + -0.06023363769054413, + -0.8282155394554138, + -0.009384348057210445 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.04342874884605408, + 0.99886155128479, + -0.01974034123122692, + -0.012484797276556492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.006421743426471949, + 0.9977375864982605, + -0.06692144274711609, + -0.010305847972631454 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.10371185094118118, + 0.9748918414115906, + 0.19705253839492798, + -0.012204693630337715 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.13333329558372498, + 0.9333333373069763, + 0.33333322405815125, + -0.013632111251354218 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8944272398948669, + 0.44721361994743347, + -0.01957983709871769 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.0420331209897995, + 0.966762125492096, + 0.2521987855434418, + -0.01767551153898239 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.06639426946640015, + -0.9560773968696594, + 0.2854956090450287, + -0.018522625789046288 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.0397564060986042, + -0.9983277320861816, + -0.04196507856249809, + -0.011433231644332409 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + 0.26032334566116333, + -0.9255942106246948, + -0.2747856676578522, + -0.015181360766291618 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + 0.40406110882759094, + -0.9091371893882751, + 0.10101522505283356, + -0.02832711488008499 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 11, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 12 + ], + [ + 13, + 2, + 11 + ], + [ + 14, + 4, + 15 + ], + [ + 14, + 15, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 9 + ], + [ + 17, + 12, + 1 + ], + [ + 5, + 4, + 14 + ], + [ + 5, + 14, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 8, + 7, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 18, + 17, + 1 + ], + [ + 18, + 1, + 0 + ], + [ + 19, + 10, + 12 + ], + [ + 19, + 12, + 20 + ], + [ + 21, + 0, + 3 + ], + [ + 22, + 9, + 8 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 0 + ], + [ + 22, + 0, + 21 + ], + [ + 22, + 21, + 3 + ], + [ + 6, + 5, + 10 + ], + [ + 6, + 10, + 19 + ], + [ + 6, + 19, + 20 + ], + [ + 6, + 20, + 7 + ], + [ + 23, + 15, + 16 + ], + [ + 16, + 9, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 23, + 22, + 3 + ], + [ + 23, + 3, + 2 + ], + [ + 23, + 2, + 13 + ], + [ + 23, + 13, + 15 + ], + [ + 24, + 12, + 17 + ], + [ + 24, + 17, + 7 + ], + [ + 24, + 7, + 20 + ], + [ + 24, + 20, + 12 + ] + ], + "raw_bounds": [ + [ + 0.01336380559951067, + -0.01110878773033619, + -0.0011372686130926013 + ], + [ + 0.04835053160786629, + 0.011585303582251072, + 0.022975202649831772 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0008200015290640295, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + -0.001765588647685945, + 0.004020606633275747, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0010711727663874626, + 0.004020606633275747, + 0.003117873566225171 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3, + 5, + 1, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 5, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + 0.7071067690849304, + -0.002784498268738389 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.3154498338699341, + 0.07009996473789215, + 0.9463495016098022, + -0.002894541248679161 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.19593016803264618, + -0.04354003816843033, + 0.9796508550643921, + -0.0030892454087734222 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.004020606633275747 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.8941512703895569, + 0.024837536737322807, + 0.44707563519477844, + -0.002451577689498663 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.1412079781293869, + -0.054914213716983795, + -0.9884557723999023, + 0.002149977022781968 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0021722863893955946 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 1, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0163560938090086 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.008163075894117355 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0059117809869349 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 3, + 6, + 0, + 2, + 7, + 1, + 0, + 7, + 0, + 6, + 5, + 7, + 5, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0560038685798645, + -0.99740070104599, + 0.04533645883202553, + -0.011155171319842339 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + -0.05872198939323425, + 0.0, + 0.9982743859291077, + -0.015543119050562382 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.05865586921572685, + -0.997148334980011, + -0.04748332127928734, + -0.009067608043551445 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.007690283004194498, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 7, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 2, + 3, + 5, + 6, + 4, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 8, + 0, + 4, + 6, + 8, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.46962231397628784, + -0.06403941661119461, + -0.8805418014526367, + -0.007981184870004654 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.013363804668188095 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.008752558380365372 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.00627190200611949 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.3159340023994446, + 0.04308191314339638, + -0.9478026032447815, + -0.002936009783297777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 4 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 0, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.004380727186799049 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.015883298590779305 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.19611606001853943, + 0.0, + -0.9805806875228882, + 0.013188702054321766 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0003472079406492412 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0027111757081001997 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0033423160202801228 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.009736983105540276 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + -0.0022383821196854115, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + -0.001765588647685945, + 0.0011838451027870178, + -0.0020828559063374996 + ], + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.00019168150902260095 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 4, + 8, + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 7, + 0, + 3, + 9, + 7, + 6, + 8, + 9, + 8, + 4, + 5, + 9, + 5, + 1, + 0, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0015439663548022509 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0021722863893955946 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.14142130315303802, + 0.0, + -0.9899495244026184, + -0.0023116141092032194 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8944272398948669, + 0.0, + -0.4472135901451111, + -0.0025106719695031643 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9805806875228882, + 0.0, + 0.1961161345243454, + -0.002620934508740902 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0011838451027870178 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 7, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.012100951746106148 + ], + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.0029623471200466156, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 3, + 2, + 1, + 6, + 1, + 0, + 7, + 1, + 6, + 7, + 4, + 3, + 1, + 8, + 6, + 0, + 8, + 0, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00973698403686285 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.16299529373645782, + 0.13039623200893402, + 0.9779720902442932, + -0.010349966585636139 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9792319536209106, + 0.19947320222854614, + 0.03626780956983566, + 0.003649023361504078 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0035900697112083435 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.880450963973999, + 0.4402254819869995, + -0.17609013617038727, + 0.007964345626533031 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 1, + 6 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 8, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.01581710111349821, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_029.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_029.json new file mode 100644 index 0000000000000000000000000000000000000000..e651fd2a2bbe002afccf5cb2812ece39c93f6b5e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_029.json @@ -0,0 +1,1354 @@ +{ + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3848897637799382, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026940000243484974, + -0.018400000408291817, + -0.002956999931484461 + ], + [ + 0.034749001264572144, + -0.011500000022351742, + -0.017650000751018524 + ], + [ + 0.0018619999755173922, + -0.018400000408291817, + 0.003539999946951866 + ], + [ + -0.007480999920517206, + -0.003100000089034438, + -0.010386000387370586 + ], + [ + 0.020020000636577606, + -0.009317000396549702, + -0.0218339990824461 + ], + [ + -0.0034580000210553408, + -0.018400000408291817, + 0.002010999945923686 + ], + [ + -0.007565999869257212, + -0.003100000089034438, + 0.010324000380933285 + ], + [ + -0.012679999694228172, + -0.003100000089034438, + 0.001749000046402216 + ], + [ + -0.010701999999582767, + 0.003100000089034438, + 0.007021999917924404 + ], + [ + -0.012784999795258045, + 0.003100000089034438, + -0.0006089999806135893 + ], + [ + 0.03127700090408325, + -0.011500000022351742, + -0.02252800017595291 + ], + [ + 0.03247499838471413, + -0.0071000000461936, + -0.024327000603079796 + ], + [ + -0.009686999954283237, + 0.003100000089034438, + -0.008365999907255173 + ], + [ + -0.002320999978110194, + 0.018400000408291817, + -0.0032579998951405287 + ], + [ + 0.01777699962258339, + 0.010436000302433968, + -0.020383000373840332 + ], + [ + 0.03258199989795685, + -0.005601000040769577, + -0.011509999632835388 + ], + [ + 0.007480999920517206, + -0.003100000089034438, + 0.010386000387370586 + ], + [ + -5.199999941396527e-05, + -0.003100000089034438, + 0.012799999676644802 + ], + [ + 0.0033710000570863485, + 0.003100000089034438, + 0.012347999960184097 + ], + [ + -0.004530000034719706, + 0.003100000089034438, + 0.011970999650657177 + ], + [ + -0.0024349999148398638, + 0.018400000408291817, + 0.003172999946400523 + ], + [ + 0.03617699816823006, + -0.00803999975323677, + -0.021151000633835793 + ], + [ + 0.0020359999034553766, + 0.018400000408291817, + 0.00344299990683794 + ], + [ + 0.03437599912285805, + 0.009318999946117401, + -0.01423100009560585 + ], + [ + 0.03303299844264984, + 0.012000000104308128, + -0.017819000408053398 + ], + [ + 0.03564000129699707, + 0.009999999776482582, + -0.02071000076830387 + ], + [ + 0.03685100004076958, + 0.0071000000461936, + -0.01864900067448616 + ], + [ + -0.011285999789834023, + -0.003100000089034438, + -0.006039000116288662 + ], + [ + 0.03635299950838089, + -0.0071000000461936, + -0.016155999153852463 + ], + [ + -0.003978999797254801, + 0.018400000408291817, + -0.00041000000783242285 + ], + [ + 0.02185700088739395, + 0.0071000000461936, + -0.022856000810861588 + ], + [ + 0.03161099925637245, + 0.009469999931752682, + -0.024010999128222466 + ], + [ + 0.034717999398708344, + 0.007215000223368406, + -0.023137999698519707 + ], + [ + 0.03087400086224079, + 0.012000000104308128, + -0.020850999280810356 + ], + [ + 0.007790999952703714, + 0.003100000089034438, + 0.010223999619483948 + ] + ], + "indices_raw": [ + 22, + 20, + 19, + 18, + 0, + 1, + 2, + 3, + 4, + 0, + 5, + 6, + 7, + 5, + 7, + 0, + 5, + 0, + 2, + 8, + 9, + 7, + 8, + 7, + 6, + 10, + 4, + 11, + 10, + 1, + 0, + 10, + 0, + 4, + 12, + 13, + 14, + 15, + 16, + 2, + 15, + 2, + 1, + 17, + 6, + 5, + 17, + 5, + 2, + 17, + 2, + 16, + 17, + 16, + 18, + 19, + 20, + 8, + 19, + 8, + 6, + 19, + 6, + 17, + 19, + 17, + 18, + 21, + 1, + 10, + 21, + 10, + 11, + 22, + 23, + 24, + 22, + 24, + 13, + 25, + 24, + 23, + 25, + 23, + 26, + 27, + 7, + 9, + 27, + 9, + 12, + 27, + 12, + 3, + 27, + 3, + 0, + 27, + 0, + 7, + 28, + 26, + 23, + 28, + 23, + 15, + 28, + 15, + 1, + 28, + 1, + 21, + 28, + 21, + 26, + 29, + 20, + 22, + 13, + 29, + 13, + 12, + 29, + 12, + 9, + 29, + 9, + 8, + 29, + 8, + 20, + 30, + 14, + 31, + 30, + 31, + 11, + 30, + 11, + 4, + 30, + 4, + 3, + 30, + 3, + 12, + 14, + 32, + 31, + 25, + 32, + 25, + 26, + 21, + 32, + 21, + 11, + 32, + 11, + 31, + 33, + 13, + 24, + 33, + 24, + 25, + 33, + 25, + 31, + 33, + 31, + 14, + 33, + 14, + 13, + 34, + 16, + 15, + 34, + 15, + 23, + 34, + 23, + 22, + 34, + 22, + 18, + 34, + 18, + 16 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0451480895280838, + 0.5026227831840515, + 0.8633261919021606, + -0.012097529135644436 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1423136591911316, + -0.9847778677940369, + -0.09979698807001114, + -0.018031621351838112 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.4267512261867523, + -0.49956536293029785, + -0.7538686394691467, + -0.012570859864354134 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.7654424905776978, + -0.4535495340824127, + 0.45649829506874084, + -0.011910229921340942 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.8481484055519104, + -0.5134508013725281, + -0.1304318904876709, + -0.012118094600737095 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018400002270936966 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9613348245620728, + 0.08352024853229523, + 0.2624112665653229, + -0.012389769777655602 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8478571772575378, + -0.1595526933670044, + 0.505649209022522, + -0.012129822745919228 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1244775727391243, + -0.3462839722633362, + -0.92983478307724, + -0.0210363008081913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.14184698462486267, + -0.9847263693809509, + -0.10096204280853271, + -0.018035374581813812 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.18778613209724426, + -0.777571976184845, + -0.6000985503196716, + -0.01658771187067032 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.45617246627807617, + 0.47157031297683716, + -0.7546708583831787, + -0.01219438761472702 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.5400451421737671, + -0.5009511709213257, + 0.676313042640686, + -0.012617215514183044 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.5401402115821838, + -0.5034834146499634, + 0.6743537783622742, + -0.012657048180699348 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.2683568596839905, + -0.5145392417907715, + 0.8143918514251709, + -0.012033242732286453 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.23515890538692474, + -0.5246232748031616, + 0.8182119131088257, + -0.012111673131585121 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.26872482895851135, + -0.4739088714122772, + 0.8385686874389648, + -0.012188822962343693 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.3036837875843048, + -0.09857543557882309, + 0.9476597905158997, + -0.012419838458299637 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.5517596006393433, + 0.4712375998497009, + 0.6881107687950134, + -0.01219768263399601 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.6225250363349915, + 0.09859922528266907, + 0.7763638496398926, + -0.012419546954333782 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.31144073605537415, + -0.09856624156236649, + 0.9451398849487305, + -0.012419541366398335 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.047428809106349945, + 0.09865041077136993, + 0.9939911961555481, + -0.012419737875461578 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.598672091960907, + -0.678246021270752, + -0.4261152148246765, + -0.03612402081489563 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.5173730850219727, + -0.44077378511428833, + -0.7335146069526672, + -0.037775393575429916 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.450687438249588, + 0.7877478003501892, + 0.41992151737213135, + -0.016857948154211044 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.1407613307237625, + 0.9858041405677795, + -0.09152323007583618, + -0.01811026968061924 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7313763499259949, + 0.648559033870697, + 0.21085503697395325, + -0.028185034170746803 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8368046283721924, + 0.5030374526977539, + 0.2161276787519455, + -0.030378088355064392 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.9809271693229675, + -0.0833892971277237, + -0.17557938396930695, + -0.012389576062560081 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9240381121635437, + 0.09980206191539764, + -0.3690434694290161, + -0.012347961775958538 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + -0.7513985633850098, + -0.053065814077854156, + -0.657711386680603, + -0.012616708874702454 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6578575372695923, + -0.4854268431663513, + -0.5758334994316101, + -0.012406863272190094 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.8484349846839905, + -0.5070456266403198, + -0.15186411142349243, + -0.012064386159181595 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.8820446133613586, + 0.051294174045324326, + 0.46836555004119873, + -0.024133868515491486 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.7794872522354126, + 0.020454086363315582, + 0.6260839700698853, + -0.018076464533805847 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6194655895233154, + -0.44533371925354004, + 0.6464830040931702, + -0.015236725099384785 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.9353009462356567, + -0.3522794842720032, + 0.0333390012383461, + -0.035963550209999084 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.998820424079895, + -0.03988993912935257, + -0.02768711932003498, + -0.037040647119283676 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.018400000408291817 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + -0.7462656497955322, + 0.5043237805366516, + -0.4344480633735657, + -0.012427072040736675 + ] + }, + { + "index_base": 122, + "num_vertices": 3, + "plane": [ + -0.8173755407333374, + 0.47469088435173035, + -0.3264443278312683, + -0.01212049275636673 + ] + }, + { + "index_base": 125, + "num_vertices": 3, + "plane": [ + -0.8446415066719055, + 0.483139306306839, + 0.23055800795555115, + -0.012156063690781593 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.7889560461044312, + 0.5118223428726196, + 0.3399799168109894, + -0.012417396530508995 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.20466917753219604, + 0.4089396595954895, + -0.8893137574195862, + -0.018756171688437462 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.12061034142971039, + 0.01264103688299656, + -0.9926194548606873, + -0.020140882581472397 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.18927845358848572, + -0.03989730775356293, + -0.9811125993728638, + -0.018003981560468674 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.3869834840297699, + -0.014093653298914433, + -0.9219788908958435, + -0.012514389120042324 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + -0.42786476016044617, + 0.13876493275165558, + -0.8931270837783813, + -0.012046704068779945 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + 0.5293327569961548, + 0.4511655569076538, + -0.7185099720954895, + -0.0382574200630188 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + 0.8962570428848267, + 0.0331924632191658, + -0.4422913193702698, + -0.04151192680001259 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6451348066329956, + -0.03769935667514801, + -0.7631380558013916, + -0.03978327661752701 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.292805939912796, + 0.03349127247929573, + -0.9555851221084595, + -0.032517604529857635 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.1379530429840088, + 0.9855552911758423, + -0.09823238104581833, + -0.018134070560336113 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3793489933013916, + 0.8849450945854187, + -0.27012333273887634, + -0.027963705360889435 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.3395898640155792, + 0.7712914347648621, + -0.5383197665214539, + -0.030964501202106476 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.11380887776613235, + 0.7624368071556091, + -0.6369754672050476, + -0.018917083740234375 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.11918839067220688, + 0.8394197821617126, + -0.5302532911300659, + -0.017449526116251945 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.6565588116645813, + -0.013122377917170525, + 0.7541606426239014, + -0.01278510969132185 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.6690284013748169, + 0.0547332689166069, + 0.7412188053131104, + -0.01296029519289732 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5190467238426208, + 0.5018815994262695, + 0.6918854713439941, + -0.012673563323915005 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.37752199172973633, + 0.4901893436908722, + 0.7856153845787048, + -0.012492992915213108 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.4331280589103699, + 0.0018945846240967512, + 0.9013304710388184, + -0.012595577165484428 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 20, + 19 + ], + [ + 22, + 19, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 10, + 4, + 11 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 12, + 13, + 14 + ], + [ + 15, + 16, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 6, + 5 + ], + [ + 17, + 5, + 2 + ], + [ + 17, + 2, + 16 + ], + [ + 17, + 16, + 18 + ], + [ + 19, + 20, + 8 + ], + [ + 19, + 8, + 6 + ], + [ + 19, + 6, + 17 + ], + [ + 19, + 17, + 18 + ], + [ + 21, + 1, + 10 + ], + [ + 21, + 10, + 11 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 13 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 26 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 12 + ], + [ + 27, + 12, + 3 + ], + [ + 27, + 3, + 0 + ], + [ + 27, + 0, + 7 + ], + [ + 28, + 26, + 23 + ], + [ + 28, + 23, + 15 + ], + [ + 28, + 15, + 1 + ], + [ + 28, + 1, + 21 + ], + [ + 28, + 21, + 26 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 20 + ], + [ + 30, + 14, + 31 + ], + [ + 30, + 31, + 11 + ], + [ + 30, + 11, + 4 + ], + [ + 30, + 4, + 3 + ], + [ + 30, + 3, + 12 + ], + [ + 30, + 12, + 14 + ], + [ + 32, + 31, + 25 + ], + [ + 32, + 25, + 26 + ], + [ + 32, + 26, + 21 + ], + [ + 32, + 21, + 11 + ], + [ + 32, + 11, + 31 + ], + [ + 33, + 13, + 24 + ], + [ + 33, + 24, + 25 + ], + [ + 33, + 25, + 31 + ], + [ + 33, + 31, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 34, + 16, + 15 + ], + [ + 34, + 15, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 18 + ], + [ + 34, + 18, + 16 + ] + ], + "raw_bounds": [ + [ + -0.012784999795258045, + -0.018400000408291817, + -0.024327000603079796 + ], + [ + 0.03685100004076958, + 0.018400000408291817, + 0.012799999676644802 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004322413820773363, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_030.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_030.json new file mode 100644 index 0000000000000000000000000000000000000000..82ea2c9cd595995707b84ff2438954e67b2961db --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_030.json @@ -0,0 +1,1337 @@ +{ + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4106358988210559, + "parts": [ + { + "vertices_raw": [ + [ + 0.004881000146269798, + -0.021114999428391457, + 0.0008929999894462526 + ], + [ + 0.00469100009649992, + 0.019923999905586243, + -0.0017300000181421638 + ], + [ + 0.0033489998895674944, + 0.02449999935925007, + 0.0021879998967051506 + ], + [ + -0.016958000138401985, + -0.020500000566244125, + 0.013813000172376633 + ], + [ + -0.0011149999918416142, + -0.020500000566244125, + 0.007065999787300825 + ], + [ + -0.00979200005531311, + 0.021794000640511513, + 0.011417999863624573 + ], + [ + 0.0015670000575482845, + -0.02500000037252903, + 0.0016840000171214342 + ], + [ + -0.024754999205470085, + -0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03359999880194664, + -0.02500000037252903, + 0.008762000128626823 + ], + [ + 0.0014359999913722277, + -0.023600000888109207, + -0.004265000112354755 + ], + [ + -0.03095399960875511, + 0.02449999935925007, + 0.013713999651372433 + ], + [ + -0.024754999205470085, + 0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03551800176501274, + 0.02449999935925007, + 0.009996999986469746 + ], + [ + -0.034042999148368835, + 0.020500000566244125, + 0.014074999839067459 + ], + [ + -0.0137320002540946, + -0.024035999551415443, + 0.01143999956548214 + ], + [ + 0.003662999952211976, + 0.02449999935925007, + -0.0016070000128820539 + ], + [ + -0.0006580000044777989, + 0.02449999935925007, + -0.003945999778807163 + ], + [ + -0.021220000460743904, + 0.020500000566244125, + 0.0145650003105402 + ], + [ + -0.031286999583244324, + -0.023600000888109207, + 0.014248000457882881 + ], + [ + -0.0340769998729229, + -0.021375000476837158, + 0.013964000158011913 + ], + [ + -0.03274000063538551, + 0.02449999935925007, + 0.005944000091403723 + ], + [ + -0.033351998776197433, + 0.021788999438285828, + 0.005282999947667122 + ], + [ + -0.03579099848866463, + -0.023600000888109207, + 0.011188000440597534 + ], + [ + 0.0043230000883340836, + -0.023600000888109207, + -0.0012489999644458294 + ], + [ + 0.0020200000144541264, + 0.020500000566244125, + -0.0045739999040961266 + ], + [ + -0.03513399884104729, + -0.023600000888109207, + 0.007065999787300825 + ], + [ + -0.036518000066280365, + -0.020500000566244125, + 0.010017000138759613 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + 0.005121000111103058 + ], + [ + -0.014038000255823135, + 0.02483000047504902, + 0.010449999943375587 + ], + [ + 0.0029899999499320984, + -0.023600000888109207, + 0.0033629999961704016 + ], + [ + -0.03604299947619438, + 0.020500000566244125, + 0.007612000219523907 + ], + [ + 0.00022200000239536166, + 0.020500000566244125, + 0.006147000007331371 + ], + [ + -0.0010679999832063913, + -0.020500000566244125, + -0.004885000176727772 + ], + [ + -0.036079999059438705, + 0.020500000566244125, + 0.011818000115454197 + ] + ], + "indices_raw": [ + 32, + 27, + 21, + 16, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 7, + 6, + 14, + 4, + 3, + 15, + 16, + 11, + 15, + 11, + 2, + 15, + 2, + 1, + 17, + 10, + 13, + 17, + 3, + 5, + 18, + 7, + 14, + 18, + 14, + 3, + 18, + 3, + 17, + 18, + 17, + 13, + 18, + 13, + 19, + 18, + 8, + 7, + 20, + 12, + 11, + 20, + 11, + 16, + 20, + 16, + 21, + 22, + 8, + 18, + 22, + 18, + 19, + 23, + 6, + 9, + 23, + 1, + 0, + 24, + 16, + 15, + 24, + 15, + 1, + 24, + 1, + 23, + 24, + 23, + 9, + 25, + 8, + 22, + 25, + 22, + 26, + 25, + 27, + 9, + 25, + 9, + 8, + 28, + 5, + 2, + 28, + 2, + 11, + 28, + 11, + 10, + 28, + 10, + 17, + 28, + 17, + 5, + 29, + 4, + 14, + 29, + 14, + 6, + 29, + 6, + 23, + 29, + 23, + 0, + 29, + 0, + 2, + 30, + 21, + 27, + 30, + 27, + 25, + 30, + 25, + 26, + 30, + 12, + 20, + 30, + 20, + 21, + 31, + 4, + 29, + 31, + 29, + 2, + 31, + 2, + 5, + 31, + 5, + 4, + 32, + 16, + 24, + 32, + 24, + 9, + 32, + 9, + 27, + 33, + 12, + 30, + 33, + 30, + 26, + 33, + 26, + 22, + 19, + 33, + 19, + 13, + 33, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2837983965873718, + 0.004008793272078037, + -0.9588755965232849, + -0.004486851394176483 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9538896679878235, + 0.023541664704680443, + 0.2992326617240906, + -0.004426068160682917 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.3917756676673889, + -0.014285339042544365, + 0.9199498891830444, + -0.006356386002153158 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.03416293114423752, + -0.9848969578742981, + -0.1697382926940918, + -0.024283049628138542 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.0458645299077034, + -0.9726089835166931, + -0.22787760198116302, + -0.02385961078107357 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.09076569974422455, + 0.9896164536476135, + 0.11144871264696121, + -0.028583571314811707 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5515294075012207, + 0.48703670501708984, + 0.677207887172699, + -0.03829167038202286 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.09394942224025726, + -0.9655330181121826, + 0.24273337423801422, + -0.024694306775927544 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.3792104721069336, + -0.25161007046699524, + 0.8904447555541992, + -0.011027069762349129 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.02012530155479908, + 0.9991059899330139, + -0.0371788889169693, + -0.024611562490463257 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.03638264909386635, + 0.999333381652832, + 0.0030103176832199097, + -0.024612098932266235 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.9729765057563782, + 0.216415673494339, + 0.08050452917814255, + -0.008736825548112392 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.03791423141956329, + 0.11882458627223969, + 0.9921911358833313, + -0.017691709101200104 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.2644491493701935, + 0.009802224114537239, + 0.9643497467041016, + -0.008635088801383972 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.05209881067276001, + -0.8847787976264954, + 0.4630899131298065, + -0.0258488729596138 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.12808160483837128, + -0.4694364368915558, + 0.873627245426178, + -0.019518854096531868 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.03354852646589279, + -0.014841711148619652, + 0.9993269443511963, + -0.013539042323827744 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.03818470984697342, + 0.0015337229706346989, + 0.9992694854736328, + -0.01539608184248209 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.10328322649002075, + -0.0025526918470859528, + 0.9946486353874207, + -0.01746341958642006 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.08969464898109436, + -0.9553270936012268, + 0.2816115617752075, + -0.02936439774930477 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.09299364686012268, + 0.9936243891716003, + -0.06373956799507141, + -0.027009541168808937 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.0475323349237442, + 0.9868972301483154, + -0.1541893184185028, + -0.02481869049370289 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.28220677375793457, + 0.28691232204437256, + -0.9154456257820129, + -0.010827393271028996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.22302483022212982, + -0.9178776741027832, + 0.3282690942287445, + -0.033316873013973236 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.48207712173461914, + -0.5139225721359253, + 0.7095668911933899, + -0.03732122853398323 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.23763298988342285, + -0.9443454742431641, + -0.22746899724006653, + -0.023597950115799904 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.9706486463546753, + -0.01086210273206234, + -0.24025662243366241, + -0.004752540495246649 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.43300625681877136, + 0.41548582911491394, + -0.7999231815338135, + -0.013050980865955353 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7348579168319702, + 0.1826428771018982, + -0.6531657576560974, + -0.008216172456741333 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.7274712920188904, + -0.013732098042964935, + -0.686000645160675, + -0.004325751215219498 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.7223119139671326, + -0.014409931376576424, + -0.6914172768592834, + -0.0043262094259262085 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6101171970367432, + -0.786320686340332, + -0.09724568575620651, + -0.03930589184165001 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.9481901526451111, + -0.27945470809936523, + -0.15113064646720886, + -0.03884095326066017 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.2715010344982147, + -0.39808598160743713, + -0.8762503862380981, + -0.012742162682116032 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + -0.16558584570884705, + -0.8288426995277405, + -0.5344165563583374, + -0.021602194756269455 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.3284822404384613, + 0.6712574362754822, + 0.6644644141197205, + -0.018999742344021797 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.05786185339093208, + 0.9949489831924438, + 0.08202731609344482, + -0.024749504402279854 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.04252167418599129, + 0.9477416276931763, + 0.3161925673484802, + -0.02623971924185753 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.14933736622333527, + 0.5396801829338074, + 0.8285189867019653, + -0.0199618861079216 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.17383377254009247, + 0.5114371180534363, + 0.8415545225143433, + -0.01905294880270958 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.40118324756622314, + -0.4329771101474762, + 0.8072068691253662, + -0.014132436364889145 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.2549504041671753, + -0.8379132747650146, + 0.48259902000427246, + -0.022160036489367485 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.5830668807029724, + -0.79475337266922, + 0.16852304339408875, + -0.021066294983029366 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8744012713432312, + -0.4141877293586731, + 0.25272703170776367, + -0.013239211402833462 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7895487546920776, + 0.009096799418330193, + 0.6136204600334167, + -0.004209672100841999 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.6554164290428162, + 0.003668168094009161, + -0.7552587389945984, + -0.017949342727661133 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.7412555813789368, + -0.006969014648348093, + -0.6711868047714233, + -0.021465137600898743 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.9107304215431213, + -0.013661650940775871, + -0.41277554631233215, + -0.02940334752202034 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.7534950971603394, + 0.4068348705768585, + -0.5164594650268555, + -0.0315670520067215 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.7028453350067139, + 0.3142618238925934, + -0.6381598114967346, + -0.02691735327243805 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.6676843166351318, + -0.005086960736662149, + 0.7444272041320801, + -0.004619937390089035 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.7800334692001343, + 0.009462078101933002, + 0.6256662607192993, + -0.004213110543787479 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.46558624505996704, + 0.4115085005760193, + 0.7835114002227783, + -0.013355529867112637 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.46624213457107544, + 0.004624944180250168, + 0.8846451044082642, + -0.005636231042444706 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + -0.1966385543346405, + 0.022245602682232857, + -0.9802235960960388, + -0.004542367532849312 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.2288264036178589, + -0.009850801900029182, + -0.9734174013137817, + -0.004712698981165886 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.2715972363948822, + -0.39491158723831177, + -0.8776558041572571, + -0.01267310418188572 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.9907751083374023, + 0.13523544371128082, + -0.008715703152120113, + -0.03841649368405342 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9999001026153564, + 0.011068263091146946, + -0.008795978501439095, + -0.03619934618473053 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + -0.8549159169197083, + -0.013646861538290977, + 0.5185871124267578, + -0.03669426590204239 + ] + }, + { + "index_base": 182, + "num_vertices": 3, + "plane": [ + -0.7423605918884277, + -0.0011732283746823668, + 0.6699994206428528, + -0.034678373485803604 + ] + }, + { + "index_base": 185, + "num_vertices": 3, + "plane": [ + -0.6870352029800415, + 0.3788135051727295, + 0.6200668215751648, + -0.039881862699985504 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 32, + 27, + 21 + ], + [ + 32, + 21, + 16 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 4, + 3 + ], + [ + 15, + 16, + 11 + ], + [ + 15, + 11, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 10, + 13 + ], + [ + 17, + 3, + 5 + ], + [ + 18, + 7, + 14 + ], + [ + 18, + 14, + 3 + ], + [ + 18, + 3, + 17 + ], + [ + 18, + 17, + 13 + ], + [ + 18, + 13, + 19 + ], + [ + 18, + 8, + 7 + ], + [ + 20, + 12, + 11 + ], + [ + 20, + 11, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 19 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 16, + 15 + ], + [ + 24, + 15, + 1 + ], + [ + 24, + 1, + 23 + ], + [ + 24, + 23, + 9 + ], + [ + 25, + 8, + 22 + ], + [ + 25, + 22, + 26 + ], + [ + 25, + 27, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 28, + 5, + 2 + ], + [ + 28, + 2, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 17 + ], + [ + 28, + 17, + 5 + ], + [ + 29, + 4, + 14 + ], + [ + 29, + 14, + 6 + ], + [ + 29, + 6, + 23 + ], + [ + 29, + 23, + 0 + ], + [ + 29, + 0, + 2 + ], + [ + 30, + 21, + 27 + ], + [ + 30, + 27, + 25 + ], + [ + 30, + 25, + 26 + ], + [ + 30, + 12, + 20 + ], + [ + 30, + 20, + 21 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 2 + ], + [ + 31, + 2, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 16, + 24 + ], + [ + 32, + 24, + 9 + ], + [ + 32, + 9, + 27 + ], + [ + 33, + 12, + 30 + ], + [ + 33, + 30, + 26 + ], + [ + 33, + 26, + 22 + ], + [ + 33, + 22, + 19 + ], + [ + 33, + 19, + 13 + ], + [ + 33, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.036518000066280365, + -0.025499999523162842, + -0.004885000176727772 + ], + [ + 0.004881000146269798, + 0.025499999523162842, + 0.0145650003105402 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0037254788912832737, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_031.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_031.json new file mode 100644 index 0000000000000000000000000000000000000000..78ca3d05c328089fa615bdfc4e839fa80bff3178 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_031.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5028096940368414, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + 0.005249989219009876, + -0.02026689052581787 + ], + [ + 0.016393516212701797, + -0.005355285946279764, + -0.020274700596928596 + ], + [ + -0.010551173239946365, + 0.001936863991431892, + -0.0015893022064119577 + ], + [ + 0.021058708429336548, + 0.004999947268515825, + -0.019783440977334976 + ], + [ + -0.0038393354043364525, + 0.00549997016787529, + -0.002347175031900406 + ], + [ + -0.004447362385690212, + 0.005432975012809038, + 0.0016682108398526907 + ], + [ + 0.0016016149893403053, + 0.005432975012809038, + 0.004471834748983383 + ], + [ + 0.021798528730869293, + 0.004999947268515825, + -0.012355390004813671 + ], + [ + 0.023115016520023346, + 0.004999947268515825, + -0.015911880880594254 + ], + [ + -0.004105887375771999, + -0.005463290028274059, + -0.0022624770645052195 + ], + [ + 0.022002436220645905, + -0.005192446056753397, + -0.018826300278306007 + ], + [ + 0.022146016359329224, + -0.005355285946279764, + -0.013035180978477001 + ], + [ + 0.0021148710511624813, + -0.0053552258759737015, + 0.004366633482277393 + ], + [ + -0.0035197939723730087, + -0.0053552258759737015, + 0.003339346731081605 + ], + [ + 0.012750902213156223, + -0.004999982658773661, + -0.0036200531758368015 + ], + [ + 0.014267423190176487, + 0.004999947268515825, + -0.0049940370954573154 + ], + [ + -0.0013361778110265732, + -0.004999982658773661, + 0.004818137735128403 + ], + [ + -0.0021025147289037704, + 0.004999947268515825, + 0.004536387510597706 + ], + [ + 0.019002286717295647, + -0.004999982658773661, + -0.0206608809530735 + ], + [ + 0.023111678659915924, + -0.004999982658773661, + -0.015489219687879086 + ], + [ + -0.004848381504416466, + -0.0053552258759737015, + 0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + 0.9995930790901184, + 0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + -0.01206897757947445, + -0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + -0.4508727192878723, + -0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + -0.9999979734420776, + -0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + 0.037696633487939835, + -0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + 0.7347155213356018, + -0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + 0.01986261084675789, + 0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + -0.008559993468225002, + 0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + 0.979090690612793, + 0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + -0.003514686366543174, + 0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + 0.029233338311314583, + 0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + -0.9484537839889526, + 0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + -0.002508311765268445, + -0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + 0.06626430153846741, + -0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + -0.03201968967914581, + -0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + -0.9626887440681458, + -0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + -0.9626891016960144, + -0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + -0.013617747463285923, + -0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + 0.008036171086132526, + 0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + 0.5307285189628601, + 0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + 0.9659310579299927, + 0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + 0.8791415095329285, + -0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + -0.015754459425807, + 0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + -0.9361693859100342, + 0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + -0.9978163838386536, + 0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + -0.5309804081916809, + 0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + -0.6332581043243408, + -0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.005463290028274059, + -0.0206608809530735 + ], + [ + 0.023115016520023346, + 0.00549997016787529, + 0.004818137735128403 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006558187771588564, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_032.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_032.json new file mode 100644 index 0000000000000000000000000000000000000000..88ac1dda8b8bd4fb3d24202f497af2a4314adab3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_032.json @@ -0,0 +1,1205 @@ +{ + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5874759331345558, + "parts": [ + { + "vertices_raw": [ + [ + 0.028950780630111694, + -0.029400473460555077, + -0.02203785441815853 + ], + [ + 0.036072637885808945, + -0.026561623439192772, + -0.020194698125123978 + ], + [ + 0.035480648279190063, + -0.02661014348268509, + -0.013627173379063606 + ], + [ + -0.00460543017834425, + -0.009999943897128105, + 0.001946689561009407 + ], + [ + 3.609992563724518e-05, + -0.009999943897128105, + 0.00499982014298439 + ], + [ + -0.0035099005326628685, + 0.009999975562095642, + 0.003560960292816162 + ], + [ + 0.008276081643998623, + 0.01903347671031952, + 0.004414379596710205 + ], + [ + -0.0046807704493403435, + 0.0189999770373106, + -0.008486798964440823 + ], + [ + -0.0036362605169415474, + 0.0189999770373106, + -0.013943399302661419 + ], + [ + -0.004708371125161648, + -0.018999943509697914, + -0.012313536368310452 + ], + [ + 0.01342473179101944, + 0.029035257175564766, + -0.013558654114603996 + ], + [ + 0.015564174391329288, + 0.02856985665857792, + -0.000364840030670166 + ], + [ + 0.023319818079471588, + 0.030190685763955116, + -0.01600485108792782 + ], + [ + 0.026709288358688354, + -0.029557593166828156, + -0.007937004789710045 + ], + [ + 0.02281275950372219, + -0.030186964198946953, + -0.015777219086885452 + ], + [ + 0.012838222086429596, + -0.028245043009519577, + -0.016035547479987144 + ], + [ + 0.010475315153598785, + 0.025810696184635162, + 0.002504950389266014 + ], + [ + 0.028200238943099976, + 0.02951512672007084, + -0.009176663123071194 + ], + [ + 0.03589693084359169, + 0.02626756578683853, + -0.013896823860704899 + ], + [ + 0.02922419086098671, + 0.029354676604270935, + -0.02211921289563179 + ], + [ + 0.03862079977989197, + -0.02263910323381424, + -0.022213149815797806 + ], + [ + 0.03854474797844887, + 0.02276269719004631, + -0.022212615236639977 + ], + [ + 0.04762116074562073, + -0.0003336999798193574, + -0.02146296575665474 + ], + [ + -0.0020220493897795677, + -0.018999943509697914, + -0.015038898214697838 + ], + [ + 0.007897652685642242, + -0.01619626395404339, + 0.004695599898695946 + ], + [ + 0.009390807710587978, + -0.023656973615288734, + 0.003474060446023941 + ], + [ + 0.012203431688249111, + -0.027437103912234306, + 0.0014214599505066872 + ], + [ + -0.0046807704493403435, + -0.018999943509697914, + -0.008486798964440823 + ], + [ + 0.04063883796334267, + -0.019555572420358658, + -0.017124822363257408 + ], + [ + 0.04063883796334267, + 0.019555605947971344, + -0.017124822363257408 + ], + [ + 0.03459319844841957, + 0.027717577293515205, + -0.020184028893709183 + ], + [ + 0.012706197798252106, + 0.028179867193102837, + -0.016031434759497643 + ], + [ + 0.017847036942839622, + -0.029356664046645164, + -0.002421730197966099 + ], + [ + 0.034339819103479385, + -0.027275454252958298, + -0.022182276472449303 + ] + ], + "indices_raw": [ + 6, + 24, + 25, + 26, + 13, + 2, + 22, + 18, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 3, + 5, + 10, + 8, + 7, + 10, + 11, + 12, + 13, + 14, + 0, + 13, + 0, + 2, + 15, + 0, + 14, + 16, + 11, + 10, + 7, + 16, + 7, + 5, + 16, + 5, + 6, + 16, + 6, + 11, + 17, + 11, + 18, + 17, + 19, + 12, + 17, + 12, + 11, + 20, + 21, + 22, + 23, + 8, + 19, + 0, + 23, + 0, + 15, + 23, + 15, + 9, + 23, + 9, + 8, + 24, + 6, + 4, + 27, + 3, + 7, + 9, + 27, + 9, + 15, + 26, + 28, + 2, + 1, + 28, + 1, + 20, + 28, + 20, + 22, + 28, + 22, + 2, + 29, + 22, + 21, + 29, + 21, + 18, + 29, + 18, + 22, + 30, + 18, + 21, + 30, + 21, + 19, + 30, + 19, + 17, + 30, + 17, + 18, + 31, + 8, + 10, + 31, + 10, + 12, + 19, + 31, + 19, + 8, + 25, + 24, + 4, + 25, + 4, + 3, + 25, + 3, + 27, + 25, + 27, + 26, + 32, + 14, + 13, + 32, + 13, + 26, + 32, + 26, + 15, + 32, + 15, + 14, + 21, + 20, + 33, + 0, + 19, + 33, + 20, + 1, + 33, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 9, + "plane": [ + 0.5554140210151672, + 0.0006718943477608263, + 0.8315737247467041, + -0.008280322887003422 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.3643476068973541, + -0.930901050567627, + 0.02596452087163925, + -0.03734487667679787 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.5491702556610107, + -0.03730444982647896, + 0.8348774909973145, + -0.004527455195784569 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.11144143342971802, + 0.05163991078734398, + 0.9924284219741821, + -0.004441544413566589 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9819781184196472, + 0.019642703235149384, + -0.1879715919494629, + -0.006564902141690254 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9906697869300842, + 0.04385059326887131, + 0.12903651595115662, + -0.004375150892883539 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.503027617931366, + 0.858889639377594, + -0.09629024565219879, + -0.019490636885166168 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.10318870842456818, + 0.9933136105537415, + 0.05177085101604462, + -0.026753893122076988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.13802313804626465, + -0.9903689622879028, + 0.010905110277235508, + -0.032872870564460754 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.3438694477081299, + -0.9379761219024658, + 0.04421054199337959, + -0.03655792772769928 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.17561694979667664, + -0.940667986869812, + -0.2903486490249634, + -0.028970498591661453 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.4611877501010895, + 0.8818241357803345, + 0.09844843298196793, + -0.01807783916592598 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.630448579788208, + 0.591249406337738, + 0.5029498934745789, + -0.0099162757396698 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.3350372314453125, + 0.35465607047080994, + 0.8729084134101868, + -0.007830891758203506 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.44392943382263184, + 0.10660851746797562, + 0.889697253704071, + -0.009630588814616203 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.5595239400863647, + 0.13832393288612366, + 0.8171899914741516, + -0.012362278997898102 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.13888423144817352, + 0.9903077483177185, + -0.0012890974758192897, + -0.033157456666231155 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.003859607269987464, + 0.9948599338531494, + 0.10118690133094788, + -0.028326019644737244 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08269260078668594, + 0.00015025108586996794, + -0.9965750575065613, + -0.025327324867248535 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.2312798649072647, + -0.00027092683012597263, + -0.9728872776031494, + -0.014752579852938652 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.3391564190387726, + -0.4564746022224426, + -0.8225593566894531, + -0.02172916941344738 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + -0.4865109920501709, + -0.7303057909011841, + -0.47954192757606506, + -0.022071298211812973 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + -0.7121536731719971, + -0.010015242733061314, + -0.7019522190093994, + -0.012186886742711067 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.04456556588411331, + 0.007495600264519453, + 0.998978316783905, + -0.004921365063637495 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9999739527702332, + -5.147759907231375e-07, + 0.00721751106902957, + -0.004619385115802288 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.4626477062702179, + -0.8863064050674438, + 0.020445959642529488, + -0.01876632682979107 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.8214462399482727, + -0.5659905076026917, + 0.06986282020807266, + -0.04325450211763382 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.8381461501121521, + -0.545442521572113, + -0.00187135289888829, + -0.04475977271795273 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9195113778114319, + -0.3662273585796356, + -0.1427454799413681, + -0.046974148601293564 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5914568305015564, + -0.03301825746893883, + 0.8056604266166687, + -0.010885016992688179 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.921284019947052, + 0.3570431172847748, + -0.1541299670934677, + -0.047061555087566376 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.8213423490524292, + 0.5700390338897705, + 0.021267056465148926, + -0.04416166618466377 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.5942230820655823, + 0.03332866355776787, + 0.8036093711853027, + -0.01103863026946783 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.7783727049827576, + 0.6275811195373535, + -0.016667159274220467, + -0.04465784132480621 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.4266154170036316, + 0.6126290559768677, + -0.6653458476066589, + -0.0451679490506649 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.2880397439002991, + 0.9575562477111816, + 0.01091738697141409, + -0.036284998059272766 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.44422733783721924, + 0.8887767791748047, + 0.11286143958568573, + -0.03772398456931114 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.49871116876602173, + 0.8536246418952942, + -0.15037348866462708, + -0.0201290100812912 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + -0.18242937326431274, + 0.9379465579986572, + -0.29491662979125977, + -0.028783127665519714 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.34054145216941833, + 0.41426199674606323, + -0.8440488576889038, + -0.020878177136182785 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.10489723086357117, + -0.18109753727912903, + 0.97785484790802, + -0.0066962772980332375 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.4974029064178467, + -0.4251880347728729, + 0.7561782002449036, + -0.00801465567201376 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.6283305883407593, + -0.5868178606033325, + 0.5107303261756897, + -0.009756111539900303 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.5935026407241821, + -0.6775025129318237, + 0.4344478249549866, + -0.011963488534092903 + ] + }, + { + "index_base": 143, + "num_vertices": 3, + "plane": [ + 0.020784344524145126, + -0.9973492622375488, + 0.06973227113485336, + -0.029480915516614914 + ] + }, + { + "index_base": 146, + "num_vertices": 3, + "plane": [ + 0.5194249749183655, + -0.15523900091648102, + 0.8402966856956482, + -0.01179252564907074 + ] + }, + { + "index_base": 149, + "num_vertices": 3, + "plane": [ + -0.3015376627445221, + -0.9528783559799194, + 0.033135946840047836, + -0.022511528804898262 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + -0.19084253907203674, + -0.9815703630447388, + -0.009933975525200367, + -0.02543371543288231 + ] + }, + { + "index_base": 155, + "num_vertices": 5, + "plane": [ + -0.012869753874838352, + -9.784484063857235e-06, + -0.9999171495437622, + -0.02171449363231659 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.6820499300956726, + -0.6322193145751953, + -0.3675685524940491, + -0.04881905019283295 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3671211302280426, + -0.9300682544708252, + 0.013965248130261898, + -0.03766512870788574 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 24, + 25 + ], + [ + 6, + 25, + 26 + ], + [ + 6, + 26, + 13 + ], + [ + 6, + 13, + 2 + ], + [ + 6, + 2, + 22 + ], + [ + 6, + 22, + 18 + ], + [ + 6, + 18, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 3, + 5 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 0 + ], + [ + 13, + 0, + 2 + ], + [ + 15, + 0, + 14 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 7 + ], + [ + 16, + 7, + 5 + ], + [ + 16, + 5, + 6 + ], + [ + 16, + 6, + 11 + ], + [ + 17, + 11, + 18 + ], + [ + 17, + 19, + 12 + ], + [ + 17, + 12, + 11 + ], + [ + 20, + 21, + 22 + ], + [ + 23, + 8, + 19 + ], + [ + 23, + 19, + 0 + ], + [ + 23, + 0, + 15 + ], + [ + 23, + 15, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 24, + 6, + 4 + ], + [ + 27, + 3, + 7 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 26 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 20 + ], + [ + 28, + 20, + 22 + ], + [ + 28, + 22, + 2 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 18 + ], + [ + 29, + 18, + 22 + ], + [ + 30, + 18, + 21 + ], + [ + 30, + 21, + 19 + ], + [ + 30, + 19, + 17 + ], + [ + 30, + 17, + 18 + ], + [ + 31, + 8, + 10 + ], + [ + 31, + 10, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 8 + ], + [ + 25, + 24, + 4 + ], + [ + 25, + 4, + 3 + ], + [ + 25, + 3, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 32, + 14, + 13 + ], + [ + 32, + 13, + 26 + ], + [ + 32, + 26, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 21, + 20, + 33 + ], + [ + 21, + 33, + 0 + ], + [ + 21, + 0, + 19 + ], + [ + 33, + 20, + 1 + ], + [ + 33, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.004708371125161648, + -0.030186964198946953, + -0.022213149815797806 + ], + [ + 0.04762116074562073, + 0.030190685763955116, + 0.00499982014298439 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.007020598743110895, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_033.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_033.json new file mode 100644 index 0000000000000000000000000000000000000000..279f30063f5f17ae269d51a781e8461481b2353e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_033.json @@ -0,0 +1,1157 @@ +{ + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5975047368556261, + "parts": [ + { + "vertices_raw": [ + [ + -0.03767168149352074, + 0.09650573134422302, + 0.014735303819179535 + ], + [ + -0.03753133490681648, + 0.09698597341775894, + -0.014421169646084309 + ], + [ + -0.03661573305726051, + 0.09527143836021423, + -0.01879185065627098 + ], + [ + -0.034779854118824005, + 0.09137185662984848, + -0.020802000537514687 + ], + [ + -0.021914299577474594, + 0.06519405543804169, + -0.02122657373547554 + ], + [ + -0.020080070942640305, + 0.061217326670885086, + -0.019269099459052086 + ], + [ + -0.019147761166095734, + 0.05934629589319229, + -0.014922774396836758 + ], + [ + -0.01931137964129448, + 0.058817893266677856, + 0.01316662598401308 + ], + [ + -0.019975878298282623, + 0.06008939445018768, + 0.017974872142076492 + ], + [ + -0.022129513323307037, + 0.06443091481924057, + 0.02065662480890751 + ], + [ + -0.034905146807432175, + 0.09065797179937363, + 0.021039104089140892 + ], + [ + -0.03684298321604729, + 0.09460142999887466, + 0.01909629814326763 + ], + [ + -0.0185614712536335, + 0.10603322088718414, + -0.01376466266810894 + ], + [ + -0.019768960773944855, + 0.10518085211515427, + 0.01536810677498579 + ], + [ + -0.0009347088634967804, + 0.06784257292747498, + 0.014088981784880161 + ], + [ + -0.002319570630788803, + 0.06930460780858994, + 0.018848489969968796 + ], + [ + -0.0038556810468435287, + 0.0735592171549797, + -0.020943578332662582 + ], + [ + -0.0011909287422895432, + 0.07055708765983582, + -0.018871286883950233 + ], + [ + -0.001280520111322403, + 0.06811586022377014, + -0.015071212314069271 + ], + [ + -0.016476746648550034, + 0.1006716638803482, + -0.020503150299191475 + ], + [ + -0.01899762824177742, + 0.1045217514038086, + -0.017856653779745102 + ], + [ + 0.0002458672970533371, + 0.07052523642778397, + 0.014631884172558784 + ], + [ + -0.001897316426038742, + 0.0741482824087143, + 0.019543873146176338 + ], + [ + -0.0019694045186042786, + 0.07538348436355591, + -0.019619109109044075 + ], + [ + -0.013884440064430237, + 0.10087498277425766, + -0.01761234924197197 + ], + [ + -9.277835488319397e-05, + 0.07255181670188904, + -0.016040176153182983 + ], + [ + -0.01627231389284134, + 0.1046389788389206, + -0.01701454631984234 + ], + [ + -0.0039185453206300735, + 0.07377190887928009, + 0.020894642919301987 + ], + [ + -0.016373246908187866, + 0.09929986298084259, + 0.021260028705000877 + ], + [ + -0.017505228519439697, + 0.10540067404508591, + 0.014583573676645756 + ], + [ + -0.016749873757362366, + 0.10373673588037491, + 0.018729232251644135 + ], + [ + 0.000268787145614624, + 0.06975561380386353, + -0.014235044829547405 + ], + [ + -0.018299859017133713, + 0.10202805697917938, + 0.020425621420145035 + ], + [ + -0.014566615223884583, + 0.10011439770460129, + 0.01997711881995201 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 1, + 0, + 13, + 8, + 7, + 14, + 8, + 14, + 15, + 8, + 15, + 9, + 16, + 17, + 5, + 14, + 7, + 6, + 18, + 18, + 5, + 17, + 3, + 19, + 16, + 4, + 4, + 16, + 5, + 0, + 11, + 13, + 20, + 1, + 12, + 6, + 5, + 18, + 2, + 1, + 20, + 2, + 20, + 19, + 2, + 19, + 3, + 21, + 22, + 15, + 21, + 15, + 14, + 23, + 24, + 25, + 23, + 25, + 17, + 23, + 17, + 16, + 23, + 16, + 19, + 23, + 19, + 24, + 26, + 24, + 19, + 26, + 19, + 20, + 26, + 20, + 12, + 27, + 28, + 10, + 9, + 27, + 9, + 15, + 27, + 15, + 22, + 29, + 12, + 13, + 29, + 13, + 30, + 29, + 24, + 26, + 29, + 26, + 12, + 31, + 25, + 21, + 31, + 21, + 14, + 31, + 14, + 18, + 31, + 18, + 17, + 31, + 17, + 25, + 32, + 11, + 10, + 32, + 10, + 28, + 32, + 30, + 13, + 32, + 13, + 11, + 33, + 30, + 32, + 28, + 33, + 28, + 27, + 22, + 33, + 22, + 21, + 25, + 24, + 33, + 24, + 29, + 33, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.8990454077720642, + -0.43770331144332886, + -0.011537112295627594, + 0.00854232907295227 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.4335254430770874, + 0.9010509848594666, + 0.012754587456583977, + -0.1034761592745781 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.4108380377292633, + -0.8657787442207336, + 0.28572574257850647, + 0.055095087736845016 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.4142223298549652, + -0.8292221426963806, + 0.3752472400665283, + 0.05135688930749893 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.18960459530353546, + -0.44619691371917725, + 0.8746190071105957, + 0.014878056943416595 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.2224862277507782, + -0.4123368561267853, + -0.8834467530250549, + 0.01268647238612175 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.44090980291366577, + -0.8974372744560242, + -0.014313843101263046, + 0.06148841232061386 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.39463895559310913, + -0.7772634029388428, + -0.49002206325531006, + 0.04606408253312111 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.006612676661461592, + 0.019319364801049232, + -0.9997915029525757, + -0.022334830835461617 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.1832897961139679, + -0.3648014962673187, + -0.9128662347793579, + 0.00842253677546978 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4060666263103485, + 0.8066707253456116, + 0.42940911650657654, + -0.09947303682565689 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.40559709072113037, + 0.8706366419792175, + -0.278357595205307, + -0.10367639362812042 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.39416664838790894, + -0.8104173541069031, + -0.4334239065647125, + 0.04917479306459427 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.40778928995132446, + 0.8177410960197449, + -0.4062109589576721, + -0.1004723310470581 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.19779787957668304, + 0.4640197455883026, + -0.8634591698646545, + -0.06767634302377701 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.17960752546787262, + 0.38261207938194275, + -0.9062830805778503, + -0.06005920469760895 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.8633619546890259, + -0.14466463029384613, + 0.48340290784835815, + 0.0029171407222747803 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8193585276603699, + -0.43592727184295654, + 0.3723156154155731, + 0.025094741955399513 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8942578434944153, + 0.42822811007499695, + -0.13009130954742432, + -0.033072445541620255 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9080484509468079, + 0.08284541964530945, + -0.4105907380580902, + -0.012512287124991417 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5930516123771667, + -0.029018007218837738, + -0.8046413660049438, + -0.012430909089744091 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.41837817430496216, + 0.20911650359630585, + -0.8838720917701721, + -0.032280758023262024 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.6793890595436096, + 0.3675505518913269, + -0.6350882649421692, + -0.03882911428809166 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.6295088529586792, + 0.49453970789909363, + -0.5992904305458069, + -0.051701225340366364 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.20130448043346405, + 0.6409584879875183, + -0.7407082319259644, + -0.07639636844396591 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.06864703446626663, + 0.9334399700164795, + -0.3521040976047516, + -0.10254804790019989 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.004321995656937361, + -0.016686536371707916, + 0.9998514652252197, + -0.019674072042107582 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.17198456823825836, + -0.35867518186569214, + 0.9174821972846985, + 0.007963618263602257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5690829157829285, + -0.1652529090642929, + 0.8055036067962646, + -0.002409711480140686 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.0878634974360466, + 0.9958062171936035, + 0.025493621826171875, + -0.10686850547790527 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.036723993718624115, + 0.9297071099281311, + 0.366464227437973, + -0.10269325971603394 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.8456848859786987, + 0.5333023071289062, + 0.020141810178756714, + -0.04170025885105133 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5198568105697632, + 0.8542534112930298, + -0.00030829812749288976, + -0.08093418180942535 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.9919511675834656, + 0.1265946924686432, + -0.002587554743513465, + -0.009134148247539997 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.9143673181533813, + -0.40472182631492615, + 0.011516300961375237, + 0.028149783611297607 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.7306093573570251, + -0.6826295256614685, + -0.01506186556071043, + 0.04720645397901535 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7641390562057495, + -0.5507550835609436, + -0.3357981741428375, + 0.033432766795158386 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9468886256217957, + -0.0788181722164154, + -0.3117522895336151, + 0.0008056908845901489 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + -0.20547392964363098, + 0.3494061231613159, + 0.9141640663146973, + -0.058081742376089096 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.1127309799194336, + 0.2169547826051712, + 0.9696505665779114, + -0.04400414973497391 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.25089597702026367, + 0.7870725393295288, + 0.5635318160057068, + -0.09640532732009888 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.3410301208496094, + 0.7500720620155334, + 0.5666481852531433, + -0.09434334933757782 + ] + }, + { + "index_base": 139, + "num_vertices": 4, + "plane": [ + 0.3470980226993561, + 0.4856000542640686, + 0.8023188710212708, + -0.05958753079175949 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + 0.5011380910873413, + 0.2325672060251236, + 0.833530604839325, + -0.032609518617391586 + ] + }, + { + "index_base": 147, + "num_vertices": 5, + "plane": [ + 0.8954730033874512, + 0.4446887671947479, + 0.019494924694299698, + -0.03186719864606857 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + 0.8622913956642151, + 0.5057507157325745, + 0.025882257148623466, + -0.038589317351579666 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + 0.8459348082542419, + 0.5300552248954773, + 0.05861508846282959, + -0.04191471263766289 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 0, + 7, + 8 + ], + [ + 0, + 8, + 9 + ], + [ + 0, + 9, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 8, + 7, + 14 + ], + [ + 8, + 14, + 15 + ], + [ + 8, + 15, + 9 + ], + [ + 16, + 17, + 5 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 18 + ], + [ + 18, + 5, + 17 + ], + [ + 3, + 19, + 16 + ], + [ + 3, + 16, + 4 + ], + [ + 4, + 16, + 5 + ], + [ + 0, + 11, + 13 + ], + [ + 20, + 1, + 12 + ], + [ + 6, + 5, + 18 + ], + [ + 2, + 1, + 20 + ], + [ + 2, + 20, + 19 + ], + [ + 2, + 19, + 3 + ], + [ + 21, + 22, + 15 + ], + [ + 21, + 15, + 14 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 17 + ], + [ + 23, + 17, + 16 + ], + [ + 23, + 16, + 19 + ], + [ + 23, + 19, + 24 + ], + [ + 26, + 24, + 19 + ], + [ + 26, + 19, + 20 + ], + [ + 26, + 20, + 12 + ], + [ + 27, + 28, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 22 + ], + [ + 29, + 12, + 13 + ], + [ + 29, + 13, + 30 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 12 + ], + [ + 31, + 25, + 21 + ], + [ + 31, + 21, + 14 + ], + [ + 31, + 14, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 25 + ], + [ + 32, + 11, + 10 + ], + [ + 32, + 10, + 28 + ], + [ + 32, + 30, + 13 + ], + [ + 32, + 13, + 11 + ], + [ + 33, + 30, + 32 + ], + [ + 33, + 32, + 28 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 25 + ], + [ + 33, + 25, + 24 + ], + [ + 33, + 24, + 29 + ], + [ + 33, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.03767168149352074, + 0.058817893266677856, + -0.02122657373547554 + ], + [ + 0.000268787145614624, + 0.10603322088718414, + 0.021260028705000877 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0024961503222584724, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_034.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_034.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c72cda1b8fb3dd89aceb1158da3226657d5d20 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_034.json @@ -0,0 +1,6561 @@ +{ + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6057813330553472, + "parts": [ + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + -0.0012191341957077384, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + -0.009664913639426231, + -0.003963652998209 + ], + [ + -0.0012191341957077384, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + -0.024906819686293602 + ] + ], + "indices_raw": [ + 25, + 6, + 5, + 20, + 3, + 2, + 17, + 15, + 14, + 21, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 2, + 1, + 18, + 17, + 18, + 16, + 15, + 19, + 4, + 8, + 0, + 20, + 5, + 4, + 19, + 20, + 19, + 0, + 3, + 21, + 14, + 13, + 22, + 21, + 22, + 12, + 11, + 8, + 7, + 23, + 9, + 24, + 9, + 12, + 22, + 24, + 25, + 10, + 9, + 23, + 25, + 23, + 7, + 6, + 26, + 1, + 0, + 8, + 24, + 24, + 22, + 13, + 16, + 26, + 26, + 16, + 18, + 26, + 18, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0012191339628770947 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.048975951969623566 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.5144957900047302, + 0.8574929237365723, + -0.03030753880739212 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9920614957809448, + -0.06469966471195221, + 0.10783277451992035, + -0.008834896609187126 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.02851376309990883 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + -0.44721347093582153, + -0.8944272398948669, + -0.029409438371658325 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + 0.20601052045822144, + -0.9785498380661011, + -0.030363336205482483 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.029095452278852463 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.841793954372406, + 0.03367171809077263, + 0.5387478470802307, + -0.020207379013299942 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029545413330197334 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + 0.0, + 0.16439898312091827, + 0.9863938689231873, + -0.030997546389698982 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + -0.7071067690849304, + -0.7071067690849304, + -0.028888624161481857 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8944271802902222, + -0.4472135305404663, + -0.02914929762482643 + ] + }, + { + "index_base": 59, + "num_vertices": 5, + "plane": [ + 0.9970225095748901, + -0.06139301881194115, + 0.04665869474411011, + -0.007370374631136656 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9927272796630859, + -0.11679144948720932, + -0.02919785864651203, + -0.008350582793354988 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9486832618713379, + 0.31622788310050964, + -0.029770798981189728 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8000000715255737, + 0.5999999642372131, + -0.030066676437854767 + ] + }, + { + "index_base": 76, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131338655949 + ] + }, + { + "index_base": 81, + "num_vertices": 5, + "plane": [ + 0.99400395154953, + -0.07000028342008591, + -0.08400034159421921, + -0.008124706335365772 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.8944271802902222, + 0.0, + -0.44721367955207825, + -0.017541099339723587 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.8498364686965942, + 0.06537207961082458, + -0.5229765176773071, + -0.020120026543736458 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 21 + ], + [ + 25, + 21, + 11 + ], + [ + 25, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 17, + 2, + 1 + ], + [ + 17, + 1, + 18 + ], + [ + 17, + 18, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 19, + 4, + 8 + ], + [ + 19, + 8, + 0 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 19 + ], + [ + 20, + 19, + 0 + ], + [ + 20, + 0, + 3 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 22 + ], + [ + 21, + 22, + 12 + ], + [ + 21, + 12, + 11 + ], + [ + 8, + 7, + 23 + ], + [ + 8, + 23, + 9 + ], + [ + 8, + 9, + 24 + ], + [ + 9, + 12, + 22 + ], + [ + 9, + 22, + 24 + ], + [ + 25, + 10, + 9 + ], + [ + 25, + 9, + 23 + ], + [ + 25, + 23, + 7 + ], + [ + 25, + 7, + 6 + ], + [ + 26, + 1, + 0 + ], + [ + 26, + 0, + 8 + ], + [ + 26, + 8, + 24 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 16 + ], + [ + 24, + 16, + 26 + ], + [ + 26, + 16, + 18 + ], + [ + 26, + 18, + 1 + ] + ], + "raw_bounds": [ + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.029095452278852463 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.029545413330197334 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.011690717190504074, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 11, + 10, + 0, + 3, + 7, + 8, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 1, + 0, + 10, + 11, + 13, + 9, + 10, + 14, + 12, + 8, + 4, + 6, + 14, + 6, + 5, + 2, + 1, + 9, + 13, + 14, + 13, + 11, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180544644594193 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5824863314628601, + -0.2398473024368286, + -0.7766485214233398, + 0.027118032798171043 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.015879349783062935 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9745191335678101, + -0.19233931601047516, + -0.1154036894440651, + 0.006136382929980755 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9778023958206177, + -0.2095291018486023, + 0.0, + 0.004827888682484627 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.039544425904750824 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 37, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 7 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 10 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 10 + ], + [ + 14, + 12, + 8 + ], + [ + 14, + 8, + 4 + ], + [ + 14, + 4, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 9 + ], + [ + 14, + 9, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 12 + ] + ], + "raw_bounds": [ + [ + -0.015879349783062935, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.015879349783062935, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 16, + 1, + 0, + 8, + 17, + 5, + 4, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 0, + 3, + 9, + 10, + 6, + 7, + 11, + 2, + 12, + 11, + 12, + 4, + 6, + 11, + 6, + 10, + 13, + 2, + 14, + 7, + 15, + 14, + 13, + 10, + 7, + 16, + 12, + 2, + 16, + 2, + 1, + 18, + 9, + 3, + 2, + 13, + 14, + 15, + 18, + 15, + 7, + 5, + 17, + 18, + 17, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.008152286522090435 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09714522957801819 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.980580747127533, + -0.19611585140228271, + -0.10917942225933075 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.26578179001808167, + 0.9634605646133423, + -0.033222731202840805, + -0.11186352372169495 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.863063633441925, + -0.4746849834918976, + -0.17261278629302979, + 0.0641951784491539 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9805806279182434, + 0.0, + -0.19611617922782898, + 0.016025833785533905 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.015879347920417786 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.309425950050354, + 0.9282792806625366, + 0.20628394186496735, + -0.11328282952308655 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.948683500289917, + 0.31622734665870667, + -0.11209964752197266 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.6904503107070923, + -0.6904515027999878, + -0.2157660871744156, + 0.08350910246372223 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.43643617630004883, + -0.8728713989257812, + -0.21821808815002441, + 0.09725892543792725 + ] + }, + { + "index_base": 50, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 57, + "num_vertices": 5, + "plane": [ + -0.44721338152885437, + 0.8944272994995117, + 3.920385793776404e-08, + -0.10803990811109543 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.7071073651313782, + 0.7071061134338379, + 0.0, + -0.09769126027822495 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 1, + 0 + ], + [ + 16, + 0, + 8 + ], + [ + 16, + 8, + 17 + ], + [ + 16, + 17, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 10, + 6, + 7 + ], + [ + 11, + 2, + 12 + ], + [ + 11, + 12, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 10 + ], + [ + 11, + 10, + 13 + ], + [ + 11, + 13, + 2 + ], + [ + 14, + 7, + 15 + ], + [ + 14, + 13, + 10 + ], + [ + 14, + 10, + 7 + ], + [ + 16, + 12, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 18, + 9, + 3 + ], + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 14 + ], + [ + 18, + 14, + 15 + ], + [ + 18, + 15, + 7 + ], + [ + 18, + 7, + 5 + ], + [ + 18, + 5, + 17 + ], + [ + 18, + 17, + 8 + ], + [ + 18, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0029694989789277315, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0029694989789277315, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.07620206475257874, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 15, + 11, + 9, + 8, + 13, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 10, + 5, + 4, + 9, + 11, + 12, + 13, + 8, + 7, + 12, + 1, + 0, + 13, + 14, + 2, + 1, + 12, + 7, + 6, + 14, + 6, + 5, + 15, + 3, + 2, + 14, + 5, + 10, + 15, + 10, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.08248502016067505 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8574930429458618, + -0.5144956707954407, + 0.059352561831474304 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.8320502042770386, + -0.5547003149986267, + 0.0, + 0.03689424321055412 + ] + }, + { + "index_base": 19, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8944272398948669, + 0.4472135007381439, + 0.0, + -0.03954441472887993 + ] + }, + { + "index_base": 32, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.00815228745341301 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.8164966702461243, + -0.4082482159137726, + -0.4082481861114502, + 0.02593078278005123 + ] + }, + { + "index_base": 41, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0033134508412331343 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.9230769276618958, + -0.23076939582824707, + 0.3076923191547394, + 0.009946474805474281 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 13 + ], + [ + 15, + 13, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 11 + ], + [ + 12, + 13, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 12 + ], + [ + 14, + 12, + 7 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 10 + ], + [ + 15, + 10, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0033134508412331343, + 0.06782480329275131, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.08248502016067505, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.005407767370343208, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 8, + 7, + 9, + 10, + 12, + 14, + 0, + 1, + 2, + 3, + 0, + 2, + 4, + 1, + 0, + 3, + 5, + 6, + 7, + 8, + 1, + 4, + 7, + 4, + 6, + 9, + 10, + 5, + 11, + 12, + 10, + 9, + 6, + 5, + 13, + 14, + 2, + 13, + 2, + 1, + 13, + 1, + 8, + 15, + 11, + 5, + 3, + 15, + 3, + 2, + 15, + 2, + 14, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9701424241065979, + 0.0, + 0.24253563582897186, + -0.005300870165228844 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5642765164375305, + -0.2821383476257324, + 0.7758802175521851, + 0.02654591202735901 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.00815228745341301 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09923955053091049 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8944271206855774, + 0.4472135603427887, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596401825547218 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.9932110905647278, + 0.03678560629487038, + 0.11035677790641785, + -0.010202080011367798 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.9863938689231873, + 0.1643989533185959, + 0.0, + -0.023714888840913773 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + -0.70710688829422, + 0.7071066498756409, + 0.058166634291410446 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38411056995391846, + -0.5121477842330933, + 0.7682211995124817, + 0.04374859854578972 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 9 + ], + [ + 13, + 9, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 14 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 5, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 9, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 13, + 14, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 8 + ], + [ + 15, + 11, + 5 + ], + [ + 15, + 5, + 3 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 12 + ], + [ + 15, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.09923955053091049, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005407767370343208, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + -0.005407767370343208, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + 0.014885196462273598 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.002319296821951866 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 3, + 2, + 0, + 1, + 2, + 3, + 8, + 9, + 10, + 11, + 12, + 13, + 8, + 13, + 1, + 0, + 8, + 0, + 9, + 14, + 12, + 11, + 5, + 4, + 14, + 4, + 2, + 1, + 14, + 1, + 13, + 12, + 15, + 9, + 0, + 3, + 15, + 3, + 7, + 16, + 10, + 9, + 15, + 16, + 15, + 7, + 6, + 16, + 6, + 5, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08248502016067505 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.6000003218650818, + -0.7999998927116394, + 0.04296920448541641 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.8652899265289307, + -0.4944513440132141, + -0.08240808546543121, + 0.035433728247880936 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751824498176575 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5999999046325684, + 0.0, + -0.800000011920929, + -0.007046938873827457 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8778955936431885, + -0.47885221242904663, + 0.0, + 0.03475068509578705 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.8919529914855957, + -0.44597649574279785, + 0.07432956993579865, + 0.030856501311063766 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.986393928527832, + 0.0, + 0.16439904272556305, + -0.018110405653715134 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.11180544644594193 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 14, + 12, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 13 + ], + [ + 14, + 13, + 12 + ], + [ + 15, + 9, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 7 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 15 + ], + [ + 16, + 15, + 7 + ], + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 11 + ], + [ + 16, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08248502016067505, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.11180544644594193, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.002319296821951866 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.020718185231089592 + ], + [ + -0.0033134508412331343, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.0636361688375473, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 14, + 9, + 1, + 0, + 13, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 0, + 2, + 7, + 2, + 1, + 8, + 7, + 1, + 9, + 8, + 9, + 10, + 11, + 7, + 8, + 11, + 8, + 10, + 3, + 6, + 2, + 11, + 2, + 7, + 12, + 5, + 13, + 12, + 13, + 0, + 6, + 12, + 6, + 3, + 12, + 3, + 5, + 14, + 4, + 3, + 10, + 14, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751825080253184 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.1168634369969368, + -0.19477233290672302, + -0.9738616943359375, + -0.0091081028804183 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9958932399749756, + 0.09053561836481094, + -0.06984195858240128 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.4472135901451111, + -0.8944271802902222, + 0.0071182288229465485 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071064710617065, + 0.7071070671081543, + 0.024105779826641083 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.7067064046859741, + -0.7067062258720398, + -0.03365268558263779, + 0.034532882273197174 + ] + }, + { + "index_base": 29, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596400894224644 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.577350378036499, + -0.5773502588272095, + -0.5773502588272095, + 0.016819916665554047 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06991912424564362 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9701426029205322, + -0.2425353080034256, + -0.07133256644010544 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.31622734665870667, + 0.948683500289917, + 0.0, + -0.0673789232969284 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.1279057115316391, + 0.9912706613540649, + 0.031976427882909775, + -0.06927098333835602 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12549108266830444, + -0.31372764706611633, + 0.9411838054656982, + -0.004010792821645737 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 13 + ], + [ + 14, + 13, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 6 + ], + [ + 11, + 6, + 2 + ], + [ + 11, + 2, + 7 + ], + [ + 12, + 5, + 13 + ], + [ + 12, + 13, + 0 + ], + [ + 12, + 0, + 6 + ], + [ + 12, + 6, + 3 + ], + [ + 12, + 3, + 5 + ], + [ + 14, + 4, + 3 + ], + [ + 14, + 3, + 10 + ], + [ + 14, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 12, + 11, + 10, + 5, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 0, + 4, + 7, + 8, + 0, + 9, + 8, + 7, + 4, + 6, + 9, + 6, + 5, + 10, + 9, + 10, + 11, + 8, + 12, + 8, + 11, + 12, + 1, + 0, + 12, + 0, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.07201343774795532 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7071064114570618, + -0.7071070671081543, + -0.03595302253961563 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.20507566630840302, + 0.41015151143074036, + -0.8886617422103882, + -0.015699541196227074 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + -0.7071067690849304, + -0.0021838797256350517 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944271206855774, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8944271206855774, + -0.4472135603427887, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.024256616830825806 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.930198609828949, + -0.328305184841156, + -0.16415302455425262, + 0.004553729668259621 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 5 + ], + [ + 12, + 5, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 8, + 0 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 8 + ] + ], + "raw_bounds": [ + [ + -0.024256616830825806, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.020718185231089592 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.01652955263853073 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 4, + 3, + 12, + 9, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 5, + 8, + 9, + 10, + 11, + 0, + 4, + 13, + 12, + 3, + 2, + 14, + 7, + 6, + 15, + 14, + 15, + 1, + 0, + 0, + 11, + 7, + 14, + 16, + 10, + 9, + 12, + 13, + 16, + 13, + 2, + 16, + 2, + 1, + 15, + 6, + 5, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + 0.008152286522090435 + ] + }, + { + "index_base": 7, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.01797366701066494 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.707107424736023, + 0.7071061730384827, + 0.0, + -0.09769126772880554 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.3746344745159149, + -0.6556100845336914, + 0.6556100249290466, + 0.08125989139080048 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.10971113294363022 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -0.7071061134338379, + -0.7071073651313782, + 0.0, + 0.04265468567609787 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09505091607570648 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.022645514458417892, + -0.9737582802772522, + 0.22645507752895355, + 0.09718111902475357 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + -0.4472135305404663, + 0.8944271802902222, + 0.0, + -0.10803990811109543 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.2182176411151886, + 0.8728719353675842, + -0.43643510341644287, + -0.10964211821556091 + ] + }, + { + "index_base": 47, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 4, + 3 + ], + [ + 11, + 3, + 12 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 5, + 8, + 9 + ], + [ + 5, + 9, + 10 + ], + [ + 11, + 0, + 4 + ], + [ + 13, + 12, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 0, + 11, + 7 + ], + [ + 0, + 7, + 14 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 12 + ], + [ + 16, + 12, + 13 + ], + [ + 16, + 13, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 16, + 1, + 15 + ], + [ + 16, + 15, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 10 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.018623869866132736 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.018623869866132736 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 9, + 10, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 11, + 5, + 4, + 8, + 11, + 8, + 10, + 12, + 13, + 9, + 6, + 7, + 13, + 7, + 2, + 1, + 5, + 11, + 12, + 13, + 12, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.018623871728777885 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.70710688829422, + 0.7071066498756409, + 0.0, + -0.05450182780623436 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09505091607570648 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.0322883240878582 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03472819924354553 + ] + }, + { + "index_base": 31, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + -0.9103664755821228, + -0.4138028621673584, + 0.0, + 0.006850318983197212 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 12 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 7 + ], + [ + 13, + 7, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 5 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 12 + ], + [ + 13, + 12, + 10 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03472819924354553, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.09505091607570648, + -0.018623869866132736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.02326246351003647 + ], + [ + -0.020067984238266945, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 10, + 8, + 7, + 5, + 1, + 0, + 12, + 0, + 1, + 2, + 3, + 4, + 1, + 5, + 4, + 6, + 2, + 1, + 7, + 8, + 9, + 6, + 4, + 7, + 4, + 5, + 10, + 11, + 9, + 8, + 13, + 3, + 2, + 6, + 9, + 11, + 13, + 11, + 10, + 12, + 13, + 12, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021168144419789314 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.07201343774795532 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.37186795473098755, + 0.16903091967105865, + -0.9127665162086487, + 0.010717673227190971 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9701424241065979, + 0.24253563582897186, + 0.0, + -0.008155949413776398 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09714522957801819 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.2182178646326065, + 0.43643632531166077, + -0.8728712797164917, + -0.018627416342496872 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.025356778874993324 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.033769235014915466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 5 + ], + [ + 10, + 5, + 1 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 6, + 9 + ], + [ + 13, + 9, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.09714522957801819, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.013785033486783504, + 0.11180544644594193, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 6, + 5, + 12, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 4, + 5, + 6, + 2, + 1, + 7, + 8, + 0, + 3, + 9, + 7, + 9, + 10, + 7, + 10, + 11, + 8, + 12, + 5, + 4, + 12, + 4, + 0, + 8, + 11, + 13, + 9, + 3, + 2, + 6, + 13, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366887331009 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.8944270610809326, + 0.447213739156723, + 0.0, + -0.03954443708062172 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.6246950626373291, + 0.4685215950012207, + -0.6246948838233948, + -0.05802267789840698 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.007502084132283926 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071067094802856, + 0.7071068286895752, + 0.0744565799832344 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08667364716529846 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.33333316445350647, + 0.6666673421859741, + -0.6666661500930786, + -0.09434036910533905 + ] + }, + { + "index_base": 33, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.29059654474258423, + -0.20756895840168, + 0.9340603351593018, + 0.030163493007421494 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 6, + 5 + ], + [ + 13, + 5, + 12 + ], + [ + 13, + 12, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 7, + 11, + 8 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 0 + ], + [ + 12, + 0, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 13, + 9, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.11180544644594193, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.0636361688375473, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.018623869866132736 + ], + [ + -0.020067984238266945, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06573048233985901, + -0.018623869866132736 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 6, + 0, + 1, + 2, + 3, + 6, + 7, + 2, + 3, + 2, + 1, + 8, + 5, + 9, + 8, + 9, + 10, + 8, + 10, + 7, + 6, + 5, + 11, + 12, + 9, + 11, + 9, + 5, + 11, + 5, + 4, + 11, + 4, + 1, + 0, + 12, + 13, + 2, + 7, + 13, + 7, + 10, + 13, + 10, + 9, + 12, + 13, + 12, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.009596399962902069 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.1543031483888626, + 0.6172134876251221, + 0.771516740322113, + -0.030913468450307846 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06782480329275131 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.11704131960868835, + 0.7022461295127869, + 0.7022476196289062, + -0.03714504837989807 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8944270610809326, + -0.44721370935440063, + 0.04296942055225372 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.666666567325592, + -0.666666567325592, + -0.33333343267440796, + 0.020045073702931404 + ] + }, + { + "index_base": 21, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.057353220880031586 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.16222147643566132, + -0.9733285307884216, + -0.16222147643566132, + 0.05571804940700531 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.44721370935440063, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0221622996032238 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9370425939559937, + -0.3123472332954407, + -0.156173974275589, + -0.003144848393276334 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957300141453743 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.70710688829422, + 0.0, + 0.7071067690849304, + -0.002502049319446087 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 8, + 5, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 5 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 12 + ], + [ + 13, + 2, + 7 + ], + [ + 13, + 7, + 10 + ], + [ + 13, + 10, + 9 + ], + [ + 13, + 9, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0221622996032238, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.06782480329275131, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 1, + 0, + 4, + 7, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 4, + 3, + 6, + 7, + 4, + 5, + 6, + 5, + 8, + 6, + 8, + 9, + 10, + 7, + 11, + 2, + 1, + 12, + 2, + 11, + 12, + 11, + 10, + 9, + 12, + 9, + 8, + 5, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0008751824498176575 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.2425355315208435, + 0.9701425433158875, + -0.008657712489366531 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.14002802968025208, + -0.14002789556980133, + 0.9801961183547974, + -0.015773065388202667 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6666662096977234, + 0.6666672825813293, + 0.33333319425582886, + -0.061233341693878174 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.07410775125026703 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.0, + -0.24253572523593903, + -0.9701424241065979, + -0.006189386360347271 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.06523294001817703, + -0.19569841027259827, + -0.9784920811653137, + -0.009515592828392982 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 6, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.007158131804317236 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 7 + ], + [ + 11, + 7, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 6, + 10, + 7 + ], + [ + 11, + 2, + 1 + ], + [ + 12, + 2, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 5 + ], + [ + 12, + 5, + 3 + ], + [ + 12, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + 0.02326246351003647 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + -0.020718185231089592 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 7, + 4, + 5, + 9, + 7, + 6, + 8, + 9, + 8, + 3, + 2, + 9, + 2, + 1, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02326246351003647 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.05735321715474129 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131804317236 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.048975951969623566 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + -0.5547002553939819, + 0.0, + 0.0261525921523571 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005407767370343208 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.020718185231089592 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005407767370343208, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 8, + 0, + 3, + 10, + 4, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 8, + 9, + 1, + 0, + 11, + 5, + 4, + 10, + 11, + 10, + 3, + 2, + 11, + 2, + 1, + 9, + 6, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.7071067690849304, + 0.7071067690849304, + 0.0, + -0.05622595548629761 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.31622737646102905, + 0.9486834406852722, + 0.0, + -0.06539206206798553 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 9 + ], + [ + 11, + 9, + 6 + ], + [ + 11, + 6, + 5 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0070296479389071465, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_035.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_035.json new file mode 100644 index 0000000000000000000000000000000000000000..049b932abfc8e19527ecc42adb8cced92b79ee1e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_035.json @@ -0,0 +1,1349 @@ +{ + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7150631309486926, + "parts": [ + { + "vertices_raw": [ + [ + 0.018593167886137962, + 0.08097150921821594, + -0.021438807249069214 + ], + [ + 5.1595037803053856e-05, + 0.08342776447534561, + -0.023732446134090424 + ], + [ + 0.01447334885597229, + 0.08229271322488785, + 0.02242007479071617 + ], + [ + -0.02634771168231964, + 0.001998230814933777, + -0.011162007227540016 + ], + [ + -0.012175701558589935, + 0.03909830003976822, + -0.037554528564214706 + ], + [ + -0.006837090943008661, + 0.0020171217620372772, + -0.02773931622505188 + ], + [ + -0.019787151366472244, + -1.862645149230957e-08, + 0.003154065925627947 + ], + [ + 0.02637120895087719, + 0.0019925106316804886, + 0.011089342646300793 + ], + [ + 0.011553199961781502, + 0.0020041316747665405, + 0.026135701686143875 + ], + [ + 0.025628598406910896, + 0.0019912607967853546, + -0.012611716985702515 + ], + [ + -0.027768991887569427, + 0.001998230814933777, + 0.006904747802764177 + ], + [ + -0.016303081065416336, + 0.001998230814933777, + 0.02351602166891098 + ], + [ + -0.018583431839942932, + 0.04023250937461853, + 0.03507610037922859 + ], + [ + 0.009741099551320076, + 0.002014441415667534, + -0.026918556541204453 + ], + [ + 0.018599899485707283, + 0.04705861955881119, + -0.03517469763755798 + ], + [ + -4.991190508008003e-05, + 0.08099988102912903, + 0.028812013566493988 + ], + [ + 0.0185991283506155, + 0.05706439167261124, + 0.03383197262883186 + ], + [ + 0.028389547020196915, + 0.031500257551670074, + -0.00032774999272078276 + ], + [ + -0.018599700182676315, + 0.04722455143928528, + -0.035109907388687134 + ], + [ + 4.801899194717407e-05, + 0.05029944330453873, + -0.03964218869805336 + ], + [ + -0.013108989223837852, + 0.06076536327600479, + 0.03547974303364754 + ], + [ + 0.005243339110165834, + 0.04012010246515274, + 0.03931775316596031 + ], + [ + -0.018602270632982254, + 0.07896379381418228, + 0.024146221578121185 + ], + [ + 0.010589808225631714, + 0.07880374789237976, + -0.02872374653816223 + ], + [ + -0.027727261185646057, + 0.03689667955040932, + 0.0022640489041805267 + ], + [ + -0.018585700541734695, + 0.07945641875267029, + -0.023796048015356064 + ], + [ + 0.018600909039378166, + 0.039589740335941315, + 0.03495677188038826 + ], + [ + 0.002489723265171051, + 0.0020270217210054398, + 0.02857973426580429 + ], + [ + 0.018595367670059204, + 0.080972820520401, + 0.021401964128017426 + ], + [ + -0.013116918504238129, + 0.06820365786552429, + -0.03305211663246155 + ], + [ + -0.010273776017129421, + 0.08328322321176529, + 0.021275483071804047 + ], + [ + 0.005125262308865786, + 0.0401710607111454, + -0.039358288049697876 + ], + [ + -0.008777698501944542, + 0.07996837049722672, + -0.028448548167943954 + ], + [ + 0.018592149019241333, + 0.06753019243478775, + -0.030588295310735703 + ] + ], + "indices_raw": [ + 26, + 21, + 27, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 5, + 6, + 7, + 8, + 6, + 7, + 6, + 9, + 10, + 3, + 6, + 10, + 6, + 11, + 10, + 11, + 12, + 13, + 14, + 9, + 13, + 9, + 6, + 13, + 6, + 5, + 15, + 16, + 2, + 17, + 16, + 7, + 17, + 7, + 9, + 17, + 9, + 14, + 18, + 4, + 3, + 18, + 19, + 4, + 20, + 12, + 21, + 20, + 21, + 16, + 20, + 16, + 15, + 20, + 15, + 22, + 20, + 22, + 12, + 23, + 1, + 0, + 24, + 25, + 18, + 24, + 18, + 3, + 24, + 3, + 10, + 24, + 10, + 12, + 24, + 12, + 22, + 24, + 22, + 25, + 26, + 8, + 7, + 26, + 7, + 16, + 26, + 16, + 21, + 28, + 2, + 16, + 28, + 16, + 17, + 28, + 17, + 0, + 28, + 0, + 2, + 29, + 19, + 18, + 29, + 18, + 25, + 29, + 23, + 19, + 30, + 22, + 15, + 30, + 15, + 2, + 30, + 2, + 1, + 30, + 1, + 25, + 30, + 25, + 22, + 27, + 21, + 12, + 27, + 12, + 11, + 27, + 11, + 6, + 27, + 6, + 8, + 31, + 13, + 5, + 31, + 5, + 4, + 31, + 4, + 19, + 31, + 19, + 14, + 31, + 14, + 13, + 32, + 1, + 23, + 32, + 23, + 29, + 32, + 29, + 25, + 32, + 25, + 1, + 33, + 14, + 19, + 33, + 19, + 23, + 33, + 23, + 0, + 33, + 0, + 17, + 33, + 17, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2725587785243988, + -0.2792445123195648, + 0.9207248687744141, + -0.026426630094647408 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.13341094553470612, + 0.9909094572067261, + -0.017318377271294594, + -0.0830872505903244 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.6208861470222473, + -0.2829010486602783, + -0.7310727834701538, + -0.023953869938850403 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.08393854647874832, + -0.9914484620094299, + -0.0999210774898529, + -0.0013457655441015959 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.03675341606140137, + -0.9986402988433838, + 0.036966919898986816, + 0.0006106306682340801 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.043351080268621445, + -0.9990590810775757, + -0.0013056030729785562, + 0.0008618938736617565 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.25154760479927063, + -0.9676425457000732, + -0.01978881098330021, + -0.0049150134436786175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.18423812091350555, + -0.9746200442314148, + 0.127170130610466, + -0.004046669229865074 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.803621768951416, + -0.21564161777496338, + 0.5546988844871521, + -0.025714922696352005 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.646187424659729, + -0.2586871087551117, + -0.7179991602897644, + -0.025100968778133392 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.031204357743263245, + -0.9988546967506409, + -0.03627029061317444, + 0.0007318256539292634 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.0030023057479411364, + -0.9979516863822937, + -0.06390134245157242, + 0.00026093749329447746 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.33045271039009094, + 0.43331974744796753, + 0.8384717702865601, + -0.05924041569232941 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.9668712019920349, + 0.03186018392443657, + 0.2532689571380615, + -0.028369631618261337 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.9962881207466125, + -0.08022282272577286, + -0.031211845576763153, + -0.025767359882593155 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.9647355675697327, + 0.019023140892386436, + -0.26253238320350647, + -0.028073687106370926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6277990937232971, + -0.2775203585624695, + -0.7272211313247681, + -0.024103766307234764 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.2495606541633606, + 0.09269029647111893, + -0.9639129042625427, + -0.042861904948949814 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.1750744879245758, + 0.027330823242664337, + 0.9841757416725159, + -0.03887411952018738 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.07931802421808243, + 0.2499076873064041, + 0.9650154113769531, + -0.04838445037603378 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08081348240375519, + 0.2645120918750763, + 0.9609904885292053, + -0.04910948872566223 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.26391687989234924, + 0.45124104619026184, + 0.8524842858314514, + -0.061125434935092926 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.7361868023872375, + 0.18347501754760742, + 0.6514337658882141, + -0.04391229525208473 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.1717333197593689, + 0.8766072988510132, + -0.4495190382003784, + -0.08381044119596481 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.9732696413993835, + 0.07644213736057281, + -0.2165704220533371, + -0.029316237196326256 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.9733037352561951, + 0.04788282513618469, + -0.22447079420089722, + -0.028245553374290466 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.9968773722648621, + -0.009236379526555538, + -0.07842261344194412, + -0.027122333645820618 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.9636079668998718, + 0.036369144916534424, + 0.2648339867591858, + -0.02865970879793167 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.962613582611084, + 0.07313434034585953, + 0.26081910729408264, + -0.029979558661580086 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9774680733680725, + 0.211075097322464, + 0.0018310380401089787, + -0.03489463031291962 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6826552152633667, + -0.2858397960662842, + 0.6725157499313354, + -0.024890664964914322 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9588593244552612, + 0.01833231747150421, + 0.2832890450954437, + -0.02846429869532585 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.3119693696498871, + 0.061060406267642975, + 0.9481280446052551, + -0.04136377573013306 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.34441429376602173, + 0.43310368061065674, + 0.8329465389251709, + -0.05930083245038986 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.9740151762962341, + 0.10459345579147339, + 0.20088496804237366, + -0.030880730599164963 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.9809566736221313, + 0.19422662258148193, + -5.631510430248454e-05, + -0.03396712243556976 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.30494314432144165, + 0.9523705840110779, + -4.480905772652477e-05, + -0.0827856957912445 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + -0.25806522369384766, + 0.1608859747648239, + -0.9526374936103821, + -0.04584471881389618 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.6748825311660767, + 0.24466420710086823, + -0.6961846947669983, + -0.04854975640773773 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.012671082280576229, + 0.35358288884162903, + -0.9353173971176147, + -0.05486366152763367 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.22669196128845215, + 0.8032118082046509, + 0.5508735179901123, + -0.08094315230846405 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.026816027238965034, + 0.9662106037139893, + 0.25635483860969543, + -0.08564770221710205 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.03942440077662468, + 0.9991474151611328, + 0.012253166176378727, + -0.0830678790807724 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.20805417001247406, + 0.9771002531051636, + -0.04459225386381149, + -0.0825648382306099 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.4579385817050934, + 0.8889384269714355, + 0.008975902572274208, + -0.0789293721318245 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.17059944570064545, + -0.25589442253112793, + 0.9515323638916016, + -0.02625109814107418 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.2482616901397705, + -0.29388561844825745, + 0.9230371117591858, + -0.025166340172290802 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.02596966363489628, + -0.9944418668746948, + 0.1020345538854599, + -0.0008357078768312931 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + 0.015311419032514095, + -0.9976938962936401, + 0.06612512469291687, + 9.438768029212952e-05 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + 0.047051072120666504, + -0.3044682443141937, + -0.9513596892356873, + -0.02545422688126564 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + -0.08360948413610458, + -0.26621881127357483, + -0.9602797031402588, + -0.026672156527638435 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + -0.09864556789398193, + -0.07725920528173447, + -0.9921189546585083, + -0.035438936203718185 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.24912211298942566, + 0.09787458926439285, + -0.9635137319564819, + -0.043130792677402496 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.3978307545185089, + -0.2405204325914383, + -0.8853703737258911, + -0.02722368948161602 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.03734022006392479, + 0.7711450457572937, + -0.6355635523796082, + -0.0794203132390976 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.00850102212280035, + 0.3616645038127899, + -0.9322695732116699, + -0.0553688183426857 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.4003576338291168, + 0.45819589495658875, + -0.7935807108879089, + -0.06273161619901657 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.196921244263649, + 0.9291509985923767, + -0.31289055943489075, + -0.08493249118328094 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.2635309398174286, + 0.21098531782627106, + -0.9412952065467834, + -0.047940101474523544 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.18915846943855286, + 0.28945985436439514, + -0.9383134841918945, + -0.051765553653240204 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5145388841629028, + 0.48247429728507996, + -0.7088499665260315, + -0.06383047997951508 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.9773878455162048, + 0.11893592029809952, + -0.17483505606651306, + -0.03155141323804855 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.9674341082572937, + 0.055685944855213165, + -0.2469213902950287, + -0.029300065711140633 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 27 + ], + [ + 26, + 27, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 3, + 6 + ], + [ + 10, + 6, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 5 + ], + [ + 15, + 16, + 2 + ], + [ + 17, + 16, + 7 + ], + [ + 17, + 7, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 18, + 4, + 3 + ], + [ + 18, + 19, + 4 + ], + [ + 20, + 12, + 21 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 22 + ], + [ + 20, + 22, + 12 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 3 + ], + [ + 24, + 3, + 10 + ], + [ + 24, + 10, + 12 + ], + [ + 24, + 12, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 26, + 8, + 7 + ], + [ + 26, + 7, + 16 + ], + [ + 26, + 16, + 21 + ], + [ + 28, + 2, + 16 + ], + [ + 28, + 16, + 17 + ], + [ + 28, + 17, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 29, + 19, + 18 + ], + [ + 29, + 18, + 25 + ], + [ + 29, + 23, + 19 + ], + [ + 30, + 22, + 15 + ], + [ + 30, + 15, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 25 + ], + [ + 30, + 25, + 22 + ], + [ + 27, + 21, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 6 + ], + [ + 27, + 6, + 8 + ], + [ + 31, + 13, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 31, + 4, + 19 + ], + [ + 31, + 19, + 14 + ], + [ + 31, + 14, + 13 + ], + [ + 32, + 1, + 23 + ], + [ + 32, + 23, + 29 + ], + [ + 32, + 29, + 25 + ], + [ + 32, + 25, + 1 + ], + [ + 33, + 14, + 19 + ], + [ + 33, + 19, + 23 + ], + [ + 33, + 23, + 0 + ], + [ + 33, + 0, + 17 + ], + [ + 33, + 17, + 14 + ] + ], + "raw_bounds": [ + [ + -0.027768991887569427, + -1.862645149230957e-08, + -0.03964218869805336 + ], + [ + 0.028389547020196915, + 0.08342776447534561, + 0.03931775316596031 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.008152275811880827, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_036.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_036.json new file mode 100644 index 0000000000000000000000000000000000000000..2dae85c99a40d3a537ba52ab2cbae7dd86ccee17 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_036.json @@ -0,0 +1,1325 @@ +{ + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7509312378242612, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026839999482035637, + 0.01812800019979477, + 0.002948000095784664 + ], + [ + 0.03532699868083, + 0.01042800024151802, + 0.01865600049495697 + ], + [ + 0.002423000056296587, + 0.01812800019979477, + -0.003200999926775694 + ], + [ + -0.006533999927341938, + -0.003372000064700842, + 0.011051000095903873 + ], + [ + -0.0038900000508874655, + -0.018672000616788864, + 0.0009159999899566174 + ], + [ + 0.022525999695062637, + -0.009589999914169312, + 0.022586999461054802 + ], + [ + 0.020020000636577606, + 0.009045000188052654, + 0.02181600034236908 + ], + [ + -0.006506999954581261, + 0.0028280001133680344, + 0.011005000211298466 + ], + [ + 0.03247400000691414, + 0.006827999837696552, + 0.024309000000357628 + ], + [ + 0.032561998814344406, + -0.008636999875307083, + 0.024142999202013016 + ], + [ + 0.03483700007200241, + -0.01177200023084879, + 0.018881000578403473 + ], + [ + 0.03685100004076958, + -0.00737199978902936, + 0.018629999831318855 + ], + [ + -0.0030769999139010906, + 0.01812800019979477, + -0.0025740000419318676 + ], + [ + -0.003703000023961067, + -0.003372000064700842, + -0.012271000072360039 + ], + [ + -0.010197999887168407, + -0.003372000064700842, + -0.007753999903798103 + ], + [ + -0.006446000188589096, + 0.0028280001133680344, + -0.011076999828219414 + ], + [ + 0.03437599912285805, + -0.009591000154614449, + 0.014213000424206257 + ], + [ + 0.0026990000624209642, + -0.018672000616788864, + -0.0029700000304728746 + ], + [ + 0.00420599989593029, + -0.003372000064700842, + -0.0121069997549057 + ], + [ + 0.006754999980330467, + 0.0028280001133680344, + -0.010890999808907509 + ], + [ + 0.03258100152015686, + 0.00532800005748868, + 0.011490999720990658 + ], + [ + -0.0023169999476522207, + -0.018672000616788864, + -0.0032790000550448895 + ], + [ + 0.03119100071489811, + 0.01042800024151802, + 0.023019999265670776 + ], + [ + -0.011799000203609467, + -0.003372000064700842, + 0.004945000167936087 + ], + [ + -0.010592999868094921, + 0.0028280001133680344, + 0.0071669998578727245 + ], + [ + -0.011714999563992023, + 0.0028280001133680344, + -0.005175999831408262 + ], + [ + 0.030987000092864037, + -0.01177200023084879, + 0.022531000897288322 + ], + [ + -0.0009260000078938901, + 0.0028280001133680344, + -0.012784999795258045 + ], + [ + 0.03627200052142143, + 0.006827999837696552, + 0.021105999127030373 + ], + [ + 0.036322999745607376, + 0.006827999837696552, + 0.01607000082731247 + ], + [ + 0.03438499942421913, + 0.009727999567985535, + 0.014646000228822231 + ], + [ + -0.012779000215232372, + -0.003372000064700842, + -0.0007489999989047647 + ], + [ + -0.012799999676644802, + -0.00027200000477023423, + -0.0001250000059371814 + ], + [ + -0.012601999565958977, + 0.0028280001133680344, + 0.0022169998846948147 + ] + ], + "indices_raw": [ + 5, + 6, + 7, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 8, + 6, + 5, + 9, + 8, + 5, + 10, + 11, + 9, + 12, + 0, + 2, + 13, + 14, + 15, + 16, + 11, + 10, + 16, + 10, + 17, + 16, + 17, + 18, + 16, + 18, + 19, + 16, + 19, + 20, + 21, + 14, + 13, + 21, + 13, + 18, + 21, + 18, + 17, + 21, + 17, + 4, + 22, + 6, + 8, + 22, + 1, + 0, + 22, + 0, + 6, + 23, + 4, + 3, + 23, + 3, + 24, + 25, + 12, + 15, + 25, + 15, + 14, + 26, + 5, + 4, + 26, + 4, + 17, + 26, + 17, + 10, + 26, + 10, + 9, + 26, + 9, + 5, + 27, + 19, + 18, + 27, + 18, + 13, + 27, + 13, + 15, + 27, + 15, + 12, + 27, + 12, + 2, + 27, + 2, + 19, + 28, + 1, + 22, + 28, + 22, + 8, + 28, + 8, + 9, + 28, + 9, + 11, + 29, + 11, + 16, + 29, + 16, + 20, + 29, + 1, + 28, + 29, + 28, + 11, + 30, + 1, + 29, + 30, + 29, + 20, + 30, + 20, + 19, + 30, + 19, + 2, + 30, + 2, + 1, + 31, + 32, + 25, + 31, + 25, + 14, + 31, + 14, + 21, + 4, + 31, + 4, + 23, + 7, + 6, + 0, + 7, + 0, + 24, + 7, + 24, + 3, + 33, + 24, + 0, + 33, + 0, + 12, + 33, + 12, + 25, + 33, + 25, + 32, + 33, + 32, + 31, + 23, + 33, + 23, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.37598150968551636, + -0.007047585677355528, + 0.9266003370285034, + -0.012623818591237068 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1479942947626114, + 0.9813202619552612, + 0.12291540950536728, + -0.017754511907696724 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.40699267387390137, + -0.5522811412811279, + 0.7275592684745789, + -0.012561840936541557 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.1937749981880188, + 0.01452657300978899, + 0.9809383749961853, + -0.01765216886997223 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.15213719010353088, + -0.011473992839455605, + 0.9882928133010864, + -0.019005561247467995 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.780780017375946, + -0.32701343297958374, + 0.5323951840400696, + -0.041101790964603424 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.01812800019979477 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5684247612953186, + -0.09407851099967957, + -0.8173387050628662, + -0.012451673857867718 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.8671820759773254, + -0.4128212034702301, + -0.27852073311805725, + -0.029811004176735878 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.45119428634643555, + -0.7906122207641602, + -0.4139516055583954, + -0.017209522426128387 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.5209053754806519, + -0.47490203380584717, + -0.7093134522438049, + -0.012379955500364304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6396760940551758, + -0.11390049755573273, + -0.7601585984230042, + -0.012277789413928986 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.6570210456848145, + -0.058086298406124115, + -0.7516312003135681, + -0.012459925375878811 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.5035997033119202, + -0.4711983799934387, + -0.7241266369819641, + -0.01233946904540062 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.017888875678181648, + -0.5053991079330444, + -0.8627002239227295, + -0.012224158272147179 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.052674856036901474, + -0.5158279538154602, + -0.8550713658332825, + -0.01231327187269926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018672000616788864 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.137966126203537, + 0.28992775082588196, + 0.9470518827438354, + -0.020521199330687523 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.14272043108940125, + 0.9804766774177551, + 0.1352638602256775, + -0.017789779230952263 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.16134604811668396, + 0.7992663979530334, + 0.5789133906364441, + -0.016628792509436607 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.659807026386261, + -0.49089089035987854, + 0.5689295530319214, + -0.01225370541214943 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.7545040845870972, + -0.08639750629663467, + 0.6505836844444275, + -0.012410862371325493 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.6578753590583801, + 0.4713192284107208, + -0.5874164700508118, + -0.012080367654561996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.7426183223724365, + 0.09401248395442963, + -0.6630834937095642, + -0.012397761456668377 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.2004859447479248, + -0.7922033071517944, + 0.5763847231864929, + -0.01609988324344158 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.09477370232343674, + -0.9824433326721191, + 0.16069570183753967, + -0.018122712150216103 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.12301618605852127, + -0.9838852882385254, + 0.12975680828094482, + -0.018317749723792076 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5586577653884888, + -0.5836637616157532, + 0.5892691016197205, + -0.037458840757608414 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.10088272392749786, + -0.4143989682197571, + 0.9044866561889648, + -0.022131241858005524 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.23840472102165222, + 0.0916094109416008, + -0.9668355584144592, + -0.012399301864206791 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.02064395137131214, + -0.09178199619054794, + -0.9955650568008423, + -0.01244962215423584 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.29517605900764465, + 0.0531235933303833, + -0.95396488904953, + -0.012620007619261742 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.2539156973361969, + 0.5119706988334656, + -0.8206173777580261, + -0.012174572795629501 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.09509026259183884, + 0.5433152318000793, + -0.8341261148452759, + -0.012288852594792843 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.20926295220851898, + 0.4857953190803528, + -0.8486529588699341, + -0.012030079960823059 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6061393022537231, + 0.550071120262146, + 0.5744710564613342, + -0.03786655515432358 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5758235454559326, + 0.4496940076351166, + 0.6827902793884277, + -0.038367755711078644 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.6446806192398071, + -0.0045371027663350105, + 0.7644385695457458, + -0.039487119764089584 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.7951945066452026, + -0.07254453748464584, + 0.6019992232322693, + -0.041053757071495056 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.8820550441741943, + -0.0516299344599247, + -0.4683089554309845, + -0.024160627275705338 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7775325179100037, + -0.021119071170687675, + -0.6284878849983215, + -0.017998311668634415 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9655303955078125, + 0.2601065933704376, + 0.009777862578630447, + -0.037004102021455765 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.9991887807846069, + 0.03897717595100403, + 0.010118715465068817, + -0.03672228008508682 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8561676740646362, + 0.43602272868156433, + -0.27723827958106995, + -0.029620522633194923 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7353038191795349, + 0.16912102699279785, + -0.6562975645065308, + -0.01731649413704872 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + 0.6135073900222778, + 0.2783605456352234, + -0.7390021085739136, + -0.012979917228221893 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + 0.5189911723136902, + 0.496620774269104, + -0.6957125067710876, + -0.012487232685089111 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + 0.3715055584907532, + 0.8958867788314819, + -0.24366049468517303, + -0.017920754849910736 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.9810357689857483, + 0.03183993324637413, + -0.1911938339471817, + -0.012572497129440308 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.9348964095115662, + -0.0855177789926529, + -0.34446367621421814, + -0.01249341107904911 + ] + }, + { + "index_base": 151, + "num_vertices": 4, + "plane": [ + -0.8094019293785095, + -0.5047253370285034, + -0.300201416015625, + -0.012283976189792156 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + -0.8620215654373169, + -0.4846722185611725, + 0.148363396525383, + -0.012538964860141277 + ] + }, + { + "index_base": 158, + "num_vertices": 3, + "plane": [ + -0.42468133568763733, + 0.5026414394378662, + 0.7529922723770142, + -0.012471551075577736 + ] + }, + { + "index_base": 161, + "num_vertices": 3, + "plane": [ + -0.5986503958702087, + 0.4852049946784973, + 0.6373333930969238, + -0.012281432747840881 + ] + }, + { + "index_base": 164, + "num_vertices": 3, + "plane": [ + -0.6846169829368591, + 0.008388981223106384, + 0.728854775428772, + -0.012499573640525341 + ] + }, + { + "index_base": 167, + "num_vertices": 3, + "plane": [ + -0.8005982041358948, + 0.5034515857696533, + 0.3249295651912689, + -0.012233268469572067 + ] + }, + { + "index_base": 170, + "num_vertices": 3, + "plane": [ + -0.8389223217964172, + 0.5409663915634155, + 0.059705983847379684, + -0.012234320864081383 + ] + }, + { + "index_base": 173, + "num_vertices": 3, + "plane": [ + -0.8585682511329651, + 0.5022446513175964, + -0.10300961136817932, + -0.012011653743684292 + ] + }, + { + "index_base": 176, + "num_vertices": 3, + "plane": [ + -0.981397807598114, + 0.15163841843605042, + -0.1177464947104454, + -0.012535365298390388 + ] + }, + { + "index_base": 179, + "num_vertices": 4, + "plane": [ + -0.9843317270278931, + -0.04888606444001198, + 0.16941432654857635, + -0.012616727501153946 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.9256370067596436, + 0.045413363724946976, + 0.3756776750087738, + -0.012626182287931442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 9, + 8, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 4 + ], + [ + 22, + 6, + 8 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 6 + ], + [ + 23, + 4, + 3 + ], + [ + 23, + 3, + 24 + ], + [ + 25, + 12, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 26, + 5, + 4 + ], + [ + 26, + 4, + 17 + ], + [ + 26, + 17, + 10 + ], + [ + 26, + 10, + 9 + ], + [ + 26, + 9, + 5 + ], + [ + 27, + 19, + 18 + ], + [ + 27, + 18, + 13 + ], + [ + 27, + 13, + 15 + ], + [ + 27, + 15, + 12 + ], + [ + 27, + 12, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 28, + 1, + 22 + ], + [ + 28, + 22, + 8 + ], + [ + 28, + 8, + 9 + ], + [ + 28, + 9, + 11 + ], + [ + 29, + 11, + 16 + ], + [ + 29, + 16, + 20 + ], + [ + 29, + 1, + 28 + ], + [ + 29, + 28, + 11 + ], + [ + 30, + 1, + 29 + ], + [ + 30, + 29, + 20 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 32, + 25 + ], + [ + 31, + 25, + 14 + ], + [ + 31, + 14, + 21 + ], + [ + 31, + 21, + 4 + ], + [ + 31, + 4, + 23 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 24 + ], + [ + 7, + 24, + 3 + ], + [ + 33, + 24, + 0 + ], + [ + 33, + 0, + 12 + ], + [ + 33, + 12, + 25 + ], + [ + 33, + 25, + 32 + ], + [ + 33, + 32, + 31 + ], + [ + 33, + 31, + 23 + ], + [ + 33, + 23, + 24 + ] + ], + "raw_bounds": [ + [ + -0.012799999676644802, + -0.018672000616788864, + -0.012784999795258045 + ], + [ + 0.03685100004076958, + 0.01812800019979477, + 0.024309000000357628 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00523745222017169, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_037.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_037.json new file mode 100644 index 0000000000000000000000000000000000000000..275f26821d1819a75306e5f526df855def3be045 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_037.json @@ -0,0 +1,1313 @@ +{ + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7823673598468304, + "parts": [ + { + "vertices_raw": [ + [ + 0.00036100001307204366, + 0.01850000023841858, + 0.003984000068157911 + ], + [ + -0.03325900062918663, + 0.020500000566244125, + -0.0050650001503527164 + ], + [ + -0.0010179999517276883, + -0.015789000317454338, + 0.004722000099718571 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + -0.005121000111103058 + ], + [ + -0.015515999868512154, + -0.02495500072836876, + -0.00990699976682663 + ], + [ + -0.015351999551057816, + -0.020920999348163605, + -0.013396999798715115 + ], + [ + 0.00443900004029274, + -0.01769999973475933, + -0.0007389999809674919 + ], + [ + -0.03207699954509735, + 0.02449999935925007, + -0.013717000372707844 + ], + [ + -0.0354279987514019, + 0.02449999935925007, + -0.00887800008058548 + ], + [ + -0.024991000071167946, + 0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.015807999297976494, + 0.02518800087273121, + -0.008384999819099903 + ], + [ + -0.01617399975657463, + 0.02390800043940544, + -0.012168999761343002 + ], + [ + 0.0035000001080334187, + -0.014499999582767487, + 0.003570999950170517 + ], + [ + 0.004776999820023775, + 0.014499999582767487, + 0.0014779999619349837 + ], + [ + -0.03238900005817413, + -0.02370000071823597, + -0.005338999908417463 + ], + [ + -0.03600599989295006, + -0.02370000071823597, + -0.009344000369310379 + ], + [ + -0.024991000071167946, + -0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.0020940001122653484, + -0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.011460999958217144, + 0.01676500029861927, + -0.012227999977767467 + ], + [ + -0.0020940001122653484, + 0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.03317800164222717, + -0.02370000071823597, + -0.013939999975264072 + ], + [ + -0.032016001641750336, + -0.020948000252246857, + -0.014709999784827232 + ], + [ + 0.002580000087618828, + -0.01769999973475933, + 0.0036869999021291733 + ], + [ + -0.03292600065469742, + 0.02449999935925007, + -0.006008000113070011 + ], + [ + 0.0032689999788999557, + 0.01850000023841858, + -0.002305000089108944 + ], + [ + -0.023507000878453255, + 0.020500000566244125, + -0.014805999584496021 + ], + [ + -0.03413600102066994, + 0.020500000566244125, + -0.014019000343978405 + ], + [ + 0.0033400000538676977, + 0.01850000023841858, + 0.0022009999956935644 + ], + [ + -0.036302000284194946, + 0.020500000566244125, + -0.011233000084757805 + ], + [ + -0.03579400107264519, + -0.020500000566244125, + -0.01235899981111288 + ], + [ + -0.017098000273108482, + -0.02512899972498417, + -0.007063999772071838 + ], + [ + 0.002518000081181526, + 0.014499999582767487, + 0.00431999983265996 + ], + [ + 0.003854000009596348, + -0.014499999582767487, + -0.0031850000377744436 + ], + [ + -0.03577600046992302, + 0.020500000566244125, + -0.007120999973267317 + ] + ], + "indices_raw": [ + 7, + 9, + 10, + 11, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 8, + 9, + 12, + 6, + 13, + 14, + 2, + 3, + 14, + 3, + 15, + 14, + 15, + 16, + 17, + 6, + 5, + 5, + 18, + 19, + 17, + 20, + 21, + 5, + 20, + 5, + 4, + 20, + 4, + 16, + 20, + 16, + 15, + 22, + 6, + 12, + 22, + 2, + 14, + 23, + 9, + 8, + 23, + 1, + 0, + 10, + 24, + 11, + 10, + 9, + 23, + 10, + 23, + 0, + 25, + 26, + 7, + 25, + 7, + 11, + 25, + 11, + 18, + 25, + 18, + 5, + 25, + 5, + 21, + 25, + 21, + 26, + 27, + 13, + 24, + 27, + 24, + 10, + 27, + 10, + 0, + 28, + 8, + 7, + 28, + 7, + 26, + 19, + 18, + 11, + 19, + 11, + 24, + 29, + 15, + 28, + 29, + 28, + 26, + 26, + 21, + 20, + 29, + 29, + 20, + 15, + 30, + 4, + 6, + 30, + 6, + 22, + 30, + 22, + 14, + 30, + 14, + 16, + 30, + 16, + 4, + 31, + 12, + 13, + 31, + 13, + 27, + 31, + 27, + 0, + 31, + 0, + 2, + 31, + 2, + 22, + 12, + 32, + 6, + 17, + 32, + 17, + 19, + 32, + 19, + 24, + 32, + 24, + 13, + 32, + 13, + 6, + 33, + 1, + 23, + 33, + 23, + 8, + 33, + 8, + 28, + 33, + 28, + 15, + 33, + 15, + 3, + 33, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.09191659837961197, + 0.9254609942436218, + -0.3675232231616974, + -0.024939177557826042 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2580503225326538, + 0.031161170452833176, + 0.9656288027763367, + -0.004330390598624945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2907710373401642, + -0.0002926961751654744, + 0.9567925930023193, + -0.004818600602447987 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.5047945976257324, + -0.5764406323432922, + -0.6425719261169434, + -0.012918642722070217 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.10196014493703842, + 0.992279589176178, + -0.07060722261667252, + -0.02854994311928749 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9725351929664612, + -0.026132727041840553, + 0.2312842756509781, + -0.004608714021742344 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.267561137676239, + -0.14954526722431183, + 0.9518651366233826, + -0.0071282535791397095 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.714544951915741, + -0.2701604664325714, + 0.6453205943107605, + -0.02610083296895027 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1529802680015564, + -0.978523850440979, + 0.13815969228744507, + -0.027408258989453316 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.5297884345054626, + -0.4632146954536438, + -0.7104620337486267, + -0.011075662449002266 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.41420218348503113, + -0.014535641297698021, + -0.9100688695907593, + -0.006137460470199585 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.07545790076255798, + -0.29810070991516113, + -0.9515472650527954, + -0.017826015129685402 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.1244371086359024, + -0.6520766615867615, + -0.7478712201118469, + -0.02175096794962883 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.04955287277698517, + -0.8713471293449402, + -0.48815858364105225, + -0.02581179514527321 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.16540244221687317, + -0.9809607267379761, + -0.10177499055862427, + -0.030155235901474953 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.8942309617996216, + -0.24347613751888275, + 0.3755931854248047, + -0.008001456037163734 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.09812956303358078, + -0.6104356646537781, + 0.7859636545181274, + -0.01344938576221466 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.0877046212553978, + 0.9932079911231995, + 0.07645881175994873, + -0.026761993765830994 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.2387775182723999, + 0.24160966277122498, + 0.94053715467453, + -0.008130678907036781 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.40391185879707336, + 0.8539947271347046, + -0.32794544100761414, + -0.017875205725431442 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.00606840243563056, + 0.9713795185089111, + 0.23745547235012054, + -0.022571973502635956 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.026381274685263634, + 0.8933627605438232, + 0.44856107234954834, + -0.018323803320527077 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.0733710527420044, + 0.1125829815864563, + -0.9909297227859497, + -0.01870439015328884 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.10296253859996796, + 0.460614949464798, + -0.8816080093383789, + -0.020075354725122452 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.25849807262420654, + 0.1784006655216217, + -0.9493955969810486, + -0.011637449264526367 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.21177111566066742, + 0.008449878543615341, + -0.977282702922821, + -0.009664766490459442 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.07856549322605133, + -0.018437571823596954, + -0.9967384934425354, + -0.01253290195018053 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.07383441179990768, + 0.012848081067204475, + -0.9971876740455627, + -0.016763372346758842 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.9401538968086243, + 0.3404277563095093, + -0.014813792891800404, + -0.009405422955751419 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.33231863379478455, + 0.943152666091919, + -0.005236217752099037, + -0.01854674331843853 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.17118361592292786, + 0.942811906337738, + 0.28601008653640747, + -0.018643280491232872 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.7309419512748718, + 0.45772239565849304, + -0.5061760544776917, + -0.04160384461283684 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.7192039489746094, + 0.41242653131484985, + -0.5591511130332947, + -0.040844231843948364 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.4741263687610626, + 0.3196081519126892, + -0.8203991651535034, + -0.009956111200153828 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.5003477334976196, + 0.37871766090393066, + -0.7786046862602234, + -0.01043659821152687 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + -0.9966763257980347, + -0.010129128582775593, + -0.08083165436983109, + -0.03688168153166771 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + -0.7894546389579773, + 0.007074643392115831, + -0.6137681007385254, + -0.03569827228784561 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.5297442674636841, + -0.01295719388872385, + -0.8480584025382996, + -0.02970666065812111 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7803236842155457, + -0.400691956281662, + -0.48014670610427856, + -0.04207922890782356 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.2960875928401947, + -0.9491862058639526, + 0.10666650533676147, + -0.018036101013422012 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.2913316488265991, + -0.9487637877464294, + 0.12236455827951431, + -0.017995914444327354 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.010452709160745144, + -0.8135984539985657, + 0.5813331007957458, + -0.016517098993062973 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.05727130174636841, + -0.9568250775337219, + 0.2849661707878113, + -0.02301028184592724 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.057366594672203064, + -0.9979274272918701, + -0.029153840616345406, + -0.024302007630467415 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.782784104347229, + 0.010436615906655788, + 0.622205913066864, + -0.004810310900211334 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.7719117403030396, + 0.16640755534172058, + 0.6135639548301697, + -0.007007179316133261 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.48487988114356995, + 0.32952210307121277, + 0.8101274967193604, + -0.009498748928308487 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.10716138035058975, + 0.025701558217406273, + 0.9939094185829163, + -0.004396528471261263 + ] + }, + { + "index_base": 147, + "num_vertices": 4, + "plane": [ + 0.25879350304603577, + -0.01739414967596531, + 0.9657761454582214, + -0.004571579862385988 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.5408830046653748, + -0.44613879919052124, + -0.713025689125061, + -0.010824562981724739 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6043630242347717, + 0.0, + -0.7967090606689453, + -0.004866733681410551 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.6968936920166016, + 0.031460270285606384, + -0.7164840698242188, + -0.004511656239628792 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.937711775302887, + 0.025861751288175583, + -0.3464505076408386, + -0.004342390689998865 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.9741137027740479, + 0.005334840621799231, + -0.22599554061889648, + -0.0043966746889054775 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + -0.6158075332641602, + 0.2289944291114807, + 0.75388503074646, + -0.02135710045695305 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.7105207443237305, + 0.33389386534690857, + 0.6194152235984802, + -0.02785356156527996 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.982061505317688, + 0.14061996340751648, + 0.12562358379364014, + -0.03712237998843193 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9919167757034302, + -0.0012199876364320517, + 0.12688425183296204, + -0.034558262676000595 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + -0.8432195782661438, + -0.02262483537197113, + 0.537092924118042, + -0.025878580287098885 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + -0.6326172351837158, + 0.0011486286530271173, + 0.7744638323783875, + -0.017141105607151985 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 2, + 3 + ], + [ + 14, + 3, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 6, + 5 + ], + [ + 5, + 18, + 19 + ], + [ + 5, + 19, + 17 + ], + [ + 20, + 21, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 6, + 12 + ], + [ + 22, + 2, + 14 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 1, + 0 + ], + [ + 10, + 24, + 11 + ], + [ + 10, + 9, + 23 + ], + [ + 10, + 23, + 0 + ], + [ + 25, + 26, + 7 + ], + [ + 25, + 7, + 11 + ], + [ + 25, + 11, + 18 + ], + [ + 25, + 18, + 5 + ], + [ + 25, + 5, + 21 + ], + [ + 25, + 21, + 26 + ], + [ + 27, + 13, + 24 + ], + [ + 27, + 24, + 10 + ], + [ + 27, + 10, + 0 + ], + [ + 28, + 8, + 7 + ], + [ + 28, + 7, + 26 + ], + [ + 19, + 18, + 11 + ], + [ + 19, + 11, + 24 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 26 + ], + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 29 + ], + [ + 29, + 20, + 15 + ], + [ + 30, + 4, + 6 + ], + [ + 30, + 6, + 22 + ], + [ + 30, + 22, + 14 + ], + [ + 30, + 14, + 16 + ], + [ + 30, + 16, + 4 + ], + [ + 31, + 12, + 13 + ], + [ + 31, + 13, + 27 + ], + [ + 31, + 27, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 31, + 2, + 22 + ], + [ + 31, + 22, + 12 + ], + [ + 32, + 6, + 17 + ], + [ + 32, + 17, + 19 + ], + [ + 32, + 19, + 24 + ], + [ + 32, + 24, + 13 + ], + [ + 32, + 13, + 6 + ], + [ + 33, + 1, + 23 + ], + [ + 33, + 23, + 8 + ], + [ + 33, + 8, + 28 + ], + [ + 33, + 28, + 15 + ], + [ + 33, + 15, + 3 + ], + [ + 33, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + -0.036302000284194946, + -0.025499999523162842, + -0.014805999584496021 + ], + [ + 0.004776999820023775, + 0.025499999523162842, + 0.004722000099718571 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00384916877374053, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_038.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_038.json new file mode 100644 index 0000000000000000000000000000000000000000..6335ecc6e5f3184a665b87f631be6b0771448229 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_038.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8745301319286227, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + -0.005249989219009876, + 0.02026689052581787 + ], + [ + 0.016393516212701797, + 0.005355285946279764, + 0.020274700596928596 + ], + [ + -0.010551173239946365, + -0.001936863991431892, + 0.0015893022064119577 + ], + [ + 0.021058708429336548, + -0.004999947268515825, + 0.019783440977334976 + ], + [ + -0.0038393354043364525, + -0.00549997016787529, + 0.002347175031900406 + ], + [ + -0.004447362385690212, + -0.005432975012809038, + -0.0016682108398526907 + ], + [ + 0.0016016149893403053, + -0.005432975012809038, + -0.004471834748983383 + ], + [ + 0.021798528730869293, + -0.004999947268515825, + 0.012355390004813671 + ], + [ + 0.023115016520023346, + -0.004999947268515825, + 0.015911880880594254 + ], + [ + -0.004105887375771999, + 0.005463290028274059, + 0.0022624770645052195 + ], + [ + 0.022002436220645905, + 0.005192446056753397, + 0.018826300278306007 + ], + [ + 0.022146016359329224, + 0.005355285946279764, + 0.013035180978477001 + ], + [ + 0.0021148710511624813, + 0.0053552258759737015, + -0.004366633482277393 + ], + [ + -0.0035197939723730087, + 0.0053552258759737015, + -0.003339346731081605 + ], + [ + 0.012750902213156223, + 0.004999982658773661, + 0.0036200531758368015 + ], + [ + 0.014267423190176487, + -0.004999947268515825, + 0.0049940370954573154 + ], + [ + -0.0013361778110265732, + 0.004999982658773661, + -0.004818137735128403 + ], + [ + -0.0021025147289037704, + -0.004999947268515825, + -0.004536387510597706 + ], + [ + 0.019002286717295647, + 0.004999982658773661, + 0.0206608809530735 + ], + [ + 0.023111678659915924, + 0.004999982658773661, + 0.015489219687879086 + ], + [ + -0.004848381504416466, + 0.0053552258759737015, + -0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + -0.9995930790901184, + -0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + 0.01206897757947445, + 0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + 0.4508727192878723, + 0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + 0.9999979734420776, + 0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + -0.037696633487939835, + 0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + -0.7347155213356018, + 0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + -0.01986261084675789, + -0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + 0.008559993468225002, + -0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + -0.979090690612793, + -0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + 0.003514686366543174, + -0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + -0.029233338311314583, + -0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + 0.9484537839889526, + -0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + 0.002508311765268445, + 0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + -0.06626430153846741, + 0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + 0.03201968967914581, + 0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + 0.9626887440681458, + 0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + 0.9626891016960144, + 0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + 0.013617747463285923, + 0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + -0.008036171086132526, + -0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + -0.5307285189628601, + -0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + -0.9659310579299927, + -0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + -0.8791415095329285, + 0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + 0.015754459425807, + -0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + 0.9361693859100342, + -0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + 0.9978163838386536, + -0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + 0.5309804081916809, + -0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + 0.6332581043243408, + 0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.00549997016787529, + -0.004818137735128403 + ], + [ + 0.023115016520023346, + 0.005463290028274059, + 0.0206608809530735 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.007012188900262117, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_039.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_039.json new file mode 100644 index 0000000000000000000000000000000000000000..c0fc8b09fe5cf4f4c418176cc33f8799370ae646 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_039.json @@ -0,0 +1,9301 @@ +{ + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9249009708873928, + "parts": [ + { + "vertices_raw": [ + [ + 0.003435140708461404, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.002645079977810383 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.003435140708461404, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 7, + 6, + 3, + 1, + 4, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 1, + 0, + 5, + 0, + 2, + 5, + 2, + 3, + 6, + 7, + 4, + 0, + 7, + 0, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.5038278102874756, + 0.013086438179016113, + -0.8637048602104187, + 0.005367162637412548 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5547001957893372, + 0.0, + -0.8320503234863281, + 0.005286477040499449 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.0, + -0.0905357375741005, + -0.9958932399749756, + 0.0031694448553025723 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999541163444519, + 0.030289139598608017, + 0.0, + -0.006448087282478809 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8778955340385437, + -0.47885218262672424, + 0.0, + -0.0016245779115706682 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.009690405800938606 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 5, + 2, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + 0.0005983792361803353, + -0.009690406732261181, + 0.002645079977810383 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.015883300453424454 + ], + [ + 0.0029623471200466156, + -0.012999962083995342, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.015410506166517735 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 7, + 1, + 5, + 1, + 0, + 8, + 1, + 7, + 8, + 7, + 3, + 2, + 8, + 2, + 1, + 9, + 7, + 6, + 9, + 6, + 4, + 9, + 4, + 3, + 9, + 3, + 7, + 10, + 4, + 6, + 10, + 6, + 5, + 0, + 10, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9934325814247131, + -0.09934321790933609, + -0.056767553091049194, + -0.005399323999881744 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.015883300453424454 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10693860054016113, + -0.24952343106269836, + 0.962445855140686, + -0.01839236170053482 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6542210578918457, + -0.6178755760192871, + 0.43614742159843445, + -0.01669164188206196 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.26754844188690186, + 0.026754843071103096, + 0.9631729125976562, + -0.01529643777757883 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.6837635040283203, + 0.5698027014732361, + 0.4558424949645996, + -0.0030875466763973236 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.8320502042770386, + 0.0, + 0.5547002553939819, + -0.01080404594540596 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6882472038269043, + -0.22941558063030243, + 0.6882472038269043, + -0.014803793281316757 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.44721361994743347, + 0.8944272398948669, + 0.0, + 0.007032010704278946 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.11883514374494553, + 0.6238844990730286, + -0.7724288105964661, + 0.015506066381931305 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 8, + 1, + 7 + ], + [ + 8, + 7, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 10, + 4, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 0 + ], + [ + 10, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.005435265135020018, + -0.002555649261921644 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + -0.0011372686130926013 + ], + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.003435140708461404, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + -0.012054375372827053, + 0.001226699212566018 + ], + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + -0.004446823615580797 + ], + [ + -0.001765588647685945, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.012054375372827053, + 0.0007539056241512299 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + -0.012054375372827053, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0010711727663874626, + -0.004489677958190441, + -0.002555649261921644 + ] + ], + "indices_raw": [ + 16, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 4, + 7, + 9, + 2, + 1, + 10, + 11, + 8, + 12, + 10, + 12, + 9, + 10, + 9, + 1, + 13, + 3, + 2, + 13, + 2, + 9, + 14, + 5, + 4, + 14, + 4, + 8, + 11, + 14, + 11, + 5, + 15, + 7, + 13, + 15, + 13, + 9, + 15, + 9, + 12, + 15, + 12, + 8, + 15, + 8, + 7, + 16, + 3, + 13, + 13, + 7, + 6, + 16, + 17, + 11, + 10, + 17, + 10, + 1, + 17, + 1, + 0, + 17, + 0, + 5, + 17, + 5, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.9946268200874329, + 0.10289238393306732, + -0.011432486586272717, + -0.0040475912392139435 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.5291267037391663, + -0.11338429152965546, + 0.8409334421157837, + -0.007334135472774506 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.5038530826568604, + -0.8220758438110352, + 0.2651858925819397, + -0.011727501638233662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.7279386520385742, + -0.6846945881843567, + -0.03603654354810715, + -0.010365767404437065 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8102372884750366, + -0.0925985798239708, + -0.5787410140037537, + -0.00571135338395834 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.09919000416994095, + -0.079352006316185, + -0.9918994903564453, + -0.005486194044351578 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6393464803695679, + 0.051147665828466415, + -0.7672157287597656, + -0.0046252296306192875 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.6854345798492432, + -0.7139943242073059, + 0.14279890060424805, + -0.010572746396064758 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.43158718943595886, + -0.8477606177330017, + -0.30827656388282776, + -0.011156921274960041 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071067094802856, + -0.006639573723077774 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.44721361994743347, + 0.8944271206855774, + 0.0, + 0.002479448216035962 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012054375372827053 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.2568807303905487, + -0.9082568287849426, + -0.3302752375602722, + -0.011395921930670738 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.06311160326004028, + -0.773116946220398, + -0.6311157941818237, + -0.010834909975528717 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + 0.22355104982852936, + -0.7824282646179199, + -0.5812323093414307, + -0.011262265965342522 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5096874833106995, + -0.8388605117797852, + -0.19113285839557648, + -0.011387349106371403 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.5633991956710815, + -0.7887589335441589, + 0.24584698677062988, + -0.01122081559151411 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + -0.015590788796544075, + -0.9822190999984741, + 0.1870894581079483, + -0.01202335488051176 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9284766912460327, + -0.3713906407356262, + 0.0032194172963500023 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.16129031777381897, + 0.9677419662475586, + -0.19354836642742157, + 0.004022978246212006 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.1634203940629959, + 0.9805224537849426, + -0.10894693434238434, + 0.0042988513596355915 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.004489677958190441 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.18878205120563507, + 0.9806178212165833, + -0.052439458668231964, + 0.004066423047333956 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 0 + ], + [ + 16, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 4, + 7 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 8 + ], + [ + 10, + 8, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 9 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 15, + 7, + 13 + ], + [ + 15, + 13, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 8 + ], + [ + 15, + 8, + 7 + ], + [ + 16, + 3, + 13 + ], + [ + 13, + 7, + 6 + ], + [ + 13, + 6, + 16 + ], + [ + 17, + 11, + 10 + ], + [ + 17, + 10, + 1 + ], + [ + 17, + 1, + 0 + ], + [ + 17, + 0, + 5 + ], + [ + 17, + 5, + 11 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012054375372827053, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.008791396394371986 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.008791396394371986 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 4, + 2, + 1, + 5, + 6, + 0, + 1, + 2, + 3, + 7, + 3, + 2, + 4, + 8, + 3, + 7, + 8, + 7, + 4, + 6, + 9, + 0, + 3, + 8, + 9, + 8, + 6, + 5, + 9, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0024895535316318274 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9805806875228882, + 0.1961161196231842, + 0.0, + -0.003600603900849819 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.19611623883247375, + 0.9805806875228882, + -0.009780069813132286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.2576627731323242, + 0.0, + 0.9662349224090576, + -0.007853087969124317 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999687671661377, + -0.024992188438773155, + 0.0, + -0.0010264815064147115 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 4 + ], + [ + 8, + 3, + 7 + ], + [ + 8, + 7, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0012927950592711568, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.008791396394371986 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + 0.0059117809869349, + -0.0035012364387512207 + ], + [ + -0.0008200015290640295, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + -0.003656762884929776, + 0.005438987165689468, + -0.000664475082885474 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.004063460510224104 + ], + [ + -0.0027111757081001997, + 0.0059117809869349, + 0.003117873566225171 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + 0.0016994928009808064 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + -0.0016100622015073895 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + -0.0035012364387512207 + ] + ], + "indices_raw": [ + 10, + 1, + 8, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 3, + 6, + 3, + 5, + 6, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 10, + 3, + 2, + 10, + 2, + 1, + 11, + 9, + 8, + 11, + 8, + 1, + 0, + 11, + 0, + 6, + 5, + 11, + 5, + 7, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0011838451027870178 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.7353563904762268, + -0.20285692811012268, + -0.6466065049171448, + -0.0020153415389358997 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + -0.37139061093330383, + 0.9284766912460327, + -0.0015772486804053187 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.9551337957382202, + -0.14694367349147797, + 0.25715145468711853, + -0.002522602677345276 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2119995355606079, + -0.2119995802640915, + 0.9539981484413147, + -0.002295918297022581 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2595711350440979, + 0.9641208648681641, + -0.05562238395214081, + -0.006229991093277931 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6494998931884766, + -0.2823912501335144, + 0.7059782147407532, + -0.002202085219323635 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8741572499275208, + -0.4856429398059845, + 0.0, + -0.0007747432682663202 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.9622505307197571, + -0.1924501210451126, + 0.19245010614395142, + -0.00234411028213799 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7587982416152954, + -0.23607057332992554, + -0.6070385575294495, + -0.0018941224552690983 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.5975551605224609, + -0.15725137293338776, + -0.7862568497657776, + -0.0027458404656499624 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.1961161494255066, + -0.9805806875228882, + -0.002273849444463849 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.19611620903015137, + 0.9805806279182434, + 0.0, + -0.00609977450221777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 8 + ], + [ + 10, + 8, + 4 + ], + [ + 10, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 11, + 7, + 9 + ] + ], + "raw_bounds": [ + [ + -0.003656762884929776, + 0.0011838451027870178, + -0.0035012364387512207 + ], + [ + 0.003907934296876192, + 0.0059117809869349, + 0.004063460510224104 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.008791396394371986 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 9, + 2, + 3, + 6, + 8, + 0, + 1, + 2, + 3, + 2, + 1, + 3, + 1, + 4, + 3, + 4, + 5, + 6, + 3, + 5, + 7, + 5, + 4, + 7, + 4, + 1, + 0, + 7, + 0, + 8, + 6, + 7, + 6, + 5, + 9, + 8, + 0, + 9, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.15205712616443634, + 0.0, + 0.988371729850769, + -0.008813855238258839 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.28885573148727417, + 0.18775634467601776, + 0.9387811422348022, + -0.0060492344200611115 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.9309493899345398, + 0.07161153852939606, + 0.3580574691295624, + -0.002980258082970977 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.9592642188072205, + -0.06851880997419357, + 0.2740755081176758, + -0.004086846485733986 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.9486833214759827, + 0.3162277936935425, + 0.0, + 0.0018379230750724673 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.09950368851423264, + -0.9950372576713562, + 0.006748180370777845 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.5883482098579407, + 0.19611608982086182, + -0.7844647169113159, + 0.005811032373458147 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6001487970352173, + -0.34808629751205444, + -0.7201787233352661, + -0.0017875595949590206 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9523809552192688, + -0.19047610461711884, + -0.23809513449668884, + -0.0052305348217487335 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 3 + ], + [ + 9, + 3, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 8 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 9, + 8, + 0 + ], + [ + 9, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008318603038787842 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.007373015861958265 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 7, + 8, + 3, + 0, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 2, + 1, + 5, + 6, + 2, + 4, + 7, + 6, + 0, + 2, + 9, + 5, + 1, + 3, + 9, + 3, + 8, + 9, + 8, + 7, + 4, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.9874838590621948, + -0.07053456455469131, + 0.14106911420822144, + 0.0011016115313395858 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9761870503425598, + 0.0, + 0.21693044900894165, + -0.0002973582595586777 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.15617398917675018, + 0.9370424151420593, + -0.3123478889465332, + -0.008351076394319534 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 0, + 2 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ], + [ + -0.0022383821196854115, + 0.012058096937835217, + 0.004063460510224104 + ], + [ + -0.001765588647685945, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.003435140708461404, + 0.012058096937835217, + 0.0035906671546399593 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + -0.0011372686130926013 + ], + [ + -0.003656762884929776, + 0.012058096937835217, + -0.0020828559063374996 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + -0.003974030259996653 + ], + [ + 0.003907934296876192, + 0.012058096937835217, + -0.002555649261921644 + ], + [ + -0.0041295564733445644, + 0.012058096937835217, + 0.001226699212566018 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 16, + 14, + 13, + 12, + 15, + 4, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 7, + 5, + 8, + 2, + 1, + 6, + 9, + 8, + 5, + 7, + 10, + 4, + 3, + 11, + 6, + 1, + 11, + 1, + 0, + 11, + 12, + 7, + 11, + 7, + 6, + 13, + 14, + 9, + 13, + 9, + 7, + 13, + 7, + 12, + 15, + 12, + 11, + 15, + 11, + 0, + 15, + 0, + 4, + 16, + 10, + 3, + 16, + 3, + 2, + 8, + 9, + 16, + 9, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.012058096937835217 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.05941757187247276, + 0.5941759943962097, + 0.8021374344825745, + -0.010557085275650024 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.6401844620704651, + 0.0, + -0.7682211995124817, + -0.0049096569418907166 + ] + }, + { + "index_base": 17, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.05094815790653229, + 0.7896967530250549, + 0.6113781929016113, + -0.011892510578036308 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.9950220584869385, + -0.08291845768690109, + -0.05527897924184799, + -0.004230517894029617 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.7180995345115662, + 0.29920828342437744, + -0.628337025642395, + -0.0075425379909574986 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.7470113635063171, + 0.12138932198286057, + -0.6536349058151245, + -0.005826096516102552 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.1844417154788971, + 0.7131746411323547, + -0.6762862205505371, + -0.011048667132854462 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.08211291581392288, + 0.5337336659431458, + -0.8416566252708435, + -0.009674426168203354 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.5048437118530273, + 0.5889846086502075, + -0.6310546398162842, + -0.010262523777782917 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.7374095916748047, + 0.6671804189682007, + -0.10534423589706421, + -0.010960875079035759 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.8908706903457642, + 0.445435494184494, + 0.08908711373806, + -0.009159289300441742 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5321810841560364, + 0.768706202507019, + 0.3547874391078949, + -0.01190202310681343 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5570861101150513, + 0.7427813410758972, + 0.3713906705379486, + -0.012203739956021309 + ] + }, + { + "index_base": 62, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.9534626007080078, + 0.28603869676589966, + -0.09534622728824615, + -0.007418823428452015 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 14, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 8, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 6 + ], + [ + 9, + 8, + 5 + ], + [ + 9, + 5, + 7 + ], + [ + 10, + 4, + 3 + ], + [ + 11, + 6, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 7 + ], + [ + 13, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 0 + ], + [ + 15, + 0, + 4 + ], + [ + 16, + 10, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 8 + ], + [ + 16, + 8, + 9 + ], + [ + 16, + 9, + 14 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.010166922584176064, + 0.013046538457274437 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 4, + 6, + 3, + 0, + 3, + 1, + 0, + 4, + 2, + 5, + 4, + 5, + 6, + 0, + 1, + 2, + 4, + 0, + 2, + 7, + 3, + 6, + 5, + 7, + 5, + 2, + 1, + 7, + 1, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.8317734599113464, + 0.02579141966998577, + 0.5545157790184021, + -0.01106267236173153 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9997296929359436, + -0.02324952930212021, + 0.0, + 0.0005834902403876185 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + 0.0, + -0.1643989533185959, + 0.0029536818619817495 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.5297672748565674, + -0.029568379744887352, + 0.8476274609565735, + -0.014198040589690208 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.1961144059896469, + 0.004560800269246101, + 0.9805704355239868, + -0.01568915694952011 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.12403467297554016, + 0.0, + -0.9922778606414795, + 0.01304750144481659 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.004602350294589996 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 6, + 3 + ], + [ + 4, + 3, + 0 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 0, + 2 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.008318603038787842 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 2, + 1, + 5, + 1, + 0, + 4, + 6, + 7, + 5, + 4, + 8, + 3, + 2, + 9, + 3, + 8, + 9, + 6, + 4, + 3, + 10, + 8, + 2, + 10, + 2, + 5, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071068286895752, + -0.004967996850609779 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.2979356348514557, + -0.8938066959381104, + -0.33517760038375854, + -0.0073323845863342285 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.33129462599754333, + 0.8834521770477295, + -0.3312946557998657, + -0.007855238392949104 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.009736982174217701 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9816026091575623, + 0.02230914682149887, + -0.18962779641151428, + 0.0021608122624456882 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0008200014708563685 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.9950372576713562, + 0.09950371831655502, + 0.0, + 0.00022768788039684296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 5, + 0, + 4 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 8, + 3, + 2 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 10, + 8, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + 0.010639716871082783, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + -0.007326439023017883, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 6, + 5, + 4, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 9, + 2, + 5, + 6, + 9, + 6, + 8, + 3, + 9, + 3, + 2, + 10, + 0, + 3, + 8, + 10, + 8, + 7, + 10, + 7, + 0, + 11, + 1, + 0, + 11, + 0, + 7, + 11, + 7, + 4, + 11, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.03521473705768585, + -0.9977520704269409, + -0.05701443552970886, + -0.009289816953241825 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.7999998927116394, + 0.0, + 0.6000000238418579, + 0.0018229754641652107 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07114565372467041, + -0.9960376620292664, + 0.0533592514693737, + -0.00948988925665617 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.5723052024841309, + 0.8155349493026733, + -0.08584579080343246, + 0.007058598101139069 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.31622758507728577, + 0.0, + -0.9486833214759827, + -0.0029828313272446394 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.2983115613460541, + -0.5220453143119812, + -0.7990487217903137, + -0.010331927798688412 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.06830870360136032, + -0.11954023689031601, + -0.9904766082763672, + -0.006338475272059441 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.48776865005493164, + 0.18291334807872772, + -0.8535951375961304, + -0.00707156490534544 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.5734623670578003, + 0.0, + -0.8192318081855774, + -0.008982653729617596 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 9, + 2, + 5 + ], + [ + 9, + 5, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 7 + ], + [ + 11, + 7, + 4 + ], + [ + 11, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010639716871082783, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + -0.002555649261921644 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + 0.00827574823051691, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 7, + 8, + 6, + 4, + 5, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 2, + 1, + 4, + 9, + 8, + 7, + 9, + 7, + 5, + 0, + 3, + 9, + 3, + 2, + 10, + 8, + 9, + 10, + 9, + 2, + 10, + 2, + 6, + 10, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05255891755223274, + 0.9986178278923035, + 0.0, + -0.010855256579816341 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.052558813244104385, + 0.0, + 0.9986178874969482, + -0.01563110202550888 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.19611604511737823, + 0.0, + -0.980580747127533, + -0.003964951261878014 + ] + }, + { + "index_base": 20, + "num_vertices": 5, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.004380727652460337 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.08762271702289581, + 0.9249054789543152, + -0.3699623644351959, + -0.011170078068971634 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.051917411386966705, + 0.15575221180915833, + -0.9864309430122375, + -0.006590181030333042 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.2242944985628128, + 0.6728833913803101, + -0.7049253582954407, + -0.010973555967211723 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.5734624266624451, + 0.0, + -0.8192319273948669, + -0.00898265466094017 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.4842175245285034, + -0.2178979516029358, + -0.847380518913269, + -0.006547159049659967 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 4 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 5 + ], + [ + 9, + 5, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 8, + 9 + ], + [ + 10, + 9, + 2 + ], + [ + 10, + 2, + 6 + ], + [ + 10, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + 0.004380727652460337, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.010639716871082783, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.005438987165689468, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 0, + 4, + 5, + 1, + 6, + 4, + 3, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.04461493715643883, + 0.988963782787323, + 0.14128059148788452, + -0.008053954690694809 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + 0.998617947101593, + -0.015904447063803673 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0008200014708563685 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + -0.998617947101593, + 0.013457550667226315 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 4, + 3 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.005481841508299112 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + 0.004063460510224104 + ] + ], + "indices_raw": [ + 0, + 2, + 3, + 4, + 0, + 1, + 2, + 5, + 6, + 3, + 2, + 5, + 2, + 1, + 7, + 6, + 5, + 1, + 7, + 4, + 3, + 7, + 3, + 6, + 8, + 4, + 7, + 8, + 7, + 1, + 8, + 1, + 0, + 8, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + -0.16439901292324066, + 0.0, + 0.0002261999761685729 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.14142130315303802, + 0.0, + 0.9899495244026184, + -0.008921387605369091 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.9899495244026184, + 0.0, + 0.1414213627576828, + -0.0027717400807887316 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8311627507209778, + -0.04617565497756004, + -0.5541085600852966, + 0.0016683712601661682 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8479982614517212, + 0.0, + -0.5299990177154541, + 0.0008568784687668085 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.800000011920929, + 0.0, + -0.5999999046325684, + 0.0014038399094715714 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.06285564601421356, + 0.7752197980880737, + -0.6285566687583923, + -0.006874820217490196 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.20507574081420898, + 0.4101516604423523, + -0.8886616826057434, + -0.0010694856755435467 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004063460510224104 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.012999962083995342, + 0.009264189749956131 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.008791396394371986 + ], + [ + -0.0027111757081001997, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 8, + 4, + 0, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 1, + 0, + 6, + 2, + 3, + 6, + 3, + 7, + 6, + 7, + 8, + 9, + 7, + 3, + 1, + 5, + 9, + 5, + 4, + 8, + 9, + 8, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.12275607138872147, + 0.14321544766426086, + 0.9820489883422852, + -0.011051204055547714 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.9974586963653564, + 0.0, + 0.07124704122543335, + 0.0003936674911528826 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9801960587501526, + -0.1400279700756073, + 0.14002792537212372, + -0.008092239499092102 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8099418878555298, + -0.09642163664102554, + -0.5785300135612488, + -4.437286406755447e-06 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.010163201950490475 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.7682212591171265, + 0.0, + -0.6401844024658203, + 0.0017292811535298824 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 8, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 1 + ], + [ + 9, + 1, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004853521473705769, + 0.010639716871082783, + 0.013519331812858582 + ], + [ + 0.004853521473705769, + 0.013476477935910225, + 0.013519331812858582 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + 0.005326314829289913, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + 0.0029623471200466156, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + 0.010639716871082783, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 9, + 5, + 4, + 8, + 9, + 8, + 6, + 7, + 9, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.2747209966182709, + 0.0, + 0.9615239500999451, + -0.011665796861052513 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9950372576713562, + 0.0, + 0.09950368851423264, + -0.006174658425152302 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.7682213187217712, + 0.0, + -0.6401843428611755, + 0.0015363255515694618 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 7 + ], + [ + 9, + 7, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.013519331812858582 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0022383821196854115, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.009264189749956131 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0022383821196854115, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 7, + 0, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 3, + 6, + 2, + 1, + 8, + 2, + 6, + 3, + 8, + 3, + 5, + 8, + 5, + 0, + 2, + 9, + 1, + 0, + 7, + 9, + 7, + 4, + 9, + 4, + 6, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.16439896821975708, + 0.004275036975741386 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.16437670588493347, + -0.016437672078609467, + 0.9862606525421143, + -0.012935986742377281 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.19611603021621704, + 0.0, + -0.9805806875228882, + 0.010079602710902691 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06237826123833656, + -0.9980525374412537, + 0.008877381682395935 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.9862606525421143, + 0.016437672078609467, + 0.1643766611814499, + -0.006827469449490309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.0, + -0.02939903922379017, + -0.9995677471160889, + 0.009433986619114876 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.9863939881324768, + 0.16439901292324066, + 0.0, + 0.00045876787044107914 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 4, + 3 + ], + [ + 6, + 2, + 1 + ], + [ + 8, + 2, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 1 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009264189749956131 + ], + [ + -0.0022383821196854115, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + 0.005799108650535345, + -0.004489677958190441, + 0.0007539056241512299 + ], + [ + 0.00627190200611949, + 0.0026022258680313826, + -0.0011372686130926013 + ], + [ + 0.005799108650535345, + 0.0059117809869349, + 0.0021722863893955946 + ], + [ + 0.005326314829289913, + -0.0030712971929460764, + 0.003117873566225171 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9837124347686768, + 0.017885657027363777, + -0.17885679006576538, + 0.005919797345995903 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9738617539405823, + -0.11686335504055023, + -0.19477225840091705, + -0.0060253688134253025 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9946228265762329, + 0.053283341228961945, + 0.08880557864904404, + -0.006275836378335953 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.8207634687423706, + -0.5471756458282471, + 0.1641526073217392, + 0.002179298084229231 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.1441291868686676, + 0.09608612209558487, + 0.9848828315734863, + -0.0035433084703981876 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.015410506166517735 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.0139921260997653 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 5, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 4, + 6, + 8, + 7, + 6, + 8, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + 0.0, + 0.5547003746032715, + -0.01080404780805111 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010166922584176064 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.09950388967990875, + 0.0, + 0.9950372576713562, + -0.015603799372911453 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.06644416600465775, + -0.04746011272072792, + 0.9966608285903931, + -0.015056665055453777 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.5704789757728577, + 0.4074849486351013, + 0.7130986452102661, + -0.01796834170818329 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 0, + 3, + 6, + 7, + 2, + 1, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0024895535316318274 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.013046538457274437 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 6 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.002016759943217039, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.0016994928009808064 + ] + ], + "indices_raw": [ + 4, + 1, + 3, + 5, + 3, + 1, + 0, + 0, + 1, + 2, + 4, + 2, + 1, + 6, + 2, + 4, + 6, + 4, + 5, + 6, + 5, + 3, + 0, + 6, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.002589479088783264 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439664712175727 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9935203194618225, + -0.05519557371735573, + 0.09935203194618225, + 0.00149308773688972 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.004489677492529154 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.9669876098632812, + -0.08058230578899384, + 0.2417469024658203, + -0.0029514108318835497 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0029623471200466156 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.00402060616761446 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.554436981678009, + 0.030802056193351746, + 0.8316554427146912, + -0.003179670311510563 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 3, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 6, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.002645079977810383 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005481841508299112 + ], + [ + 0.0006617542239837348, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + 0.005481841508299112 + ] + ], + "indices_raw": [ + 4, + 1, + 0, + 3, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 3, + 2, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.09053570032119751, + 0.0, + 0.9958932399749756, + -0.005876006092876196 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9985359311103821, + 0.0, + 0.05409111827611923, + -0.0009195960592478514 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.08996749669313431, + 0.11185961961746216, + -0.9896429181098938, + 0.005177837796509266 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.13128377497196198, + 0.0, + -0.9913448095321655, + 0.004830181133002043 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0006617542239837348, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.002984528196975589, + -0.008272026665508747, + 0.012078770436346531 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 3, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071066498756409, + 0.0, + 0.7071069478988647, + -0.007464918773621321 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.8903087377548218, + 0.0, + 0.4553573429584503, + -0.008157309144735336 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272027596831322 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06807220727205276, + -0.9976803660392761, + 0.012613847851753235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.002984528196975589, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.02849319949746132, + -0.0101632010191679, + 0.022502409294247627 + ], + [ + 0.02849319949746132, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.014309393242001534, + 0.010639716871082783, + 0.016828887164592743 + ], + [ + 0.04362259432673454, + 0.009694129228591919, + 0.018247267231345177 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.021556822583079338 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.020138442516326904 + ], + [ + 0.032275550067424774, + -0.010635994374752045, + 0.011155364103615284 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0011372686130926013 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0011372686130926013 + ], + [ + 0.04787773638963699, + -0.0030712971929460764, + 0.022975202649831772 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.022975202649831772 + ], + [ + 0.042677007615566254, + -0.009690406732261181, + 0.022502409294247627 + ], + [ + 0.040785834193229675, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.045986562967300415, + 0.007802954874932766, + 0.021556822583079338 + ], + [ + 0.04125862568616867, + 0.011112510226666927, + 0.02061123587191105 + ], + [ + 0.0388946570456028, + 0.011112510226666927, + 0.015410506166517735 + ], + [ + 0.030384374782443047, + -0.01110878773033619, + 0.02061123587191105 + ], + [ + 0.01336380559951067, + -0.010635994374752045, + 0.013046538457274437 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.021556822583079338 + ], + [ + 0.04362259432673454, + -0.009690406732261181, + 0.01872006058692932 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.011112510226666927, + 0.0139921260997653 + ], + [ + 0.030384374782443047, + 0.011585303582251072, + 0.02061123587191105 + ], + [ + 0.04125862568616867, + -0.010635994374752045, + 0.01966564916074276 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 11, + 2, + 1, + 10, + 1, + 12, + 13, + 2, + 11, + 14, + 4, + 15, + 14, + 15, + 13, + 14, + 13, + 11, + 16, + 15, + 4, + 16, + 4, + 9, + 17, + 12, + 1, + 5, + 4, + 14, + 5, + 14, + 11, + 5, + 11, + 10, + 8, + 7, + 17, + 18, + 18, + 17, + 1, + 0, + 19, + 10, + 12, + 19, + 12, + 20, + 21, + 0, + 3, + 22, + 9, + 8, + 18, + 0, + 21, + 22, + 21, + 3, + 6, + 5, + 10, + 6, + 10, + 19, + 6, + 19, + 20, + 6, + 20, + 7, + 23, + 15, + 16, + 16, + 9, + 22, + 23, + 23, + 22, + 3, + 23, + 3, + 2, + 23, + 2, + 13, + 23, + 13, + 15, + 24, + 12, + 17, + 24, + 17, + 7, + 24, + 7, + 20, + 24, + 20, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.5487039089202881, + -0.004039752297103405, + -0.8360070586204529, + -0.0084267258644104 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.37396830320358276, + 0.0, + 0.9274414777755737, + -0.010214114561676979 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.023618821054697037, + 0.000429434614488855, + 0.9997208714485168, + -0.02182772196829319 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.002438429743051529, + -0.07315284758806229, + 0.9973177313804626, + -0.02325499802827835 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.0, + 0.05546998977661133, + 0.9984602928161621, + -0.023057948797941208 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5628597140312195, + 0.8236973285675049, + 0.06864141672849655, + -0.0337909497320652 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.4977046549320221, + 0.8039843440055847, + 0.3254217803478241, + -0.03617624193429947 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.354749470949173, + 0.36319589614868164, + 0.8615344166755676, + -0.03771965578198433 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.37572842836380005, + 0.9108569622039795, + -0.17078568041324615, + -0.022103842347860336 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.5368949174880981, + 0.1193106472492218, + -0.8351699113845825, + -0.009337794035673141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.029399093240499496, + -0.8819714784622192, + 0.4703848958015442, + -0.020386122167110443 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.8450430035591125, + 0.3521014153957367, + -0.40240147709846497, + -0.0329335555434227 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.923076868057251, + 0.38461554050445557, + 0.0, + -0.04545026645064354 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.995893120765686, + -0.09053604304790497, + 0.0, + -0.04795917123556137 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.010436422191560268, + -0.9981001615524292, + -0.06072093918919563, + -0.00960158184170723 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + -0.15411591529846191, + -0.9452441930770874, + 0.28768303990364075, + -0.01174730435013771 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5368158221244812, + -0.4717472493648529, + 0.6994878649711609, + -0.043221279978752136 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6027487516403198, + -0.7835735082626343, + 0.150687113404274, + -0.03670748323202133 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.44721323251724243, + 0.0, + 0.8944272994995117, + -0.008652868680655956 + ] + }, + { + "index_base": 64, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.013363806530833244 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.544949471950531, + 0.7784987688064575, + 0.3113996982574463, + -0.005725621245801449 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9209275841712952, + -0.1782442033290863, + -0.34658530354499817, + -0.036676499992609024 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.9138116836547852, + -0.4061383605003357, + 0.0, + -0.04499860480427742 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7071066498756409, + -0.70710688829422, + 0.0, + -0.03769798204302788 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5571632385253906, + -0.06023363769054413, + -0.8282155394554138, + -0.009384348057210445 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.04342874884605408, + 0.99886155128479, + -0.01974034123122692, + -0.012484797276556492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.006421743426471949, + 0.9977375864982605, + -0.06692144274711609, + -0.010305847972631454 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.10371185094118118, + 0.9748918414115906, + 0.19705253839492798, + -0.012204693630337715 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.13333329558372498, + 0.9333333373069763, + 0.33333322405815125, + -0.013632111251354218 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8944272398948669, + 0.44721361994743347, + -0.01957983709871769 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.0420331209897995, + 0.966762125492096, + 0.2521987855434418, + -0.01767551153898239 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.06639426946640015, + -0.9560773968696594, + 0.2854956090450287, + -0.018522625789046288 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.0397564060986042, + -0.9983277320861816, + -0.04196507856249809, + -0.011433231644332409 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + 0.26032334566116333, + -0.9255942106246948, + -0.2747856676578522, + -0.015181360766291618 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + 0.40406110882759094, + -0.9091371893882751, + 0.10101522505283356, + -0.02832711488008499 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 11, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 12 + ], + [ + 13, + 2, + 11 + ], + [ + 14, + 4, + 15 + ], + [ + 14, + 15, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 9 + ], + [ + 17, + 12, + 1 + ], + [ + 5, + 4, + 14 + ], + [ + 5, + 14, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 8, + 7, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 18, + 17, + 1 + ], + [ + 18, + 1, + 0 + ], + [ + 19, + 10, + 12 + ], + [ + 19, + 12, + 20 + ], + [ + 21, + 0, + 3 + ], + [ + 22, + 9, + 8 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 0 + ], + [ + 22, + 0, + 21 + ], + [ + 22, + 21, + 3 + ], + [ + 6, + 5, + 10 + ], + [ + 6, + 10, + 19 + ], + [ + 6, + 19, + 20 + ], + [ + 6, + 20, + 7 + ], + [ + 23, + 15, + 16 + ], + [ + 16, + 9, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 23, + 22, + 3 + ], + [ + 23, + 3, + 2 + ], + [ + 23, + 2, + 13 + ], + [ + 23, + 13, + 15 + ], + [ + 24, + 12, + 17 + ], + [ + 24, + 17, + 7 + ], + [ + 24, + 7, + 20 + ], + [ + 24, + 20, + 12 + ] + ], + "raw_bounds": [ + [ + 0.01336380559951067, + -0.01110878773033619, + -0.0011372686130926013 + ], + [ + 0.04835053160786629, + 0.011585303582251072, + 0.022975202649831772 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0008200015290640295, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + -0.001765588647685945, + 0.004020606633275747, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0010711727663874626, + 0.004020606633275747, + 0.003117873566225171 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3, + 5, + 1, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 5, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + 0.7071067690849304, + -0.002784498268738389 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.3154498338699341, + 0.07009996473789215, + 0.9463495016098022, + -0.002894541248679161 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.19593016803264618, + -0.04354003816843033, + 0.9796508550643921, + -0.0030892454087734222 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.004020606633275747 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.8941512703895569, + 0.024837536737322807, + 0.44707563519477844, + -0.002451577689498663 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.1412079781293869, + -0.054914213716983795, + -0.9884557723999023, + 0.002149977022781968 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0021722863893955946 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 1, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0163560938090086 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.008163075894117355 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0059117809869349 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 3, + 6, + 0, + 2, + 7, + 1, + 0, + 7, + 0, + 6, + 5, + 7, + 5, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0560038685798645, + -0.99740070104599, + 0.04533645883202553, + -0.011155171319842339 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + -0.05872198939323425, + 0.0, + 0.9982743859291077, + -0.015543119050562382 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.05865586921572685, + -0.997148334980011, + -0.04748332127928734, + -0.009067608043551445 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.007690283004194498, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 7, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 2, + 3, + 5, + 6, + 4, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 8, + 0, + 4, + 6, + 8, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.46962231397628784, + -0.06403941661119461, + -0.8805418014526367, + -0.007981184870004654 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.013363804668188095 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.008752558380365372 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.00627190200611949 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.3159340023994446, + 0.04308191314339638, + -0.9478026032447815, + -0.002936009783297777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 4 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 0, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.004380727186799049 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.015883298590779305 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.19611606001853943, + 0.0, + -0.9805806875228882, + 0.013188702054321766 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0003472079406492412 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0027111757081001997 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0033423160202801228 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.009736983105540276 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + -0.0022383821196854115, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + -0.001765588647685945, + 0.0011838451027870178, + -0.0020828559063374996 + ], + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.00019168150902260095 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 4, + 8, + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 7, + 0, + 3, + 9, + 7, + 6, + 8, + 9, + 8, + 4, + 5, + 9, + 5, + 1, + 0, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0015439663548022509 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0021722863893955946 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.14142130315303802, + 0.0, + -0.9899495244026184, + -0.0023116141092032194 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8944272398948669, + 0.0, + -0.4472135901451111, + -0.0025106719695031643 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9805806875228882, + 0.0, + 0.1961161345243454, + -0.002620934508740902 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0011838451027870178 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 7, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.012100951746106148 + ], + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.0029623471200466156, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 3, + 2, + 1, + 6, + 1, + 0, + 7, + 1, + 6, + 7, + 4, + 3, + 1, + 8, + 6, + 0, + 8, + 0, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00973698403686285 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.16299529373645782, + 0.13039623200893402, + 0.9779720902442932, + -0.010349966585636139 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9792319536209106, + 0.19947320222854614, + 0.03626780956983566, + 0.003649023361504078 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0035900697112083435 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.880450963973999, + 0.4402254819869995, + -0.17609013617038727, + 0.007964345626533031 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 1, + 6 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 8, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.018407655879855156, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_040.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_040.json new file mode 100644 index 0000000000000000000000000000000000000000..77180cde96bb54169f0d0b9710238b269b822c61 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_040.json @@ -0,0 +1,1354 @@ +{ + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9738510427996516, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026940000243484974, + -0.018400000408291817, + -0.002956999931484461 + ], + [ + 0.034749001264572144, + -0.011500000022351742, + -0.017650000751018524 + ], + [ + 0.0018619999755173922, + -0.018400000408291817, + 0.003539999946951866 + ], + [ + -0.007480999920517206, + -0.003100000089034438, + -0.010386000387370586 + ], + [ + 0.020020000636577606, + -0.009317000396549702, + -0.0218339990824461 + ], + [ + -0.0034580000210553408, + -0.018400000408291817, + 0.002010999945923686 + ], + [ + -0.007565999869257212, + -0.003100000089034438, + 0.010324000380933285 + ], + [ + -0.012679999694228172, + -0.003100000089034438, + 0.001749000046402216 + ], + [ + -0.010701999999582767, + 0.003100000089034438, + 0.007021999917924404 + ], + [ + -0.012784999795258045, + 0.003100000089034438, + -0.0006089999806135893 + ], + [ + 0.03127700090408325, + -0.011500000022351742, + -0.02252800017595291 + ], + [ + 0.03247499838471413, + -0.0071000000461936, + -0.024327000603079796 + ], + [ + -0.009686999954283237, + 0.003100000089034438, + -0.008365999907255173 + ], + [ + -0.002320999978110194, + 0.018400000408291817, + -0.0032579998951405287 + ], + [ + 0.01777699962258339, + 0.010436000302433968, + -0.020383000373840332 + ], + [ + 0.03258199989795685, + -0.005601000040769577, + -0.011509999632835388 + ], + [ + 0.007480999920517206, + -0.003100000089034438, + 0.010386000387370586 + ], + [ + -5.199999941396527e-05, + -0.003100000089034438, + 0.012799999676644802 + ], + [ + 0.0033710000570863485, + 0.003100000089034438, + 0.012347999960184097 + ], + [ + -0.004530000034719706, + 0.003100000089034438, + 0.011970999650657177 + ], + [ + -0.0024349999148398638, + 0.018400000408291817, + 0.003172999946400523 + ], + [ + 0.03617699816823006, + -0.00803999975323677, + -0.021151000633835793 + ], + [ + 0.0020359999034553766, + 0.018400000408291817, + 0.00344299990683794 + ], + [ + 0.03437599912285805, + 0.009318999946117401, + -0.01423100009560585 + ], + [ + 0.03303299844264984, + 0.012000000104308128, + -0.017819000408053398 + ], + [ + 0.03564000129699707, + 0.009999999776482582, + -0.02071000076830387 + ], + [ + 0.03685100004076958, + 0.0071000000461936, + -0.01864900067448616 + ], + [ + -0.011285999789834023, + -0.003100000089034438, + -0.006039000116288662 + ], + [ + 0.03635299950838089, + -0.0071000000461936, + -0.016155999153852463 + ], + [ + -0.003978999797254801, + 0.018400000408291817, + -0.00041000000783242285 + ], + [ + 0.02185700088739395, + 0.0071000000461936, + -0.022856000810861588 + ], + [ + 0.03161099925637245, + 0.009469999931752682, + -0.024010999128222466 + ], + [ + 0.034717999398708344, + 0.007215000223368406, + -0.023137999698519707 + ], + [ + 0.03087400086224079, + 0.012000000104308128, + -0.020850999280810356 + ], + [ + 0.007790999952703714, + 0.003100000089034438, + 0.010223999619483948 + ] + ], + "indices_raw": [ + 22, + 20, + 19, + 18, + 0, + 1, + 2, + 3, + 4, + 0, + 5, + 6, + 7, + 5, + 7, + 0, + 5, + 0, + 2, + 8, + 9, + 7, + 8, + 7, + 6, + 10, + 4, + 11, + 10, + 1, + 0, + 10, + 0, + 4, + 12, + 13, + 14, + 15, + 16, + 2, + 15, + 2, + 1, + 17, + 6, + 5, + 17, + 5, + 2, + 17, + 2, + 16, + 17, + 16, + 18, + 19, + 20, + 8, + 19, + 8, + 6, + 19, + 6, + 17, + 19, + 17, + 18, + 21, + 1, + 10, + 21, + 10, + 11, + 22, + 23, + 24, + 22, + 24, + 13, + 25, + 24, + 23, + 25, + 23, + 26, + 27, + 7, + 9, + 27, + 9, + 12, + 27, + 12, + 3, + 27, + 3, + 0, + 27, + 0, + 7, + 28, + 26, + 23, + 28, + 23, + 15, + 28, + 15, + 1, + 28, + 1, + 21, + 28, + 21, + 26, + 29, + 20, + 22, + 13, + 29, + 13, + 12, + 29, + 12, + 9, + 29, + 9, + 8, + 29, + 8, + 20, + 30, + 14, + 31, + 30, + 31, + 11, + 30, + 11, + 4, + 30, + 4, + 3, + 30, + 3, + 12, + 14, + 32, + 31, + 25, + 32, + 25, + 26, + 21, + 32, + 21, + 11, + 32, + 11, + 31, + 33, + 13, + 24, + 33, + 24, + 25, + 33, + 25, + 31, + 33, + 31, + 14, + 33, + 14, + 13, + 34, + 16, + 15, + 34, + 15, + 23, + 34, + 23, + 22, + 34, + 22, + 18, + 34, + 18, + 16 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0451480895280838, + 0.5026227831840515, + 0.8633261919021606, + -0.012097529135644436 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1423136591911316, + -0.9847778677940369, + -0.09979698807001114, + -0.018031621351838112 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.4267512261867523, + -0.49956536293029785, + -0.7538686394691467, + -0.012570859864354134 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.7654424905776978, + -0.4535495340824127, + 0.45649829506874084, + -0.011910229921340942 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.8481484055519104, + -0.5134508013725281, + -0.1304318904876709, + -0.012118094600737095 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018400002270936966 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9613348245620728, + 0.08352024853229523, + 0.2624112665653229, + -0.012389769777655602 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8478571772575378, + -0.1595526933670044, + 0.505649209022522, + -0.012129822745919228 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1244775727391243, + -0.3462839722633362, + -0.92983478307724, + -0.0210363008081913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.14184698462486267, + -0.9847263693809509, + -0.10096204280853271, + -0.018035374581813812 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.18778613209724426, + -0.777571976184845, + -0.6000985503196716, + -0.01658771187067032 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.45617246627807617, + 0.47157031297683716, + -0.7546708583831787, + -0.01219438761472702 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.5400451421737671, + -0.5009511709213257, + 0.676313042640686, + -0.012617215514183044 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.5401402115821838, + -0.5034834146499634, + 0.6743537783622742, + -0.012657048180699348 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.2683568596839905, + -0.5145392417907715, + 0.8143918514251709, + -0.012033242732286453 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.23515890538692474, + -0.5246232748031616, + 0.8182119131088257, + -0.012111673131585121 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.26872482895851135, + -0.4739088714122772, + 0.8385686874389648, + -0.012188822962343693 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.3036837875843048, + -0.09857543557882309, + 0.9476597905158997, + -0.012419838458299637 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.5517596006393433, + 0.4712375998497009, + 0.6881107687950134, + -0.01219768263399601 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.6225250363349915, + 0.09859922528266907, + 0.7763638496398926, + -0.012419546954333782 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.31144073605537415, + -0.09856624156236649, + 0.9451398849487305, + -0.012419541366398335 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.047428809106349945, + 0.09865041077136993, + 0.9939911961555481, + -0.012419737875461578 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.598672091960907, + -0.678246021270752, + -0.4261152148246765, + -0.03612402081489563 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.5173730850219727, + -0.44077378511428833, + -0.7335146069526672, + -0.037775393575429916 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.450687438249588, + 0.7877478003501892, + 0.41992151737213135, + -0.016857948154211044 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.1407613307237625, + 0.9858041405677795, + -0.09152323007583618, + -0.01811026968061924 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7313763499259949, + 0.648559033870697, + 0.21085503697395325, + -0.028185034170746803 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8368046283721924, + 0.5030374526977539, + 0.2161276787519455, + -0.030378088355064392 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.9809271693229675, + -0.0833892971277237, + -0.17557938396930695, + -0.012389576062560081 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9240381121635437, + 0.09980206191539764, + -0.3690434694290161, + -0.012347961775958538 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + -0.7513985633850098, + -0.053065814077854156, + -0.657711386680603, + -0.012616708874702454 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6578575372695923, + -0.4854268431663513, + -0.5758334994316101, + -0.012406863272190094 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.8484349846839905, + -0.5070456266403198, + -0.15186411142349243, + -0.012064386159181595 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.8820446133613586, + 0.051294174045324326, + 0.46836555004119873, + -0.024133868515491486 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.7794872522354126, + 0.020454086363315582, + 0.6260839700698853, + -0.018076464533805847 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6194655895233154, + -0.44533371925354004, + 0.6464830040931702, + -0.015236725099384785 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.9353009462356567, + -0.3522794842720032, + 0.0333390012383461, + -0.035963550209999084 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.998820424079895, + -0.03988993912935257, + -0.02768711932003498, + -0.037040647119283676 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.018400000408291817 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + -0.7462656497955322, + 0.5043237805366516, + -0.4344480633735657, + -0.012427072040736675 + ] + }, + { + "index_base": 122, + "num_vertices": 3, + "plane": [ + -0.8173755407333374, + 0.47469088435173035, + -0.3264443278312683, + -0.01212049275636673 + ] + }, + { + "index_base": 125, + "num_vertices": 3, + "plane": [ + -0.8446415066719055, + 0.483139306306839, + 0.23055800795555115, + -0.012156063690781593 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.7889560461044312, + 0.5118223428726196, + 0.3399799168109894, + -0.012417396530508995 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.20466917753219604, + 0.4089396595954895, + -0.8893137574195862, + -0.018756171688437462 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.12061034142971039, + 0.01264103688299656, + -0.9926194548606873, + -0.020140882581472397 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.18927845358848572, + -0.03989730775356293, + -0.9811125993728638, + -0.018003981560468674 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.3869834840297699, + -0.014093653298914433, + -0.9219788908958435, + -0.012514389120042324 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + -0.42786476016044617, + 0.13876493275165558, + -0.8931270837783813, + -0.012046704068779945 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + 0.5293327569961548, + 0.4511655569076538, + -0.7185099720954895, + -0.0382574200630188 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + 0.8962570428848267, + 0.0331924632191658, + -0.4422913193702698, + -0.04151192680001259 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6451348066329956, + -0.03769935667514801, + -0.7631380558013916, + -0.03978327661752701 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.292805939912796, + 0.03349127247929573, + -0.9555851221084595, + -0.032517604529857635 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.1379530429840088, + 0.9855552911758423, + -0.09823238104581833, + -0.018134070560336113 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3793489933013916, + 0.8849450945854187, + -0.27012333273887634, + -0.027963705360889435 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.3395898640155792, + 0.7712914347648621, + -0.5383197665214539, + -0.030964501202106476 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.11380887776613235, + 0.7624368071556091, + -0.6369754672050476, + -0.018917083740234375 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.11918839067220688, + 0.8394197821617126, + -0.5302532911300659, + -0.017449526116251945 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.6565588116645813, + -0.013122377917170525, + 0.7541606426239014, + -0.01278510969132185 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.6690284013748169, + 0.0547332689166069, + 0.7412188053131104, + -0.01296029519289732 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5190467238426208, + 0.5018815994262695, + 0.6918854713439941, + -0.012673563323915005 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.37752199172973633, + 0.4901893436908722, + 0.7856153845787048, + -0.012492992915213108 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.4331280589103699, + 0.0018945846240967512, + 0.9013304710388184, + -0.012595577165484428 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 20, + 19 + ], + [ + 22, + 19, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 10, + 4, + 11 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 12, + 13, + 14 + ], + [ + 15, + 16, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 6, + 5 + ], + [ + 17, + 5, + 2 + ], + [ + 17, + 2, + 16 + ], + [ + 17, + 16, + 18 + ], + [ + 19, + 20, + 8 + ], + [ + 19, + 8, + 6 + ], + [ + 19, + 6, + 17 + ], + [ + 19, + 17, + 18 + ], + [ + 21, + 1, + 10 + ], + [ + 21, + 10, + 11 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 13 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 26 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 12 + ], + [ + 27, + 12, + 3 + ], + [ + 27, + 3, + 0 + ], + [ + 27, + 0, + 7 + ], + [ + 28, + 26, + 23 + ], + [ + 28, + 23, + 15 + ], + [ + 28, + 15, + 1 + ], + [ + 28, + 1, + 21 + ], + [ + 28, + 21, + 26 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 20 + ], + [ + 30, + 14, + 31 + ], + [ + 30, + 31, + 11 + ], + [ + 30, + 11, + 4 + ], + [ + 30, + 4, + 3 + ], + [ + 30, + 3, + 12 + ], + [ + 30, + 12, + 14 + ], + [ + 32, + 31, + 25 + ], + [ + 32, + 25, + 26 + ], + [ + 32, + 26, + 21 + ], + [ + 32, + 21, + 11 + ], + [ + 32, + 11, + 31 + ], + [ + 33, + 13, + 24 + ], + [ + 33, + 24, + 25 + ], + [ + 33, + 25, + 31 + ], + [ + 33, + 31, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 34, + 16, + 15 + ], + [ + 34, + 15, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 18 + ], + [ + 34, + 18, + 16 + ] + ], + "raw_bounds": [ + [ + -0.012784999795258045, + -0.018400000408291817, + -0.024327000603079796 + ], + [ + 0.03685100004076958, + 0.018400000408291817, + 0.012799999676644802 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004385216161608696, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_041.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_041.json new file mode 100644 index 0000000000000000000000000000000000000000..6e68ee8f0d76e0c6cc356c683c230ec9cce8b7ad --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_041.json @@ -0,0 +1,1337 @@ +{ + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9993354938924313, + "parts": [ + { + "vertices_raw": [ + [ + 0.004881000146269798, + -0.021114999428391457, + 0.0008929999894462526 + ], + [ + 0.00469100009649992, + 0.019923999905586243, + -0.0017300000181421638 + ], + [ + 0.0033489998895674944, + 0.02449999935925007, + 0.0021879998967051506 + ], + [ + -0.016958000138401985, + -0.020500000566244125, + 0.013813000172376633 + ], + [ + -0.0011149999918416142, + -0.020500000566244125, + 0.007065999787300825 + ], + [ + -0.00979200005531311, + 0.021794000640511513, + 0.011417999863624573 + ], + [ + 0.0015670000575482845, + -0.02500000037252903, + 0.0016840000171214342 + ], + [ + -0.024754999205470085, + -0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03359999880194664, + -0.02500000037252903, + 0.008762000128626823 + ], + [ + 0.0014359999913722277, + -0.023600000888109207, + -0.004265000112354755 + ], + [ + -0.03095399960875511, + 0.02449999935925007, + 0.013713999651372433 + ], + [ + -0.024754999205470085, + 0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03551800176501274, + 0.02449999935925007, + 0.009996999986469746 + ], + [ + -0.034042999148368835, + 0.020500000566244125, + 0.014074999839067459 + ], + [ + -0.0137320002540946, + -0.024035999551415443, + 0.01143999956548214 + ], + [ + 0.003662999952211976, + 0.02449999935925007, + -0.0016070000128820539 + ], + [ + -0.0006580000044777989, + 0.02449999935925007, + -0.003945999778807163 + ], + [ + -0.021220000460743904, + 0.020500000566244125, + 0.0145650003105402 + ], + [ + -0.031286999583244324, + -0.023600000888109207, + 0.014248000457882881 + ], + [ + -0.0340769998729229, + -0.021375000476837158, + 0.013964000158011913 + ], + [ + -0.03274000063538551, + 0.02449999935925007, + 0.005944000091403723 + ], + [ + -0.033351998776197433, + 0.021788999438285828, + 0.005282999947667122 + ], + [ + -0.03579099848866463, + -0.023600000888109207, + 0.011188000440597534 + ], + [ + 0.0043230000883340836, + -0.023600000888109207, + -0.0012489999644458294 + ], + [ + 0.0020200000144541264, + 0.020500000566244125, + -0.0045739999040961266 + ], + [ + -0.03513399884104729, + -0.023600000888109207, + 0.007065999787300825 + ], + [ + -0.036518000066280365, + -0.020500000566244125, + 0.010017000138759613 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + 0.005121000111103058 + ], + [ + -0.014038000255823135, + 0.02483000047504902, + 0.010449999943375587 + ], + [ + 0.0029899999499320984, + -0.023600000888109207, + 0.0033629999961704016 + ], + [ + -0.03604299947619438, + 0.020500000566244125, + 0.007612000219523907 + ], + [ + 0.00022200000239536166, + 0.020500000566244125, + 0.006147000007331371 + ], + [ + -0.0010679999832063913, + -0.020500000566244125, + -0.004885000176727772 + ], + [ + -0.036079999059438705, + 0.020500000566244125, + 0.011818000115454197 + ] + ], + "indices_raw": [ + 32, + 27, + 21, + 16, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 7, + 6, + 14, + 4, + 3, + 15, + 16, + 11, + 15, + 11, + 2, + 15, + 2, + 1, + 17, + 10, + 13, + 17, + 3, + 5, + 18, + 7, + 14, + 18, + 14, + 3, + 18, + 3, + 17, + 18, + 17, + 13, + 18, + 13, + 19, + 18, + 8, + 7, + 20, + 12, + 11, + 20, + 11, + 16, + 20, + 16, + 21, + 22, + 8, + 18, + 22, + 18, + 19, + 23, + 6, + 9, + 23, + 1, + 0, + 24, + 16, + 15, + 24, + 15, + 1, + 24, + 1, + 23, + 24, + 23, + 9, + 25, + 8, + 22, + 25, + 22, + 26, + 25, + 27, + 9, + 25, + 9, + 8, + 28, + 5, + 2, + 28, + 2, + 11, + 28, + 11, + 10, + 28, + 10, + 17, + 28, + 17, + 5, + 29, + 4, + 14, + 29, + 14, + 6, + 29, + 6, + 23, + 29, + 23, + 0, + 29, + 0, + 2, + 30, + 21, + 27, + 30, + 27, + 25, + 30, + 25, + 26, + 30, + 12, + 20, + 30, + 20, + 21, + 31, + 4, + 29, + 31, + 29, + 2, + 31, + 2, + 5, + 31, + 5, + 4, + 32, + 16, + 24, + 32, + 24, + 9, + 32, + 9, + 27, + 33, + 12, + 30, + 33, + 30, + 26, + 33, + 26, + 22, + 19, + 33, + 19, + 13, + 33, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2837983965873718, + 0.004008793272078037, + -0.9588755965232849, + -0.004486851394176483 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9538896679878235, + 0.023541664704680443, + 0.2992326617240906, + -0.004426068160682917 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.3917756676673889, + -0.014285339042544365, + 0.9199498891830444, + -0.006356386002153158 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.03416293114423752, + -0.9848969578742981, + -0.1697382926940918, + -0.024283049628138542 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.0458645299077034, + -0.9726089835166931, + -0.22787760198116302, + -0.02385961078107357 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.09076569974422455, + 0.9896164536476135, + 0.11144871264696121, + -0.028583571314811707 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5515294075012207, + 0.48703670501708984, + 0.677207887172699, + -0.03829167038202286 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.09394942224025726, + -0.9655330181121826, + 0.24273337423801422, + -0.024694306775927544 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.3792104721069336, + -0.25161007046699524, + 0.8904447555541992, + -0.011027069762349129 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.02012530155479908, + 0.9991059899330139, + -0.0371788889169693, + -0.024611562490463257 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.03638264909386635, + 0.999333381652832, + 0.0030103176832199097, + -0.024612098932266235 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.9729765057563782, + 0.216415673494339, + 0.08050452917814255, + -0.008736825548112392 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.03791423141956329, + 0.11882458627223969, + 0.9921911358833313, + -0.017691709101200104 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.2644491493701935, + 0.009802224114537239, + 0.9643497467041016, + -0.008635088801383972 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.05209881067276001, + -0.8847787976264954, + 0.4630899131298065, + -0.0258488729596138 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.12808160483837128, + -0.4694364368915558, + 0.873627245426178, + -0.019518854096531868 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.03354852646589279, + -0.014841711148619652, + 0.9993269443511963, + -0.013539042323827744 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.03818470984697342, + 0.0015337229706346989, + 0.9992694854736328, + -0.01539608184248209 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.10328322649002075, + -0.0025526918470859528, + 0.9946486353874207, + -0.01746341958642006 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.08969464898109436, + -0.9553270936012268, + 0.2816115617752075, + -0.02936439774930477 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.09299364686012268, + 0.9936243891716003, + -0.06373956799507141, + -0.027009541168808937 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.0475323349237442, + 0.9868972301483154, + -0.1541893184185028, + -0.02481869049370289 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.28220677375793457, + 0.28691232204437256, + -0.9154456257820129, + -0.010827393271028996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.22302483022212982, + -0.9178776741027832, + 0.3282690942287445, + -0.033316873013973236 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.48207712173461914, + -0.5139225721359253, + 0.7095668911933899, + -0.03732122853398323 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.23763298988342285, + -0.9443454742431641, + -0.22746899724006653, + -0.023597950115799904 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.9706486463546753, + -0.01086210273206234, + -0.24025662243366241, + -0.004752540495246649 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.43300625681877136, + 0.41548582911491394, + -0.7999231815338135, + -0.013050980865955353 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7348579168319702, + 0.1826428771018982, + -0.6531657576560974, + -0.008216172456741333 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.7274712920188904, + -0.013732098042964935, + -0.686000645160675, + -0.004325751215219498 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.7223119139671326, + -0.014409931376576424, + -0.6914172768592834, + -0.0043262094259262085 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6101171970367432, + -0.786320686340332, + -0.09724568575620651, + -0.03930589184165001 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.9481901526451111, + -0.27945470809936523, + -0.15113064646720886, + -0.03884095326066017 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.2715010344982147, + -0.39808598160743713, + -0.8762503862380981, + -0.012742162682116032 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + -0.16558584570884705, + -0.8288426995277405, + -0.5344165563583374, + -0.021602194756269455 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.3284822404384613, + 0.6712574362754822, + 0.6644644141197205, + -0.018999742344021797 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.05786185339093208, + 0.9949489831924438, + 0.08202731609344482, + -0.024749504402279854 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.04252167418599129, + 0.9477416276931763, + 0.3161925673484802, + -0.02623971924185753 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.14933736622333527, + 0.5396801829338074, + 0.8285189867019653, + -0.0199618861079216 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.17383377254009247, + 0.5114371180534363, + 0.8415545225143433, + -0.01905294880270958 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.40118324756622314, + -0.4329771101474762, + 0.8072068691253662, + -0.014132436364889145 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.2549504041671753, + -0.8379132747650146, + 0.48259902000427246, + -0.022160036489367485 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.5830668807029724, + -0.79475337266922, + 0.16852304339408875, + -0.021066294983029366 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8744012713432312, + -0.4141877293586731, + 0.25272703170776367, + -0.013239211402833462 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7895487546920776, + 0.009096799418330193, + 0.6136204600334167, + -0.004209672100841999 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.6554164290428162, + 0.003668168094009161, + -0.7552587389945984, + -0.017949342727661133 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.7412555813789368, + -0.006969014648348093, + -0.6711868047714233, + -0.021465137600898743 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.9107304215431213, + -0.013661650940775871, + -0.41277554631233215, + -0.02940334752202034 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.7534950971603394, + 0.4068348705768585, + -0.5164594650268555, + -0.0315670520067215 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.7028453350067139, + 0.3142618238925934, + -0.6381598114967346, + -0.02691735327243805 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.6676843166351318, + -0.005086960736662149, + 0.7444272041320801, + -0.004619937390089035 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.7800334692001343, + 0.009462078101933002, + 0.6256662607192993, + -0.004213110543787479 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.46558624505996704, + 0.4115085005760193, + 0.7835114002227783, + -0.013355529867112637 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.46624213457107544, + 0.004624944180250168, + 0.8846451044082642, + -0.005636231042444706 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + -0.1966385543346405, + 0.022245602682232857, + -0.9802235960960388, + -0.004542367532849312 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.2288264036178589, + -0.009850801900029182, + -0.9734174013137817, + -0.004712698981165886 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.2715972363948822, + -0.39491158723831177, + -0.8776558041572571, + -0.01267310418188572 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.9907751083374023, + 0.13523544371128082, + -0.008715703152120113, + -0.03841649368405342 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9999001026153564, + 0.011068263091146946, + -0.008795978501439095, + -0.03619934618473053 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + -0.8549159169197083, + -0.013646861538290977, + 0.5185871124267578, + -0.03669426590204239 + ] + }, + { + "index_base": 182, + "num_vertices": 3, + "plane": [ + -0.7423605918884277, + -0.0011732283746823668, + 0.6699994206428528, + -0.034678373485803604 + ] + }, + { + "index_base": 185, + "num_vertices": 3, + "plane": [ + -0.6870352029800415, + 0.3788135051727295, + 0.6200668215751648, + -0.039881862699985504 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 32, + 27, + 21 + ], + [ + 32, + 21, + 16 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 4, + 3 + ], + [ + 15, + 16, + 11 + ], + [ + 15, + 11, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 10, + 13 + ], + [ + 17, + 3, + 5 + ], + [ + 18, + 7, + 14 + ], + [ + 18, + 14, + 3 + ], + [ + 18, + 3, + 17 + ], + [ + 18, + 17, + 13 + ], + [ + 18, + 13, + 19 + ], + [ + 18, + 8, + 7 + ], + [ + 20, + 12, + 11 + ], + [ + 20, + 11, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 19 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 16, + 15 + ], + [ + 24, + 15, + 1 + ], + [ + 24, + 1, + 23 + ], + [ + 24, + 23, + 9 + ], + [ + 25, + 8, + 22 + ], + [ + 25, + 22, + 26 + ], + [ + 25, + 27, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 28, + 5, + 2 + ], + [ + 28, + 2, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 17 + ], + [ + 28, + 17, + 5 + ], + [ + 29, + 4, + 14 + ], + [ + 29, + 14, + 6 + ], + [ + 29, + 6, + 23 + ], + [ + 29, + 23, + 0 + ], + [ + 29, + 0, + 2 + ], + [ + 30, + 21, + 27 + ], + [ + 30, + 27, + 25 + ], + [ + 30, + 25, + 26 + ], + [ + 30, + 12, + 20 + ], + [ + 30, + 20, + 21 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 2 + ], + [ + 31, + 2, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 16, + 24 + ], + [ + 32, + 24, + 9 + ], + [ + 32, + 9, + 27 + ], + [ + 33, + 12, + 30 + ], + [ + 33, + 30, + 26 + ], + [ + 33, + 26, + 22 + ], + [ + 33, + 22, + 19 + ], + [ + 33, + 19, + 13 + ], + [ + 33, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.036518000066280365, + -0.025499999523162842, + -0.004885000176727772 + ], + [ + 0.004881000146269798, + 0.025499999523162842, + 0.0145650003105402 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0035774349234998226, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_042.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_042.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f738a094ee9d9b043948f00709bb619143e5eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_042.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.0898850937373936, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + 0.005249989219009876, + -0.02026689052581787 + ], + [ + 0.016393516212701797, + -0.005355285946279764, + -0.020274700596928596 + ], + [ + -0.010551173239946365, + 0.001936863991431892, + -0.0015893022064119577 + ], + [ + 0.021058708429336548, + 0.004999947268515825, + -0.019783440977334976 + ], + [ + -0.0038393354043364525, + 0.00549997016787529, + -0.002347175031900406 + ], + [ + -0.004447362385690212, + 0.005432975012809038, + 0.0016682108398526907 + ], + [ + 0.0016016149893403053, + 0.005432975012809038, + 0.004471834748983383 + ], + [ + 0.021798528730869293, + 0.004999947268515825, + -0.012355390004813671 + ], + [ + 0.023115016520023346, + 0.004999947268515825, + -0.015911880880594254 + ], + [ + -0.004105887375771999, + -0.005463290028274059, + -0.0022624770645052195 + ], + [ + 0.022002436220645905, + -0.005192446056753397, + -0.018826300278306007 + ], + [ + 0.022146016359329224, + -0.005355285946279764, + -0.013035180978477001 + ], + [ + 0.0021148710511624813, + -0.0053552258759737015, + 0.004366633482277393 + ], + [ + -0.0035197939723730087, + -0.0053552258759737015, + 0.003339346731081605 + ], + [ + 0.012750902213156223, + -0.004999982658773661, + -0.0036200531758368015 + ], + [ + 0.014267423190176487, + 0.004999947268515825, + -0.0049940370954573154 + ], + [ + -0.0013361778110265732, + -0.004999982658773661, + 0.004818137735128403 + ], + [ + -0.0021025147289037704, + 0.004999947268515825, + 0.004536387510597706 + ], + [ + 0.019002286717295647, + -0.004999982658773661, + -0.0206608809530735 + ], + [ + 0.023111678659915924, + -0.004999982658773661, + -0.015489219687879086 + ], + [ + -0.004848381504416466, + -0.0053552258759737015, + 0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + 0.9995930790901184, + 0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + -0.01206897757947445, + -0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + -0.4508727192878723, + -0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + -0.9999979734420776, + -0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + 0.037696633487939835, + -0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + 0.7347155213356018, + -0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + 0.01986261084675789, + 0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + -0.008559993468225002, + 0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + 0.979090690612793, + 0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + -0.003514686366543174, + 0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + 0.029233338311314583, + 0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + -0.9484537839889526, + 0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + -0.002508311765268445, + -0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + 0.06626430153846741, + -0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + -0.03201968967914581, + -0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + -0.9626887440681458, + -0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + -0.9626891016960144, + -0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + -0.013617747463285923, + -0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + 0.008036171086132526, + 0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + 0.5307285189628601, + 0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + 0.9659310579299927, + 0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + 0.8791415095329285, + -0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + -0.015754459425807, + 0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + -0.9361693859100342, + 0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + -0.9978163838386536, + 0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + -0.5309804081916809, + 0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + -0.6332581043243408, + -0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.005463290028274059, + -0.0206608809530735 + ], + [ + 0.023115016520023346, + 0.00549997016787529, + 0.004818137735128403 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006572029087692499, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_043.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_043.json new file mode 100644 index 0000000000000000000000000000000000000000..e23e2646bc2be77875534ddfe271e33dd5107e75 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_043.json @@ -0,0 +1,1205 @@ +{ + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.1733380667865276, + "parts": [ + { + "vertices_raw": [ + [ + 0.028950780630111694, + -0.029400473460555077, + -0.02203785441815853 + ], + [ + 0.036072637885808945, + -0.026561623439192772, + -0.020194698125123978 + ], + [ + 0.035480648279190063, + -0.02661014348268509, + -0.013627173379063606 + ], + [ + -0.00460543017834425, + -0.009999943897128105, + 0.001946689561009407 + ], + [ + 3.609992563724518e-05, + -0.009999943897128105, + 0.00499982014298439 + ], + [ + -0.0035099005326628685, + 0.009999975562095642, + 0.003560960292816162 + ], + [ + 0.008276081643998623, + 0.01903347671031952, + 0.004414379596710205 + ], + [ + -0.0046807704493403435, + 0.0189999770373106, + -0.008486798964440823 + ], + [ + -0.0036362605169415474, + 0.0189999770373106, + -0.013943399302661419 + ], + [ + -0.004708371125161648, + -0.018999943509697914, + -0.012313536368310452 + ], + [ + 0.01342473179101944, + 0.029035257175564766, + -0.013558654114603996 + ], + [ + 0.015564174391329288, + 0.02856985665857792, + -0.000364840030670166 + ], + [ + 0.023319818079471588, + 0.030190685763955116, + -0.01600485108792782 + ], + [ + 0.026709288358688354, + -0.029557593166828156, + -0.007937004789710045 + ], + [ + 0.02281275950372219, + -0.030186964198946953, + -0.015777219086885452 + ], + [ + 0.012838222086429596, + -0.028245043009519577, + -0.016035547479987144 + ], + [ + 0.010475315153598785, + 0.025810696184635162, + 0.002504950389266014 + ], + [ + 0.028200238943099976, + 0.02951512672007084, + -0.009176663123071194 + ], + [ + 0.03589693084359169, + 0.02626756578683853, + -0.013896823860704899 + ], + [ + 0.02922419086098671, + 0.029354676604270935, + -0.02211921289563179 + ], + [ + 0.03862079977989197, + -0.02263910323381424, + -0.022213149815797806 + ], + [ + 0.03854474797844887, + 0.02276269719004631, + -0.022212615236639977 + ], + [ + 0.04762116074562073, + -0.0003336999798193574, + -0.02146296575665474 + ], + [ + -0.0020220493897795677, + -0.018999943509697914, + -0.015038898214697838 + ], + [ + 0.007897652685642242, + -0.01619626395404339, + 0.004695599898695946 + ], + [ + 0.009390807710587978, + -0.023656973615288734, + 0.003474060446023941 + ], + [ + 0.012203431688249111, + -0.027437103912234306, + 0.0014214599505066872 + ], + [ + -0.0046807704493403435, + -0.018999943509697914, + -0.008486798964440823 + ], + [ + 0.04063883796334267, + -0.019555572420358658, + -0.017124822363257408 + ], + [ + 0.04063883796334267, + 0.019555605947971344, + -0.017124822363257408 + ], + [ + 0.03459319844841957, + 0.027717577293515205, + -0.020184028893709183 + ], + [ + 0.012706197798252106, + 0.028179867193102837, + -0.016031434759497643 + ], + [ + 0.017847036942839622, + -0.029356664046645164, + -0.002421730197966099 + ], + [ + 0.034339819103479385, + -0.027275454252958298, + -0.022182276472449303 + ] + ], + "indices_raw": [ + 6, + 24, + 25, + 26, + 13, + 2, + 22, + 18, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 3, + 5, + 10, + 8, + 7, + 10, + 11, + 12, + 13, + 14, + 0, + 13, + 0, + 2, + 15, + 0, + 14, + 16, + 11, + 10, + 7, + 16, + 7, + 5, + 16, + 5, + 6, + 16, + 6, + 11, + 17, + 11, + 18, + 17, + 19, + 12, + 17, + 12, + 11, + 20, + 21, + 22, + 23, + 8, + 19, + 0, + 23, + 0, + 15, + 23, + 15, + 9, + 23, + 9, + 8, + 24, + 6, + 4, + 27, + 3, + 7, + 9, + 27, + 9, + 15, + 26, + 28, + 2, + 1, + 28, + 1, + 20, + 28, + 20, + 22, + 28, + 22, + 2, + 29, + 22, + 21, + 29, + 21, + 18, + 29, + 18, + 22, + 30, + 18, + 21, + 30, + 21, + 19, + 30, + 19, + 17, + 30, + 17, + 18, + 31, + 8, + 10, + 31, + 10, + 12, + 19, + 31, + 19, + 8, + 25, + 24, + 4, + 25, + 4, + 3, + 25, + 3, + 27, + 25, + 27, + 26, + 32, + 14, + 13, + 32, + 13, + 26, + 32, + 26, + 15, + 32, + 15, + 14, + 21, + 20, + 33, + 0, + 19, + 33, + 20, + 1, + 33, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 9, + "plane": [ + 0.5554140210151672, + 0.0006718943477608263, + 0.8315737247467041, + -0.008280322887003422 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.3643476068973541, + -0.930901050567627, + 0.02596452087163925, + -0.03734487667679787 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.5491702556610107, + -0.03730444982647896, + 0.8348774909973145, + -0.004527455195784569 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.11144143342971802, + 0.05163991078734398, + 0.9924284219741821, + -0.004441544413566589 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9819781184196472, + 0.019642703235149384, + -0.1879715919494629, + -0.006564902141690254 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9906697869300842, + 0.04385059326887131, + 0.12903651595115662, + -0.004375150892883539 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.503027617931366, + 0.858889639377594, + -0.09629024565219879, + -0.019490636885166168 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.10318870842456818, + 0.9933136105537415, + 0.05177085101604462, + -0.026753893122076988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.13802313804626465, + -0.9903689622879028, + 0.010905110277235508, + -0.032872870564460754 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.3438694477081299, + -0.9379761219024658, + 0.04421054199337959, + -0.03655792772769928 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.17561694979667664, + -0.940667986869812, + -0.2903486490249634, + -0.028970498591661453 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.4611877501010895, + 0.8818241357803345, + 0.09844843298196793, + -0.01807783916592598 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.630448579788208, + 0.591249406337738, + 0.5029498934745789, + -0.0099162757396698 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.3350372314453125, + 0.35465607047080994, + 0.8729084134101868, + -0.007830891758203506 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.44392943382263184, + 0.10660851746797562, + 0.889697253704071, + -0.009630588814616203 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.5595239400863647, + 0.13832393288612366, + 0.8171899914741516, + -0.012362278997898102 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.13888423144817352, + 0.9903077483177185, + -0.0012890974758192897, + -0.033157456666231155 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.003859607269987464, + 0.9948599338531494, + 0.10118690133094788, + -0.028326019644737244 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08269260078668594, + 0.00015025108586996794, + -0.9965750575065613, + -0.025327324867248535 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.2312798649072647, + -0.00027092683012597263, + -0.9728872776031494, + -0.014752579852938652 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.3391564190387726, + -0.4564746022224426, + -0.8225593566894531, + -0.02172916941344738 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + -0.4865109920501709, + -0.7303057909011841, + -0.47954192757606506, + -0.022071298211812973 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + -0.7121536731719971, + -0.010015242733061314, + -0.7019522190093994, + -0.012186886742711067 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.04456556588411331, + 0.007495600264519453, + 0.998978316783905, + -0.004921365063637495 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9999739527702332, + -5.147759907231375e-07, + 0.00721751106902957, + -0.004619385115802288 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.4626477062702179, + -0.8863064050674438, + 0.020445959642529488, + -0.01876632682979107 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.8214462399482727, + -0.5659905076026917, + 0.06986282020807266, + -0.04325450211763382 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.8381461501121521, + -0.545442521572113, + -0.00187135289888829, + -0.04475977271795273 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9195113778114319, + -0.3662273585796356, + -0.1427454799413681, + -0.046974148601293564 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5914568305015564, + -0.03301825746893883, + 0.8056604266166687, + -0.010885016992688179 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.921284019947052, + 0.3570431172847748, + -0.1541299670934677, + -0.047061555087566376 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.8213423490524292, + 0.5700390338897705, + 0.021267056465148926, + -0.04416166618466377 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.5942230820655823, + 0.03332866355776787, + 0.8036093711853027, + -0.01103863026946783 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.7783727049827576, + 0.6275811195373535, + -0.016667159274220467, + -0.04465784132480621 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.4266154170036316, + 0.6126290559768677, + -0.6653458476066589, + -0.0451679490506649 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.2880397439002991, + 0.9575562477111816, + 0.01091738697141409, + -0.036284998059272766 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.44422733783721924, + 0.8887767791748047, + 0.11286143958568573, + -0.03772398456931114 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.49871116876602173, + 0.8536246418952942, + -0.15037348866462708, + -0.0201290100812912 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + -0.18242937326431274, + 0.9379465579986572, + -0.29491662979125977, + -0.028783127665519714 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.34054145216941833, + 0.41426199674606323, + -0.8440488576889038, + -0.020878177136182785 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.10489723086357117, + -0.18109753727912903, + 0.97785484790802, + -0.0066962772980332375 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.4974029064178467, + -0.4251880347728729, + 0.7561782002449036, + -0.00801465567201376 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.6283305883407593, + -0.5868178606033325, + 0.5107303261756897, + -0.009756111539900303 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.5935026407241821, + -0.6775025129318237, + 0.4344478249549866, + -0.011963488534092903 + ] + }, + { + "index_base": 143, + "num_vertices": 3, + "plane": [ + 0.020784344524145126, + -0.9973492622375488, + 0.06973227113485336, + -0.029480915516614914 + ] + }, + { + "index_base": 146, + "num_vertices": 3, + "plane": [ + 0.5194249749183655, + -0.15523900091648102, + 0.8402966856956482, + -0.01179252564907074 + ] + }, + { + "index_base": 149, + "num_vertices": 3, + "plane": [ + -0.3015376627445221, + -0.9528783559799194, + 0.033135946840047836, + -0.022511528804898262 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + -0.19084253907203674, + -0.9815703630447388, + -0.009933975525200367, + -0.02543371543288231 + ] + }, + { + "index_base": 155, + "num_vertices": 5, + "plane": [ + -0.012869753874838352, + -9.784484063857235e-06, + -0.9999171495437622, + -0.02171449363231659 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.6820499300956726, + -0.6322193145751953, + -0.3675685524940491, + -0.04881905019283295 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3671211302280426, + -0.9300682544708252, + 0.013965248130261898, + -0.03766512870788574 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 24, + 25 + ], + [ + 6, + 25, + 26 + ], + [ + 6, + 26, + 13 + ], + [ + 6, + 13, + 2 + ], + [ + 6, + 2, + 22 + ], + [ + 6, + 22, + 18 + ], + [ + 6, + 18, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 3, + 5 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 0 + ], + [ + 13, + 0, + 2 + ], + [ + 15, + 0, + 14 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 7 + ], + [ + 16, + 7, + 5 + ], + [ + 16, + 5, + 6 + ], + [ + 16, + 6, + 11 + ], + [ + 17, + 11, + 18 + ], + [ + 17, + 19, + 12 + ], + [ + 17, + 12, + 11 + ], + [ + 20, + 21, + 22 + ], + [ + 23, + 8, + 19 + ], + [ + 23, + 19, + 0 + ], + [ + 23, + 0, + 15 + ], + [ + 23, + 15, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 24, + 6, + 4 + ], + [ + 27, + 3, + 7 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 26 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 20 + ], + [ + 28, + 20, + 22 + ], + [ + 28, + 22, + 2 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 18 + ], + [ + 29, + 18, + 22 + ], + [ + 30, + 18, + 21 + ], + [ + 30, + 21, + 19 + ], + [ + 30, + 19, + 17 + ], + [ + 30, + 17, + 18 + ], + [ + 31, + 8, + 10 + ], + [ + 31, + 10, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 8 + ], + [ + 25, + 24, + 4 + ], + [ + 25, + 4, + 3 + ], + [ + 25, + 3, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 32, + 14, + 13 + ], + [ + 32, + 13, + 26 + ], + [ + 32, + 26, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 21, + 20, + 33 + ], + [ + 21, + 33, + 0 + ], + [ + 21, + 0, + 19 + ], + [ + 33, + 20, + 1 + ], + [ + 33, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.004708371125161648, + -0.030186964198946953, + -0.022213149815797806 + ], + [ + 0.04762116074562073, + 0.030190685763955116, + 0.00499982014298439 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006886719260364771, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_044.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_044.json new file mode 100644 index 0000000000000000000000000000000000000000..67853f5410b906105869d2a966ca14eba01de100 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/COLLIDER_044.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/INPUT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/INPUT.json new file mode 100644 index 0000000000000000000000000000000000000000..c688b618534a38a3e57f40499c43544eee1e344d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/INPUT.json @@ -0,0 +1,6572 @@ +{ + "episode_uid": "chain50_layout_02", + "stage_id": 9223002, + "root_layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene_physical.usda", + "request_frame": 8883, + "request_tick": 26653, + "stage_meters_per_unit": 1.0, + "stage_up_axis": "Z", + "physics_scenes": { + "/World/PhysicsScene": { + "physics:gravityDirection": [ + 0.0, + 0.0, + -1.0 + ], + "physics:gravityMagnitude": 9.8100004196167, + "physxScene:bounceThreshold": 0.0, + "physxScene:broadphaseType": "MBP", + "physxScene:collisionSystem": "PCM", + "physxScene:enableCCD": true, + "physxScene:enableEnhancedDeterminism": false, + "physxScene:enableExternalForcesEveryIteration": false, + "physxScene:enableGPUDynamics": false, + "physxScene:enableResidualReporting": false, + "physxScene:enableSceneQuerySupport": true, + "physxScene:enableStabilization": false, + "physxScene:frictionCorrelationDistance": 0.02500000037252903, + "physxScene:frictionOffsetThreshold": 0.03999999910593033, + "physxScene:frictionType": "patch", + "physxScene:gpuCollisionStackSize": 67108864, + "physxScene:gpuFoundLostAggregatePairsCapacity": 1024, + "physxScene:gpuFoundLostPairsCapacity": 262144, + "physxScene:gpuHeapCapacity": 67108864, + "physxScene:gpuMaxDeformableSurfaceContacts": 1048576, + "physxScene:gpuMaxNumPartitions": 8, + "physxScene:gpuMaxParticleContacts": 1048576, + "physxScene:gpuMaxRigidContactCount": 524288, + "physxScene:gpuMaxRigidPatchCount": 81920, + "physxScene:gpuMaxSoftBodyContacts": 1048576, + "physxScene:gpuTempBufferCapacity": 16777216, + "physxScene:gpuTotalAggregatePairsCapacity": 1024, + "physxScene:invertCollisionGroupFilter": false, + "physxScene:maxBiasCoefficient": "inf", + "physxScene:maxPositionIterationCount": 255, + "physxScene:maxVelocityIterationCount": 255, + "physxScene:minPositionIterationCount": 1, + "physxScene:minVelocityIterationCount": 0, + "physxScene:reportKinematicKinematicPairs": false, + "physxScene:reportKinematicStaticPairs": false, + "physxScene:solverType": "TGS", + "physxScene:timeStepsPerSecond": 240, + "physxScene:updateType": "Synchronous" + } + }, + "context": { + "settings": { + "/physics/addMenuSelectionLimit": 1000, + "/physics/addMenuSubtreeLimit": 100000, + "/persistent/physics/autocreatePhysicsScene": true, + "/physics/autoPopupSimulationOutputWindow": false, + "/physics/collisionApproximateCones": false, + "/physics/collisionApproximateCylinders": false, + "/physics/cudaDevice": 0, + "/persistent/physics/visualizationQueryUsdrtForTraversal": false, + "/persistent/physics/visualizationSimplifyAtDistance": 2500.0, + "/physics/defaultSimulator": "PhysX", + "/physics/demoAssetsPath": "", + "/physics/disableContactProcessing": false, + "/physics/disableSleeping": false, + "/persistent/physics/visualizationDisplayAttachments": 0, + "/persistent/physics/visualizationDisplayAttachmentsHideActor0": false, + "/persistent/physics/visualizationDisplayAttachmentsHideActor1": false, + "/persistent/physics/visualizationDisplayColliders": 0, + "/persistent/physics/visualizationDisplayColliderNormals": false, + "/persistent/physics/visualizationDisplayDeformables": 0, + "/persistent/physics/visualizationDisplayDeformableAttachments": 0, + "/persistent/physics/visualizationDisplayDeformableBodies": 0, + "/persistent/physics/visualizationDisplayDeformableBodyType": 0, + "/persistent/physics/visualizationDisplayDeformableMeshType": 0, + "/persistent/physics/visualizationDisplayDeformableSurfaces": 0, + "/persistent/physics/visualizationDisplayJoints": false, + "/persistent/physics/visualizationDisplayMassProperties": 0, + "/persistent/physics/visualizationDisplayParticles": 0, + "/persistent/physics/visualizationDisplayParticlesParticlePositions": 0, + "/persistent/physics/visualizationDisplayParticlesParticleRadius": 2, + "/persistent/physics/visualizationDisplayParticlesShowDeformableMesh": false, + "/persistent/physics/visualizationDisplayParticlesClothMeshLines": false, + "/persistent/physics/visualizationDisplayParticlesShowDeformableParticles": true, + "/persistent/physics/visualizationDisplayParticlesShowDiffuseParticles": false, + "/persistent/physics/visualizationDisplayParticlesShowFluidSurface": false, + "/persistent/physics/visualizationDisplayParticlesShowParticleSetParticles": true, + "/persistent/physics/visualizationSimulationDataVisualizer": false, + "/persistent/physics/visualizationSimulationOutput": false, + "/persistent/physics/visualizationDisplayTendons": 0, + "/physics/enableAttachmentAuthoring": true, + "/persistent/physics/enableDeformableBeta": 0, + "/physics/enableExtendedJointAngles": false, + "/physics/enableParticleAuthoring": true, + "/physics/enableSynchronousKernelLaunches": false, + "/physics/exposePrimPathNames": true, + "/physics/exposeProfilerData": true, + "/physics/forceParseOnlySingleScene": null, + "/simulation/jointBodyTransformCheckTolerance": 0.0010000000474974513, + "/persistent/physics/localMeshCacheSizeMB": 1024, + "/physics/logRobotics": false, + "/physics/logSceneMultiGPU": false, + "/persistent/physics/massDistributionManipulator": false, + "/physics/maxNumberOfPhysXErrors": 1000, + "/persistent/simulation/minFrameRate": 60, + "/physics/mouseGrab": true, + "/physics/mouseGrabIgnoreInvisible": true, + "/physics/forceGrab": true, + "/physics/mouseInteractionEnabled": true, + "/physics/pickingForce": 1.0, + "/physics/mousePush": 1000.0, + "/physics/numEventPumpsForTestStageSetup": 3, + "/persistent/physics/numThreads": 8, + "/physics/omniPvdOutputEnabled": false, + "/physics/omniPvdIsOVDStage": false, + "/physics/omniPvdIsRecording": false, + "/persistent/physics/omniPvdOvdRecordingDirectory": "", + "/physics/outputVelocitiesLocalSpace": false, + "/persistent/physics/overrideGPUSettings": -1, + "/physics/developmentMode": false, + "/physics/sceneMultiGPUMode": 0, + "/physics/physxDispatcher": false, + "/persistent/physics/pvdDebug": true, + "/persistent/physics/pvdEnabled": false, + "/persistent/physics/pvdIP": "127.0.0.1", + "/persistent/physics/pvdMemory": true, + "/persistent/physics/pvdOutputDirectory": "", + "/persistent/physics/pvdProfile": true, + "/persistent/physics/pvdStreamToFile": false, + "/physics/resetOnStop": true, + "/physics/showCollisionGroupsWindow": false, + "/physics/simulateEmptyScene": false, + "/physics/suppressReadback": false, + "/physics/testsAssetsPath": "", + "/persistent/physics/testRunnerFilter": "", + "/physics/testRunnerRepeats": 1, + "/persistent/physics/testRunnerSelection": {}, + "/physics/testRunnerStatus": {}, + "/physics/cooking/ujitsoCollisionCooking": true, + "/physics/cooking/ujitsoCookingDevKey": 0, + "/persistent/physics/cooking/ujitsoCookingMaxProcessCount": 16, + "/physics/cooking/ujitsoRemoteCacheEnabled": false, + "/physics/updateParticlesToUsd": true, + "/physics/updateResidualsToUsd": true, + "/physics/updateToUsd": true, + "/physics/updateVelocitiesToUsd": true, + "/persistent/physics/useActiveCudaContext": false, + "/persistent/physics/useLocalMeshCache": true, + "/persistent/physics/visualizationCollisionMesh": null, + "/persistent/physics/visualizationGap": 0.20000000298023224 + }, + "versions": { + "omni.physx": { + "id": "omni.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.cooking": { + "id": "omni.physx.cooking-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.cooking-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.convexdecomposition": { + "id": "omni.convexdecomposition-107.3.26", + "path": "/isaac-sim/extscache/omni.convexdecomposition-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.usd.schema.physx": { + "id": "omni.usd.schema.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.usd.schema.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.foundation": { + "id": "omni.physx.foundation-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.foundation-107.3.26+107.3.3.lx64.r.cp311.u353" + } + }, + "binding_module": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353/omni/physx/bindings/_physx.cpython-311-x86_64-linux-gnu.so" + }, + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.09134995937347412 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0542692169547081 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.0017106436425819993 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0013720927527174354 + ], + [ + 0.0, + 0.0, + 1.0, + 0.028225021436810493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.014111396707288644, + -0.008147089091691394, + 0.9998672378982629, + -1.6924407723427357 + ], + [ + -0.8659050301247164, + 0.4999429689745607, + 0.016294372575076623, + 0.5551317428931171 + ], + [ + -0.5000093472003133, + -0.8660200071085156, + 2.881408499577631e-07, + 0.9216174781322479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_base_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_base_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_end_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.04600000008940697 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.030799949541687965 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.9999999999999967, + -8.742277657347538e-08, + 7.496549290623157e-15, + -4.552953760139644e-05 + ], + [ + -8.74227765734757e-08, + 0.9999999999999923, + -8.742277657347538e-08, + -0.0023004747927188873 + ], + [ + 1.4619257319269486e-16, + -8.74227765734757e-08, + -0.9999999999999967, + -0.022499999031424522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.23337144343640612, + -0.00016039149498729103, + -0.9723876509206486, + -1.488454848569941 + ], + [ + 0.9723872820478617, + -0.0009250047816447952, + -0.23337120233166334, + 0.2915163648055299 + ], + [ + -0.0008620324706849342, + -0.9999995593202642, + 0.00037183235095239464, + 0.6660023629665375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_end_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_end_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.16642063856124878 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.055792681872844696 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.3090170209353076, + 0.951056507665169, + 0.0, + 0.002681443467736244 + ], + [ + -0.951056507665169, + 0.3090170209353076, + 0.0, + 0.0006133774877525866 + ], + [ + 0.0, + 0.0, + 1.0, + -0.04071124643087387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.013409951315982336, + 0.009255866330591004, + 0.999867242259778, + -1.5065653032939794 + ], + [ + -0.8228759314831168, + -0.5679874149398305, + 0.016294104938973743, + 0.5581607537710959 + ], + [ + 0.5680628262714402, + -0.8229851914879387, + -2.539539658563683e-07, + 0.9216174781322479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link1/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link1/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18085919320583344 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.06302423030138016 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.0440620519220829 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + 0.0009765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.5161523255981516, + -0.8563918238075894, + -0.013409731359382216, + -1.5065653031438475 + ], + [ + -0.4922683327148935, + 0.283808056289417, + 0.8228759783778613, + 0.5581608133755516 + ], + [ + -0.7008984700980015, + 0.431330536017025, + -0.5680627635337023, + 0.9216174781322479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link3", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.22069887816905975 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.054232582449913025 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.809017027134356, + 0.587785207203011, + -5.138581586749737e-08, + -0.0027450521010905504 + ], + [ + 0.5877852072030132, + 0.8090170271343526, + -7.07265128963581e-08, + 0.0006360082770697773 + ], + [ + 1.9524636976919085e-15, + -8.742277562996412e-08, + -0.9999999999999962, + -0.07223940640687943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.500996337998, + -0.12488296322787773, + 0.8563917998253011, + -1.2453658315920177 + ], + [ + -0.6588075347440018, + 0.6967248240141407, + -0.2838083010889505, + 0.4715992845352499 + ], + [ + -0.5612266043917781, + -0.706384289956883, + -0.4313304225590695, + 0.7900616824626923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link3/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link3/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link4", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1549554020166397 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05789170786738396 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.038178950548172 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + -0.00439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.9313126614756527, + 0.3421418000353427, + 0.12488280603714975, + -1.2453657123831063 + ], + [ + -0.16319619970383414, + 0.6985280526037947, + -0.6967248812320234, + 0.4715992842349863 + ], + [ + -0.3256128482989623, + 0.6284883041028897, + 0.7063842613114415, + 0.7900616824626923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link4/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link4/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link5", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.13452400267124176 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0456145778298378 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.809017084600562, + 0.5877851281075485, + 0.0, + 0.0001316195266554132 + ], + [ + -0.5877851281075485, + 0.809017084600562, + 0.0, + -5.835551564814523e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.033305805176496506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9242976031136314, + -0.16915369955902046, + -0.3421417349635864, + -1.312938755125783 + ], + [ + 0.1297846744060639, + 0.7037147400381726, + -0.6985280974608818, + 0.3336398744835303 + ], + [ + 0.3589287940075418, + -0.690052599863593, + -0.6284882896711665, + 0.6659352481365204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link5/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link5/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link6", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1816599816083908 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.048507388681173325 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.00027327360928564026, + 0.9999954012543582, + -0.003020395945894261, + 0.0002549462369643152 + ], + [ + -0.09013086403208842, + 0.003032733112308783, + 0.9959253134039212, + -0.05547768622636795 + ], + [ + 0.9959298934515239, + 7.079134950460642e-08, + 0.09013127830909373, + -0.0019394331611692905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16077665959794932, + 0.9723877106226653, + -0.16915379380474194, + -1.3129386359168715 + ], + [ + 0.6710616524574796, + 0.23337095371892702, + 0.7037146130082531, + 0.3336398741832667 + ], + [ + 0.7237590236601974, + -0.00037173960033139164, + -0.6900527063059081, + 0.6659352481365204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link6/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link6/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.09134995937347412 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05447215214371681 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0011635494884103537 + ], + [ + 0.0, + 1.0, + 0.0, + -0.002049230271950364 + ], + [ + 0.0, + 0.0, + 1.0, + 0.030325019732117653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.014111415942718539, + -0.008147102089688102, + -0.9998672375208782, + -1.7424341737265556 + ], + [ + 0.8659049996271349, + 0.49994302104184457, + -0.016294395732446367, + 0.5543169232893523 + ], + [ + 0.5000093994724732, + -0.866019976928416, + -2.874856472878662e-07, + 0.9216174781322479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_base_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_base_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_end_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.04600000008940697 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.030799949541687965 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.9999999999999967, + -8.742277657347538e-08, + 7.496549290623157e-15, + -4.552953760139644e-05 + ], + [ + -8.74227765734757e-08, + 0.9999999999999923, + -8.742277657347538e-08, + -0.0023004747927188873 + ], + [ + 1.4619257319269486e-16, + -8.74227765734757e-08, + -0.9999999999999967, + -0.022499999031424522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.2214225697682433, + -0.027661532051754516, + 0.9747855585931594, + -2.0029973847282605 + ], + [ + -0.9751681673021677, + 0.010759473797660214, + -0.22120415729395815, + 0.21448103433094223 + ], + [ + -0.0043693337890524375, + -0.9995594396373573, + -0.029357035853312174, + 0.804235428571701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_end_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_end_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.16642716526985168 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05483904853463173 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.3090170163305389, + 0.9510565091613457, + 8.31440019148514e-08, + 0.00018724019173532724 + ], + [ + 0.9510565091613492, + -0.30901701633053813, + -2.701512688035179e-08, + -0.002004870679229498 + ], + [ + -8.67870295246446e-16, + 8.742277812320035e-08, + -0.9999999999999964, + -0.04071185737848282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.01369871015190665, + 0.008823358924548965, + -0.9998672380258605, + -1.9304091902059526 + ], + [ + 0.8405967550173729, + -0.5414162808151955, + -0.016294364746874256, + 0.5512536231463634 + ], + [ + -0.5414881723495324, + -0.8407083675124982, + -1.821779187505257e-07, + 0.9216173589229584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link1/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link1/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18085919320583344 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.06302423030138016 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.0440620519220829 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + 0.0009765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6158868779929781, + 0.7877154957824329, + -0.013698584609307944, + -1.9304091900558207 + ], + [ + 0.41952538945326895, + 0.342630264267177, + 0.8405967818236563, + 0.5512536827508191 + ], + [ + 0.6668446604121124, + 0.5119656235651376, + -0.5414881339119206, + 0.9216173589229584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link3", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.22061403095722198 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0521615631878376 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0006559932371601462 + ], + [ + 0.0, + 1.0, + 0.0, + -2.2628975784755312e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.07219302654266357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16220567504262448, + 0.5943008784935347, + -0.7877155481554117, + -2.170662646260743 + ], + [ + 0.917091517352513, + -0.20383236937008017, + -0.34263028762362036, + 0.4467514312488482 + ], + [ + -0.36418740750337886, + -0.7779838243940507, + -0.5119655273523558, + 0.7654678523540497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link3/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link3/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link4", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1549554020166397 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05789170786738396 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.038178950548172 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + -0.00439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8031484328168236, + 0.04194049231431763, + -0.5943009254311433, + -2.170662646260743 + ], + [ + 0.09997198820601852, + 0.9738880929272512, + 0.2038322448207289, + 0.4467514312488482 + ], + [ + 0.5873314195903505, + -0.22312099309333167, + 0.7779838211704849, + 0.7654678523540497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link4/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link4/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link5", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.13423806428909302 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.04562028497457504 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00022255509975366294 + ], + [ + 0.0, + 1.0, + 0.0, + -4.2274765291949734e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.03344946354627609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.995986487948914, + -0.07906903536889466, + -0.04194047530752334, + -2.1789460251790884 + ], + [ + 0.05842612274422676, + -0.2193816858888745, + -0.9738881168171385, + 0.25440848265977767 + ], + [ + 0.06780342177401555, + -0.9724298244821517, + 0.22312089201450225, + 0.8095342814922333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link5/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link5/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link6", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18272487819194794 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.04857149347662926 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.00015882917060983104, + 0.9999983407170049, + -0.0018147552262917088, + -1.7782549548428506e-05 + ], + [ + -0.08717470775990088, + 0.0018216924098864995, + 0.9961913730622944, + -0.05507596954703331 + ], + [ + 0.9961930260247108, + -2.3493044287725695e-08, + 0.08717485245028533, + -0.001744715729728341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.2086651035004217, + -0.9747855693455442, + -0.07906938963240849, + -2.178946263897175 + ], + [ + -0.9502318384941438, + 0.22120411315262853, + -0.2193813880811213, + 0.25440836405139344 + ], + [ + 0.23134028549562813, + 0.029357011428999942, + -0.9724298628624892, + 0.8095342814922333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link6/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link6/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.29833984375, + 0.0, + 0.0, + -0.109130859375 + ], + [ + 0.0, + 0.3376392126083374, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.811718761920929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.01629401009885607, + 0.9998672438053456, + -6.061202278133642e-10, + -1.72205689086254 + ], + [ + -0.9998672438053456, + 0.01629401009885607, + -2.0166527090970082e-09, + 0.8381895871032313 + ], + [ + -2.006508856844297e-09, + 6.388991212063288e-10, + 1.0, + 0.0013672038912773132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/base_link/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/base_link/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/base_link/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/base_link/mesh_0/box" + } + ] + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.599609375, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.4490000009536743, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.302734375, + 0.15000000596046448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.01629401009885607, + 0.9998672438053456, + -6.061202278133642e-10, + -1.72205689086254 + ], + [ + -0.9998672438053456, + 0.01629401009885607, + -2.0166527090970082e-09, + 0.8381895871032313 + ], + [ + -2.006508856844297e-09, + 6.388991212063288e-10, + 1.0, + 0.0013672038912773132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/base_link/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/base_link/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/base_link/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/base_link/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.16064453125, + 0.0, + 0.0, + 0.102783203125 + ], + [ + 0.0, + 0.05555534362792969, + 0.0, + 0.10397815704345703 + ], + [ + 0.0, + 0.0, + 0.1328125, + -0.013671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.01629418144704128, + 0.9998672410130118, + -4.716263520006827e-09, + -1.72205689086254 + ], + [ + -0.9998672410130107, + 0.016294181447041492, + 4.9060622102676557e-08, + 0.8381895871032313 + ], + [ + 4.913095651773221e-08, + 3.916234715193796e-09, + 0.9999999999999988, + 0.6574811637401581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link1/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link1/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link1/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link1/mesh_0/box" + } + ] + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.16259765625, + 0.0, + 0.0, + 0.101806640625 + ], + [ + 0.0, + 0.04375648498535156, + 0.0, + -0.1098775863647461 + ], + [ + 0.0, + 0.0, + 0.16015625, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.01629418144704128, + 0.9998672410130118, + -4.716263520006827e-09, + -1.72205689086254 + ], + [ + -0.9998672410130107, + 0.016294181447041492, + 4.9060622102676557e-08, + 0.8381895871032313 + ], + [ + 4.913095651773221e-08, + 3.916234715193796e-09, + 0.9999999999999988, + 0.6574811637401581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link1/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link1/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link1/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link1/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.08697056770324707 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.09662318229675293 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0068359375 + ], + [ + 0.0, + 1.0, + 0.0, + -0.00034356117248535156 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.014111290150165212, + -0.008147234677442973, + 0.9998672382158589, + -1.719922329027277 + ], + [ + -0.8659050626607402, + 0.49994291325702456, + 0.016294353088719772, + 0.7072069989323899 + ], + [ + -0.5000092938624225, + -0.8660200379039681, + 1.0775360526071864e-07, + 0.6574811637401581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -1.2357367778150115e-06, + 0.18107724189642618, + 0.0, + 0.00800000037997961 + ], + [ + -0.34570312499779143, + -6.472715785781474e-07, + 0.0, + -0.24799999594688416 + ], + [ + 0.0, + 0.0, + 0.3125, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.014111290150165212, + -0.008147234677442973, + 0.9998672382158589, + -1.719922329027277 + ], + [ + -0.8659050626607402, + 0.49994291325702456, + 0.016294353088719772, + 0.7072069989323899 + ], + [ + -0.5000092938624225, + -0.8660200379039681, + 1.0775360526071864e-07, + 0.6574811637401581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link2/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link2/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link2/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link2/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 2380, + 3 + ], + "sha256": "a4d39237cfc95e4316463307ae9cfb4e72faff31d23064dd629f7baa25c24b72" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 14268 + ], + "sha256": "21fa20cdaf793bbfbf597b8ce3bbd2d58007a00088a8fd31a502036a1ad69419" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 4756 + ], + "sha256": "c791d6d48990761b03d29c9aaedd949798ae9744664eaa8702bb53f6a579c633" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_l_base_link/Cam/Looks/Material__72" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.220446049250313e-16, + -1.0000000000000002, + -2.474078692528459e-16, + 4.0169941095680173e-07 + ], + [ + -1.478279469192841e-16, + -2.4740786925284597e-16, + 1.0000000000000004, + 1.5376787357301858e-07 + ], + [ + -1.0000000000000002, + -2.2204460492503128e-16, + -1.4782794691928414e-16, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.00016069858387910487, + 0.23337132544311107, + -0.9723876791881367, + -1.4884547293610293 + ], + [ + -0.0009250995336211413, + -0.9723873103478754, + -0.2333710840384422, + 0.2915163645052663 + ], + [ + -0.999999559183312, + 0.0008620529857926162, + 0.0003721529680829061, + 0.666002482175827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/NONE" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(1, 0, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0199999809265137 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 3.430589146091734e-14, + 4.5075054799781356e-14, + 0.00022551183775573747 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1712, + 3 + ], + "sha256": "18935e63bfcb5ab660622fcf64dcf455d7e1f58ba94df065c0ffbd12ad930317" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 10416 + ], + "sha256": "2653bde5c5134d017c8267742181b152b1f1dc1424f1d660e8dc99352d1a69f6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 3472 + ], + "sha256": "4bc24312eafe22c56b193c93557fe25a23128de059c08698e69faaf9c25ce09b" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_l_base_link/Cam/Looks/wire_221221227" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.220446049250313e-16, + -1.0000000000000002, + -2.5235602191897224e-16, + 4.0169936588169113e-07 + ], + [ + -1.478279469192841e-16, + -2.4740786925284597e-16, + 1.0199999809265141, + 0.0002256656056293106 + ], + [ + -1.0000000000000002, + -2.2204460492503128e-16, + -1.507845030380755e-16, + -3.430592479786934e-14 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.00016069858387910487, + 0.23337132544311107, + -0.9723876791881367, + -1.4884547293610293 + ], + [ + -0.0009250995336211413, + -0.9723873103478754, + -0.2333710840384422, + 0.2915163645052663 + ], + [ + -0.999999559183312, + 0.0008620529857926162, + 0.0003721529680829061, + 0.666002482175827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/cam" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxConvexDecompositionCollisionAPI", + "PhysxConvexHullCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 101697, + 3 + ], + "sha256": "55cbb8fdbf7e59b27c74ea93c62eb55e73326cda937fab21aedcd88d623f34ee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 101697 + ], + "sha256": "fc804009fb1240ab8f56c29b2c1f814963e7dc6e4c70deed924b54a1870cf53c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 33899 + ], + "sha256": "2b6559cf9f2370c4b1bbbb50b7bf5d0214b793fd0833cd2c023d00257a503b2a" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/PhysicsMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.00016069858387910487, + 0.23337132544311107, + -0.9723876791881367, + -1.4884547293610293 + ], + [ + -0.0009250995336211413, + -0.9723873103478754, + -0.2333710840384422, + 0.2915163645052663 + ], + [ + -0.999999559183312, + 0.0008620529857926162, + 0.0003721529680829061, + 0.666002482175827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_base_link/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/gripper_base_link/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "8d139b926ae65232c100f49f3467481b40fab7a2d3f24580a759cfa7615a3777" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8526067580157998, + -0.5225430997457724, + 0.0032287913941804356, + -1.5479453548662954 + ], + [ + 0.5224764294232149, + -0.852571253039643, + -0.011859139411505591, + 0.2972925483097222 + ], + [ + 0.008949686193145415, + -0.008424215007517385, + 0.999924465006508, + 0.6660066545009613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link1/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 30906, + 3 + ], + "sha256": "21db449287a063cf9bfef1719f462f98fba79ae5cbdf6445607fd20eaaa34438" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 30906 + ], + "sha256": "fa0e91dc01e3743eaa5b8d201d67390cdf68c8ef8c33ce2fd05c761e5a951e7b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 10302 + ], + "sha256": "3fea498b5b7f3f2c5ea27a2bc616f0ae0b31e6ccb8222598086fdab2ae70f00f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6216496192959016, + 0.7832887883302282, + -0.003228762212420215, + -1.59229895666037 + ], + [ + 0.7832139861799273, + 0.621639136722057, + 0.011858985943350563, + 0.3147187552350472 + ], + [ + 0.011296135684801966, + 0.004843322374102565, + -0.9999244669208629, + 0.6663565337657928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link2/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link3", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "f36c1c7eed91d2488ca1f79f30f22e08749a1d0a54b7f94813c341e804bb7acd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8855591682060316, + 0.46451537593513537, + -0.0032287963828353224, + -1.564556236267151 + ], + [ + 0.4644512229829924, + 0.8855192968311124, + 0.011859022275693932, + 0.3292279807509846 + ], + [ + 0.008367859693156279, + 0.009002247473429387, + -0.9999244663796278, + 0.666439026594162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link3/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link4", + "applied_schemas": [ + "PhysxConvexDecompositionCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 47898, + 3 + ], + "sha256": "dc8a917e54f94e36c020f8a2c32423be06758f646f5094e0cc4ccb7fffbdfff3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 47898 + ], + "sha256": "10a9f1bb85d3d5feceb5ede8327436cbca9ba1b0685195183621057ed1966962" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 15966 + ], + "sha256": "4e8e7c254eba202f53cc5e219e7daa9e5a975f02107e493c19f0501d36002d16" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8986460348149854, + 0.43866260285099384, + -0.003228772413091321, + -1.5879122950321238 + ], + [ + 0.43859963184729933, + 0.898604320769781, + 0.011859074048770648, + 0.3237048173527357 + ], + [ + 0.008103521130822538, + 0.009240971478804465, + -0.9999244658430009, + 0.6664489209651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link4/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link1", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "ba5d079a48219a1771f285756ea5221d2870685be807fbae98bf7ea77c4420ae" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.5226150999659934, + 0.852562627499064, + 0.0032285413778163807, + -1.538843849879302 + ], + [ + -0.8525271273799682, + -0.5225484303073363, + -0.011858965578812388, + 0.25936941297563076 + ], + [ + -0.008423441624133002, + -0.008950093587921471, + 0.9999244678754352, + 0.6660402715206146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link1/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25476, + 3 + ], + "sha256": "f3312dedfc62b83954882f9095314227e73372710bfe89389534da9ca765b1a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 25476 + ], + "sha256": "1803b061fbd2252ba101527337a3559c65ae50aee91f74da3bbf67c048351a05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 8492 + ], + "sha256": "e815a1d1169e002fe41c9439e6a6421dcfb8ecae46ad8e2165b6e65b710f51c5" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.19843806324988722, + -0.9801081121015176, + -0.003228567241521702, + -1.570455564613167 + ], + [ + -0.9800518962813264, + 0.19838761710274314, + 0.01185891966719943, + 0.2237105743026977 + ], + [ + -0.010982515604880921, + 0.005517424498320163, + -0.9999244683364314, + 0.6657194793224335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link2/collisions/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link2/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link3", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "05c73ad1e3db3391c5e451dbbd4e4b7c5543cfb8d66f5692c09a53a125a13ddc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.5782283369850725, + -0.8158685968292724, + -0.003228469499911645, + -1.539151776337792 + ], + [ + -0.8158376148575858, + 0.5781594523718163, + 0.011858912960611255, + 0.22337339890230257 + ], + [ + -0.007808744519026347, + 0.009491066376113345, + -0.9999244687315543, + 0.6656143367290497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link3/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link4", + "applied_schemas": [ + "PhysxConvexDecompositionCollisionAPI", + "PhysxConvexHullCollisionAPI", + "PhysxSDFMeshCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxSDFMeshCollision:sdfBitsPerSubgridPixel": { + "authored": false, + "value": "BitsPerPixel16" + }, + "physxSDFMeshCollision:sdfEnableRemeshing": { + "authored": false, + "value": false + }, + "physxSDFMeshCollision:sdfMargin": { + "authored": false, + "value": 0.009999999776482582 + }, + "physxSDFMeshCollision:sdfNarrowBandThickness": { + "authored": false, + "value": 0.009999999776482582 + }, + "physxSDFMeshCollision:sdfResolution": { + "authored": false, + "value": 256 + }, + "physxSDFMeshCollision:sdfSubgridResolution": { + "authored": false, + "value": 6 + }, + "physxSDFMeshCollision:sdfTriangleCountReductionFactor": { + "authored": false, + "value": 1.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 81039, + 3 + ], + "sha256": "ed5d59c1ef2c8ea1ab2559a47a43f09039dab776f5bfb4bb66d746fb325db0d7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 81039 + ], + "sha256": "d350b13247c46a312498a228e9f7a4c3f3df7989897663667960c5d0f7d1b740" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 27013 + ], + "sha256": "3724838fc1d680d91c40b846f8029572b81e07501e50b93ff0dc53e35f0fbc69" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6018955534362626, + -0.7985682937118301, + -0.003228472058355633, + -1.5624699665913009 + ], + [ + -0.7985393448090338, + 0.6018257908758265, + 0.01185884600821937, + 0.21769230652072413 + ], + [ + -0.007527120672334705, + 0.009715848643446184, + -0.9999244695173348, + 0.6656223237514496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link4/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 2380, + 3 + ], + "sha256": "a4d39237cfc95e4316463307ae9cfb4e72faff31d23064dd629f7baa25c24b72" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 14268 + ], + "sha256": "21fa20cdaf793bbfbf597b8ce3bbd2d58007a00088a8fd31a502036a1ad69419" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 4756 + ], + "sha256": "c791d6d48990761b03d29c9aaedd949798ae9744664eaa8702bb53f6a579c633" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_r_base_link/Cam/Looks/Material__72" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -3.422854177870249e-08, + 0.9999999999999993, + 2.2204460492503116e-16, + 0.0 + ], + [ + 0.0, + 2.220446049250313e-16, + -1.0, + 0.0 + ], + [ + -0.9999999999999993, + -3.422854177870249e-08, + -7.600263036411923e-24, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.02766112580209004, + -0.22142237724214053, + 0.9747856138535286, + -2.0029973847282605 + ], + [ + -0.010759459667789094, + -0.9751682106501016, + -0.22120396688381672, + 0.21448103433094223 + ], + [ + 0.9995594510318125, + -0.0043694157411032775, + -0.02935663569047442, + 0.8042353093624115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/NONE" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(1, 0, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0199999809265137 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 3.430589146091734e-14, + 4.5075054799781356e-14, + 0.00022551183775573747 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1712, + 3 + ], + "sha256": "18935e63bfcb5ab660622fcf64dcf455d7e1f58ba94df065c0ffbd12ad930317" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 10416 + ], + "sha256": "2653bde5c5134d017c8267742181b152b1f1dc1424f1d660e8dc99352d1a69f6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 3472 + ], + "sha256": "4bc24312eafe22c56b193c93557fe25a23128de059c08698e69faaf9c25ce09b" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_r_base_link/Cam/Looks/wire_221221227" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -3.422854177870249e-08, + 0.9999999999999993, + 2.2648549278836705e-16, + 4.507510369922761e-14 + ], + [ + 0.0, + 2.220446049250313e-16, + -1.0199999809265137, + -0.00022551183775573747 + ], + [ + -0.9999999999999993, + -3.422854177870249e-08, + -7.752268152176649e-24, + -3.4305893003772423e-14 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.02766112580209004, + -0.22142237724214053, + 0.9747856138535286, + -2.0029973847282605 + ], + [ + -0.010759459667789094, + -0.9751682106501016, + -0.22120396688381672, + 0.21448103433094223 + ], + [ + 0.9995594510318125, + -0.0043694157411032775, + -0.02935663569047442, + 0.8042353093624115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/cam" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 101697, + 3 + ], + "sha256": "55cbb8fdbf7e59b27c74ea93c62eb55e73326cda937fab21aedcd88d623f34ee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 101697 + ], + "sha256": "fc804009fb1240ab8f56c29b2c1f814963e7dc6e4c70deed924b54a1870cf53c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 33899 + ], + "sha256": "2b6559cf9f2370c4b1bbbb50b7bf5d0214b793fd0833cd2c023d00257a503b2a" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.02766112580209004, + -0.22142237724214053, + 0.9747856138535286, + -2.0029973847282605 + ], + [ + -0.010759459667789094, + -0.9751682106501016, + -0.22120396688381672, + 0.21448103433094223 + ], + [ + 0.9995594510318125, + -0.0043694157411032775, + -0.02935663569047442, + 0.8042353093624115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_base_link/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/gripper_base_link/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "8d139b926ae65232c100f49f3467481b40fab7a2d3f24580a759cfa7615a3777" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8460916747044895, + 0.5321600903975808, + -0.030569857438212545, + -1.9436042415338228 + ], + [ + 0.5323543985987758, + -0.8465190733339679, + -0.00206222557850197, + 0.2209988314664313 + ], + [ + -0.02697540154082298, + -0.014529166178436791, + -0.9995305053083037, + 0.8026619851589203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link1/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link2", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 30906, + 3 + ], + "sha256": "21db449287a063cf9bfef1719f462f98fba79ae5cbdf6445607fd20eaaa34438" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 30906 + ], + "sha256": "fa0e91dc01e3743eaa5b8d201d67390cdf68c8ef8c33ce2fd05c761e5a951e7b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 10302 + ], + "sha256": "3fea498b5b7f3f2c5ea27a2bc616f0ae0b31e6ccb8222598086fdab2ae70f00f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.6209524218223264, + -0.7832519228233653, + 0.030569841780561446, + -1.899264572605356 + ], + [ + 0.7835773125443247, + 0.6212908683577287, + 0.002062076893083436, + 0.23864843542172576 + ], + [ + -0.02060788923692063, + 0.022673382826573538, + 0.9995305060939353, + 0.8012693822383881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link2/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link3", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "f36c1c7eed91d2488ca1f79f30f22e08749a1d0a54b7f94813c341e804bb7acd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8888377532997923, + -0.45720119325828856, + 0.03056987393128828, + -1.9273727020596918 + ], + [ + 0.45735791724149893, + 0.8892803175613887, + 0.0020621189185175528, + 0.25312691467844584 + ], + [ + -0.028127990427614366, + 0.012148484724977066, + 0.9995305050239293, + 0.802099198102951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link3/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link4", + "applied_schemas": [ + "PhysxContactReportAPI", + "PhysxConvexDecompositionCollisionAPI", + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxContactReport:threshold": { + "authored": true, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 47898, + 3 + ], + "sha256": "dc8a917e54f94e36c020f8a2c32423be06758f646f5094e0cc4ccb7fffbdfff3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 47898 + ], + "sha256": "10a9f1bb85d3d5feceb5ede8327436cbca9ba1b0685195183621057ed1966962" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 15966 + ], + "sha256": "4e8e7c254eba202f53cc5e219e7daa9e5a975f02107e493c19f0501d36002d16" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "physxContactReport:reportPairs": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8763099953589639, + -0.48077674234098416, + 0.03056985538015316, + -1.9040724174965267 + ], + [ + 0.4809452288346964, + 0.8767482160568597, + 0.0020621596096484945, + 0.2474160186861405 + ], + [ + -0.02779350454897944, + 0.012895335013290819, + 0.9995305055073511, + 0.801398366689682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link4/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "ba5d079a48219a1771f285756ea5221d2870685be807fbae98bf7ea77c4420ae" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5337971835618185, + -0.845059797311018, + -0.03056968743922343, + -1.9522396199678769 + ], + [ + -0.8454868110420349, + -0.5339923225277111, + -0.0020619979225941403, + 0.18296730661982297 + ], + [ + -0.014581466848093964, + 0.02694695623113182, + -0.9995305109772472, + 0.8024915158748627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link1/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "type": "Mesh", + "instance_proxy": true, + "rigid_owner": "/World/Robot/gripper_r_outer_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25476, + 3 + ], + "sha256": "f3312dedfc62b83954882f9095314227e73372710bfe89389534da9ca765b1a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 25476 + ], + "sha256": "1803b061fbd2252ba101527337a3559c65ae50aee91f74da3bbf67c048351a05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 8492 + ], + "sha256": "e815a1d1169e002fe41c9439e6a6421dcfb8ecae46ad8e2165b6e65b710f51c5" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.21060445390480997, + 0.9770932689213835, + 0.03056972070500474, + -1.9201980684109843 + ], + [ + -0.9775613472639739, + 0.21064083341306383, + 0.002061949197792493, + 0.14770389343115498 + ], + [ + -0.004424514764485901, + -0.03031803304264838, + 0.9995305100603602, + 0.8015842139720917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/Flattened_Prototype_224/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link2/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link3", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "05c73ad1e3db3391c5e451dbbd4e4b7c5543cfb8d66f5692c09a53a125a13ddc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5869725678017236, + 0.809029482181598, + 0.030569619055970422, + -1.9514476160859777 + ], + [ + -0.8094430778771703, + 0.5871947309643057, + 0.002061941922231659, + 0.1469762706679445 + ], + [ + -0.01628214743162025, + -0.02595466988294762, + 0.999530513184206, + 0.8025414645671844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link3/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link4", + "applied_schemas": [ + "PhysxContactReportAPI", + "PhysxConvexDecompositionCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxContactReport:threshold": { + "authored": true, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 81039, + 3 + ], + "sha256": "ed5d59c1ef2c8ea1ab2559a47a43f09039dab776f5bfb4bb66d746fb325db0d7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 81039 + ], + "sha256": "d350b13247c46a312498a228e9f7a4c3f3df7989897663667960c5d0f7d1b740" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 27013 + ], + "sha256": "3724838fc1d680d91c40b846f8029572b81e07501e50b93ff0dc53e35f0fbc69" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "physxContactReport:reportPairs": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.6148334649469572, + 0.7880642794094469, + 0.030569623814958504, + -1.9280787762152067 + ], + [ + -0.7884698735676315, + 0.6150699205457996, + 0.0020618719715446046, + 0.14155321255555275 + ], + [ + -0.01717756844149167, + -0.025370935312932167, + 0.9995305131829567, + 0.8018380105495453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene.usda", + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link4/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "type": "Sphere", + "instance_proxy": false, + "rigid_owner": "/World/Robot/head_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.11257068812847137 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.011500973254442215 + ], + [ + 0.0, + 1.0, + 0.0, + -0.025260014459490776 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0008537154062651098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.00934728522282505, + -0.01334884111744379, + 0.9998672095332383, + -1.715130945546083 + ], + [ + -0.5734668458751874, + 0.8190666721229827, + 0.016296113013445905, + 0.41320171682948614 + ], + [ + -0.8191754421007307, + -0.5735430193614109, + 9.31989133978739e-07, + 1.0662942826747894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/head_link2/collisions/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/head_link2/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/head_link2/mesh_0/sphere" + } + ] + } + ], + "lineage": "Contemporary actual cached USD stage request. No live PxShape identity claim.", + "run_asynchronously": false, + "coordinate_rule": "Raw only. External version-bound calibration must be independently checked before mapping.", + "analytic_policy": "Preserve Cube/Cylinder/Sphere analytic attributes and affine transforms exactly; no tessellation substitute." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/RESULT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/RESULT.json new file mode 100644 index 0000000000000000000000000000000000000000..7992a68d2468756b298b18916f3684b9eb90eb7e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback/RESULT.json @@ -0,0 +1,534 @@ +{ + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_02", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/base_link/collisions/mesh_0/box": 0.0, + "/World/Robot/base_link/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_0/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/body_link2/collisions/mesh_1/box": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/head_link2/collisions/mesh_0/sphere": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009284173138439655, + "request_call_wall_s": 0.0030443300493061543, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018057493958622217, + "request_call_wall_s": 0.008461074903607368, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12854695972055197, + "request_call_wall_s": 0.008286104071885347, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16495313309133053, + "request_call_wall_s": 0.004243833944201469, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19572971714660525, + "request_call_wall_s": 0.004513915162533522, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2879912620410323, + "request_call_wall_s": 0.006917398888617754, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3380834199488163, + "request_call_wall_s": 0.01581710111349821, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3848897637799382, + "request_call_wall_s": 0.004322413820773363, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4106358988210559, + "request_call_wall_s": 0.0037254788912832737, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5028096940368414, + "request_call_wall_s": 0.006558187771588564, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5874759331345558, + "request_call_wall_s": 0.007020598743110895, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5975047368556261, + "request_call_wall_s": 0.0024961503222584724, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6057813330553472, + "request_call_wall_s": 0.0070296479389071465, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7150631309486926, + "request_call_wall_s": 0.008152275811880827, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7509312378242612, + "request_call_wall_s": 0.00523745222017169, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7823673598468304, + "request_call_wall_s": 0.00384916877374053, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8745301319286227, + "request_call_wall_s": 0.007012188900262117, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9249009708873928, + "request_call_wall_s": 0.018407655879855156, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9738510427996516, + "request_call_wall_s": 0.004385216161608696, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9993354938924313, + "request_call_wall_s": 0.0035774349234998226, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.0898850937373936, + "request_call_wall_s": 0.006572029087692499, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.1733380667865276, + "request_call_wall_s": 0.006886719260364771, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 8883, + "first_observed_tick": 26653 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json new file mode 100644 index 0000000000000000000000000000000000000000..11a66d11d51bd3a9e30b64aa37d4ccbd4e50f96a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0013083508238196373, + "parts": [ + { + "vertices_raw": [ + [ + 0.04715624824166298, + 0.12340264767408371, + 0.1340000033378601 + ], + [ + 0.05299999937415123, + 0.12332426756620407, + 0.1340000033378601 + ], + [ + 0.05299999937415123, + 0.12332426756620407, + 0.004000000189989805 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.1340000033378601 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + 0.11785423755645752, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + 0.11785423755645752, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.013411430642008781, + 0.9999100565910339, + 0.0, + -0.12402398139238358 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9766836762428284, + 0.21468359231948853, + 0.0, + 0.01956421509385109 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013461139984428883, + -0.9999094009399414, + 0.0, + 0.118537038564682 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.965175449848175, + -0.2616034150123596, + 0.0, + -0.01889224722981453 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.04595312476158142, + 0.11785423755645752, + 0.004000000189989805 + ], + [ + 0.05299999937415123, + 0.12340264767408371, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000818219967186451, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json new file mode 100644 index 0000000000000000000000000000000000000000..2924b8f103f92b4e458705124b56b3cc751befa7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0025214250199496746, + "parts": [ + { + "vertices_raw": [ + [ + 0.03996875137090683, + 0.12371616810560226, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.1340000033378601 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.1340000033378601 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9879579544067383, + 0.15472273528575897, + 0.0, + 0.020345741882920265 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.04357880726456642, + 0.9990499019622803, + 0.0, + -0.12534041702747345 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.043736767023801804, + -0.9990430474281311, + 0.0, + 0.11982613056898117 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9766836762428284, + -0.21468359231948853, + 0.0, + -0.01956421323120594 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.039109375327825546, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.04715624824166298, + 0.12371616810560226, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005508847534656525, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3690b6ecbbf91c8f56019c15f6d2832e8e2382 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.003544410690665245, + "parts": [ + { + "vertices_raw": [ + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9956179261207581, + 0.09351518005132675, + 0.0, + 0.021063541993498802 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.007022807840257883, + 0.999975323677063, + 0.0, + -0.12399380654096603 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.007048958446830511, + -0.9999750852584839, + 0.0, + 0.11850149929523468 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9879579544067383, + -0.15472273528575897, + 0.0, + -0.020345741882920265 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.03226562589406967, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.03996875137090683, + 0.12376664578914642, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004929229617118835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json new file mode 100644 index 0000000000000000000000000000000000000000..34770b2bdbd7b9c7a942e9514616246e5525df1b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0045554060488939285, + "parts": [ + { + "vertices_raw": [ + [ + 0.025593750178813934, + 0.12376143038272858, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9995101690292358, + 0.03129502013325691, + 0.0, + 0.02170809544622898 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.0007256215321831405, + 0.9999997019767761, + 0.0, + -0.12374281883239746 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0007283195154741406, + -0.9999997615814209, + 0.0, + 0.11825346946716309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9956179261207581, + -0.09351518005132675, + 0.0, + -0.021063541993498802 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048008980229496956, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json new file mode 100644 index 0000000000000000000000000000000000000000..1db491980c469b901e2bf292f48dbcaafbcbc831 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.005526939872652292, + "parts": [ + { + "vertices_raw": [ + [ + 0.018406249582767487, + 0.12390545010566711, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9995113015174866, + -0.03125869482755661, + 0.0, + 0.022270377725362778 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02003350295126438, + 0.9997993111610413, + 0.0, + -0.12424932420253754 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.020106924697756767, + -0.9997978210449219, + 0.0, + 0.11875925958156586 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9995101690292358, + -0.03129502013325691, + 0.0, + -0.02170809730887413 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.018406249582767487, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025593750178813934, + 0.12390545010566711, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004894700832664967, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json new file mode 100644 index 0000000000000000000000000000000000000000..1144dec1c4f8e22f9eba5a48866cfa34ba602613 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006520624738186598, + "parts": [ + { + "vertices_raw": [ + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9956342577934265, + -0.09334075450897217, + 0.0, + 0.02274402603507042 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.013153348118066788, + 0.9999135136604309, + 0.0, + -0.12413684278726578 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013201141729950905, + -0.9999128580093384, + 0.0, + 0.1186445876955986 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9995113015174866, + 0.03125869482755661, + 0.0, + -0.022270377725362778 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.011218749918043613, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.12399999797344208, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048192404210567474, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json new file mode 100644 index 0000000000000000000000000000000000000000..0c4280b70a2af70f6c95fec04699542465109f1d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.007501830812543631, + "parts": [ + { + "vertices_raw": [ + [ + 0.004031249787658453, + 0.12345390021800995, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9879076480865479, + -0.15504328906536102, + 0.0, + 0.023123200982809067 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07576045393943787, + 0.997126042842865, + 0.0, + -0.12279368937015533 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07603617012500763, + -0.997105062007904, + 0.0, + 0.11726471781730652 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9956342577934265, + 0.09334075450897217, + 0.0, + -0.02274402603507042 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.004031249787658453, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.12399999797344208, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047796498984098434, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c788a4481e9dec398371598514fc287a2b9912 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008471367880702019, + "parts": [ + { + "vertices_raw": [ + [ + -0.003156250109896064, + 0.12325476855039597, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9766296148300171, + -0.21492944657802582, + 0.0, + 0.023408591747283936 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.02769464999437332, + 0.9996165037155151, + 0.0, + -0.12329491972923279 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.027794959023594856, + -0.9996135830879211, + 0.0, + 0.11779659986495972 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9879076480865479, + 0.15504328906536102, + 0.0, + -0.023123200982809067 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.003156250109896064, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.12345390021800995, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004718247801065445, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f37f4be45a9cd17bf2f886b66e37f31cd3ba16 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009433469735085964, + "parts": [ + { + "vertices_raw": [ + [ + -0.01034375000745058, + 0.12289352715015411, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9620134234428406, + -0.2730020582675934, + 0.0, + 0.02359936013817787 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.05019631236791611, + 0.9987393617630005, + 0.0, + -0.12325781583786011 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0503794327378273, + -0.9987301826477051, + 0.0, + 0.11773665249347687 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9766296148300171, + 0.21492944657802582, + 0.0, + -0.023408593609929085 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.01034375000745058, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.12325476855039597, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004744529724121094, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json new file mode 100644 index 0000000000000000000000000000000000000000..e55f303fe40ecaa1b20b029b8f6ab2b49bd4c0cd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.010433457791805267, + "parts": [ + { + "vertices_raw": [ + [ + -0.017531249672174454, + 0.12237901240587234, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9443570375442505, + -0.3289220929145813, + 0.0, + 0.023697402328252792 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07140195369720459, + 0.9974476099014282, + 0.0, + -0.12331841886043549 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07166092097759247, + -0.9974290132522583, + 0.0, + 0.11777105182409286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9620134234428406, + 0.2730020582675934, + 0.0, + -0.02359936013817787 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.017531249672174454, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.12289352715015411, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004935669712722301, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json new file mode 100644 index 0000000000000000000000000000000000000000..427db8e257faab7e3904559e21ac6c4ed63ddc47 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.011439949739724398, + "parts": [ + { + "vertices_raw": [ + [ + -0.0247187502682209, + 0.12138984352350235, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.004000000189989805 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.1340000033378601 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.13633839786052704, + 0.9906622767448425, + 0.0, + -0.1236264556646347 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9236274361610413, + -0.383291631937027, + 0.0, + 0.023696796968579292 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.13682588934898376, + -0.9905951619148254, + 0.0, + 0.11799104511737823 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9443570375442505, + 0.3289220929145813, + 0.0, + -0.023697400465607643 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.0247187502682209, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.12237901240587234, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047407159581780434, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json new file mode 100644 index 0000000000000000000000000000000000000000..00568628205f02e0164b0f5a4c2a167fd2ee804b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012410884723067284, + "parts": [ + { + "vertices_raw": [ + [ + -0.03190625086426735, + 0.12039849907159805, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.1340000033378601 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.1340000033378601 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9005469083786011, + -0.4347589313983917, + 0.0, + 0.023611245676875114 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.13663266599178314, + 0.9906217455863953, + 0.0, + -0.12362881004810333 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.13712111115455627, + -0.9905543327331543, + 0.0, + 0.11799293756484985 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9236274361610413, + 0.383291631937027, + 0.0, + -0.023696795105934143 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03190625086426735, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.12138984352350235, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004782616160809994, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json new file mode 100644 index 0000000000000000000000000000000000000000..833326f53cbe9025e538ea5ba2af54085bb63278 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.013362735975533724, + "parts": [ + { + "vertices_raw": [ + [ + -0.0390937514603138, + 0.11871090531349182, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.8743933439254761, + -0.4852176308631897, + 0.0, + 0.023417305201292038 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.22857947647571564, + 0.9735252857208252, + 0.0, + -0.12450409680604935 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.2293696105480194, + -0.9733394384384155, + 0.0, + 0.11871770024299622 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9005469083786011, + 0.4347589313983917, + 0.0, + -0.023611243814229965 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0390937514603138, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.12039849907159805, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004754341207444668, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed9c47d282842b4f479f6954b456e955dd61c60 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.014363390859216452, + "parts": [ + { + "vertices_raw": [ + [ + -0.046281248331069946, + 0.11651945859193802, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.004000000189989805 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.1340000033378601 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.29164236783981323, + 0.9565273523330688, + 0.0, + -0.12495161592960358 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.8453783392906189, + -0.534168004989624, + 0.0, + 0.023115798830986023 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.29261380434036255, + -0.9562307596206665, + 0.0, + 0.11906446516513824 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.8743933439254761, + 0.4852176308631897, + 0.0, + -0.023417312651872635 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.046281248331069946, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11871090531349182, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048808706924319267, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json new file mode 100644 index 0000000000000000000000000000000000000000..9033b25e94609d4304eb0fe4be430412a4603a85 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.015355276875197887, + "parts": [ + { + "vertices_raw": [ + [ + -0.053468748927116394, + 0.1134982481598854, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.1340000033378601 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.1340000033378601 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.812700092792511, + -0.5826821327209473, + 0.0, + 0.022679343819618225 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.38750067353248596, + 0.9218693375587463, + 0.0, + -0.1253497302532196 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.38870108127593994, + -0.9213639497756958, + 0.0, + 0.1193152517080307 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.8453783392906189, + 0.534168004989624, + 0.0, + -0.023115798830986023 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.053468748927116394, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11651945859193802, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047357194125652313, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json new file mode 100644 index 0000000000000000000000000000000000000000..d98d64d1ed516f6a2aba99c0e8117e40d94c9c56 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.016337350942194462, + "parts": [ + { + "vertices_raw": [ + [ + -0.06065624952316284, + 0.10931654274463654, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.7750535011291504, + -0.6318955421447754, + 0.0, + 0.022064797580242157 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.5028833746910095, + 0.8643541932106018, + 0.0, + -0.12499123811721802 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.5042509436607361, + -0.8635571599006653, + 0.0, + 0.11880654096603394 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.812700092792511, + 0.5826821327209473, + 0.0, + -0.022679343819618225 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.06065624952316284, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.1134982481598854, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004858262836933136, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json new file mode 100644 index 0000000000000000000000000000000000000000..78d5e16dd9fcc11027bde47e74af4b369329144e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.017340125050395727, + "parts": [ + { + "vertices_raw": [ + [ + -0.06784375011920929, + 0.10389421880245209, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.004000000189989805 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.1340000033378601 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.602250874042511, + 0.7983068823814392, + 0.0, + -0.1237984299659729 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7313810586929321, + -0.6819690465927124, + 0.0, + 0.02123301476240158 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.6036469340324402, + -0.7972517609596252, + 0.0, + 0.11751581728458405 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.7750535011291504, + 0.6318955421447754, + 0.0, + -0.022064797580242157 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.06784375011920929, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10931654274463654, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004903161898255348, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json new file mode 100644 index 0000000000000000000000000000000000000000..2e747ecd748714ffac95680caefcc462f8309af0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01831822097301483, + "parts": [ + { + "vertices_raw": [ + [ + -0.07503125071525574, + 0.09618797898292542, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.1340000033378601 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.1340000033378601 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6768013834953308, + -0.7361658215522766, + 0.0, + 0.020029041916131973 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7312914729118347, + 0.6820651888847351, + 0.0, + -0.12047618627548218 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7325282096862793, + -0.6807366013526917, + 0.0, + 0.11413750052452087 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.7313810586929321, + 0.6819690465927124, + 0.0, + -0.021232999861240387 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07503125071525574, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.10389421880245209, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004648459143936634, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json new file mode 100644 index 0000000000000000000000000000000000000000..8859156e07eabadab59485af00c6cb019d4edcc3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.019476443994790316, + "parts": [ + { + "vertices_raw": [ + [ + -0.08221875131130219, + 0.08447074145078659, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6008614897727966, + -0.7993531823158264, + 0.0, + 0.018119875341653824 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.8524078130722046, + 0.5228776335716248, + 0.0, + -0.1142517700791359 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.8532540202140808, + -0.5214954614639282, + 0.0, + 0.10799777507781982 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6768013834953308, + 0.7361658215522766, + 0.0, + -0.02002904936671257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.08221875131130219, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09618797898292542, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004843766801059246, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json new file mode 100644 index 0000000000000000000000000000000000000000..62645b81355c9a89d9c2b4a5393df08d5d688617 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020482693798840046, + "parts": [ + { + "vertices_raw": [ + [ + -0.08940625190734863, + 0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.448366641998291, + -0.8938497304916382, + 0.0, + 0.01377328485250473 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9586594104766846, + 0.28455594182014465, + 0.0, + -0.10285642743110657 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9589409828186035, + -0.2836056351661682, + 0.0, + 0.0969569981098175 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6008614897727966, + 0.7993531823158264, + 0.0, + -0.018119875341653824 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.08940625190734863, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08447074145078659, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004988308064639568, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json new file mode 100644 index 0000000000000000000000000000000000000000..f221e1510c84b6149654280f039d2bb841845bc2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.021462553646415472, + "parts": [ + { + "vertices_raw": [ + [ + -0.09120312333106995, + -0.04302716255187988, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.004000000189989805 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.1340000033378601 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9998486638069153, + 0.017394844442605972, + 0.0, + -0.09044086933135986 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.3324510157108307, + -0.9431204795837402, + 0.0, + -0.010259225964546204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9998497366905212, + -0.017331700772047043, + 0.0, + 0.08506351709365845 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.448366641998291, + 0.8938497304916382, + 0.0, + -0.01377328485250473 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.060256291180849075, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004753102548420429, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json new file mode 100644 index 0000000000000000000000000000000000000000..0c509150f5416310193ecb63d2bdc8af5aff235d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02243414195254445, + "parts": [ + { + "vertices_raw": [ + [ + -0.0840156227350235, + -0.08044398576021194, + 0.1340000033378601 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.1340000033378601 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.1340000033378601 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.1340000033378601 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.004000000189989805 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 4, + 6, + 2, + 1, + 7, + 6, + 4, + 5, + 7, + 5, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9820456504821777, + -0.18864385783672333, + 0.0, + -0.09768243134021759 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.3324510157108307, + 0.9431204795837402, + 0.0, + 0.010259222239255905 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9821723699569702, + 0.1879829317331314, + 0.0, + 0.09198926389217377 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.5755016803741455, + -0.8178005814552307, + 0.0, + -0.017436005175113678 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.09120312333106995, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.04111870005726814, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004898007027804852, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json new file mode 100644 index 0000000000000000000000000000000000000000..83e2fc4c769ff39f65a68cdaaf3c08086727083f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.023452861700206995, + "parts": [ + { + "vertices_raw": [ + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.1340000033378601 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.1340000033378601 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.1340000033378601 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.004000000189989805 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 4, + 6, + 2, + 1, + 7, + 6, + 4, + 5, + 7, + 5, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.8800228238105774, + -0.4749312996864319, + 0.0, + -0.11214102804660797 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.5755016803741455, + 0.8178005814552307, + 0.0, + 0.017436005175113678 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.8807434439659119, + 0.4735935628414154, + 0.0, + 0.10593850165605545 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6605768799781799, + -0.7507583498954773, + 0.0, + -0.019641757011413574 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0840156227350235, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.07687591016292572, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004751821979880333, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef839d0f5aa878de02d08818a9daf3232b75242 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.024439651984721422, + "parts": [ + { + "vertices_raw": [ + [ + -0.0696406215429306, + -0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.1340000033378601 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.7188802361488342, + -0.6951340436935425, + 0.0, + -0.020971089601516724 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7608045339584351, + -0.6489810943603516, + 0.0, + -0.11930098384618759 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7619690299034119, + 0.647613525390625, + 0.0, + 0.11296743899583817 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.6605768799781799, + 0.7507583498954773, + 0.0, + 0.019641757011413574 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07682812213897705, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.0896032452583313, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004824991337954998, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json new file mode 100644 index 0000000000000000000000000000000000000000..6e8347b72a26a1a6f8b1ba3980e61755d0e85f51 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02539905672892928, + "parts": [ + { + "vertices_raw": [ + [ + -0.062453124672174454, + -0.10817618668079376, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.1340000033378601 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6400964856147766, + -0.7682945132255554, + 0.0, + -0.12308719754219055 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7650271654129028, + -0.6439980864524841, + 0.0, + -0.021886922419071198 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.6414709687232971, + 0.7671473622322083, + 0.0, + 0.11677712947130203 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7188802361488342, + 0.6951340436935425, + 0.0, + 0.020971093326807022 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.0696406215429306, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.09765546768903732, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046702008694410324, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json new file mode 100644 index 0000000000000000000000000000000000000000..01ed5214c3956635d787ae461600838803cb29ce --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02635721070691943, + "parts": [ + { + "vertices_raw": [ + [ + -0.055265624076128006, + -0.11266520619392395, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.1340000033378601 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.1340000033378601 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8040456175804138, + -0.5945675373077393, + 0.0, + -0.02255098894238472 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.5297300815582275, + -0.8481663465499878, + 0.0, + -0.12483470141887665 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.5311170816421509, + 0.8472984433174133, + 0.0, + 0.11861677467823029 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7650271654129028, + 0.6439980864524841, + 0.0, + 0.0218869149684906 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.062453124672174454, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1033780500292778, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046434905380010605, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json new file mode 100644 index 0000000000000000000000000000000000000000..afc5b288757314618898a06794a366966428ac62 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02735491981729865, + "parts": [ + { + "vertices_raw": [ + [ + -0.04807812348008156, + -0.11593497544527054, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.1340000033378601 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.41408878564834595, + -0.9102365374565125, + 0.0, + -0.12543685734272003 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.8377670645713806, + -0.5460279583930969, + 0.0, + -0.02302546799182892 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.41533809900283813, + 0.9096671342849731, + 0.0, + 0.11936111748218536 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8040456175804138, + 0.5945675373077393, + 0.0, + 0.02255099266767502 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.055265624076128006, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.1076679602265358, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004801042377948761, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json new file mode 100644 index 0000000000000000000000000000000000000000..6381204c74adc1266a01ee7854d774452d923a7a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.028331578709185123, + "parts": [ + { + "vertices_raw": [ + [ + -0.04089062660932541, + -0.11818911880254745, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.1340000033378601 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.1340000033378601 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8673695921897888, + -0.4976646602153778, + 0.0, + -0.023351263254880905 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.29924851655960083, + -0.9541752338409424, + 0.0, + -0.12500958144664764 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.30024150013923645, + 0.9538631439208984, + 0.0, + 0.11910983920097351 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8377670645713806, + 0.5460279583930969, + 0.0, + 0.02302546799182892 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04807812348008156, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11079269647598267, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004584570415318012, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json new file mode 100644 index 0000000000000000000000000000000000000000..a364b0bba0ff4988bca9e65970a9a1b1759032b9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.029278321657329798, + "parts": [ + { + "vertices_raw": [ + [ + -0.03370312601327896, + -0.12013746798038483, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8944456577301025, + -0.4471765160560608, + 0.0, + -0.023577043786644936 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.2616324722766876, + -0.9651675820350647, + 0.0, + -0.12477061152458191 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.26252061128616333, + 0.9649263620376587, + 0.0, + 0.11893042922019958 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8673695921897888, + 0.4976646602153778, + 0.0, + 0.023351263254880905 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04089062660932541, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11294686049222946, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045069679617881775, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json new file mode 100644 index 0000000000000000000000000000000000000000..1d08a44e71f72702327f22ab7267faf2ba885ba7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.030238325707614422, + "parts": [ + { + "vertices_raw": [ + [ + -0.026515625417232513, + -0.12128067016601562, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9182239174842834, + -0.3960614800453186, + 0.0, + -0.023687321692705154 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.15707969665527344, + -0.9875859618186951, + 0.0, + -0.12394014745950699 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.157637819647789, + 0.9874969124794006, + 0.0, + 0.118266262114048 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8944456577301025, + 0.4471765160560608, + 0.0, + 0.02357703633606434 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03370312601327896, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11480879038572311, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004584002308547497, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json new file mode 100644 index 0000000000000000000000000000000000000000..7597200b6e99bf2e7c48ce9cd26a7683170aabf8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.031208347994834185, + "parts": [ + { + "vertices_raw": [ + [ + -0.019328124821186066, + -0.1221856027841568, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9394686222076416, + -0.3426351249217987, + 0.0, + -0.023706912994384766 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.12491746991872787, + -0.9921671748161316, + 0.0, + -0.1236429512500763 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.1253660023212433, + 0.9921104907989502, + 0.0, + 0.11802015453577042 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9182239174842834, + 0.3960614800453186, + 0.0, + 0.023687323555350304 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.026515625417232513, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.11590128391981125, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048090610653162, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json new file mode 100644 index 0000000000000000000000000000000000000000..84b28f7ca257ca2889af00d46d33dd8a4798e1bc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03216932760551572, + "parts": [ + { + "vertices_raw": [ + [ + -0.012140625156462193, + -0.12273577600717545, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9578440189361572, + -0.2872886657714844, + 0.0, + -0.02363177388906479 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07632257789373398, + -0.9970832467079163, + 0.0, + -0.12330438196659088 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07659842818975449, + 0.9970619678497314, + 0.0, + 0.11775211989879608 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9394686222076416, + 0.3426351249217987, + 0.0, + 0.023706912994384766 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.019328124821186066, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.1167660802602768, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044477591291069984, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json new file mode 100644 index 0000000000000000000000000000000000000000..93d3244cf74ce0e34279323e9c3950bc2ef00735 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.033152810763567686, + "parts": [ + { + "vertices_raw": [ + [ + -0.004953125026077032, + -0.12315323948860168, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9732666611671448, + -0.2296779304742813, + 0.0, + -0.0234648697078228 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.05798415467143059, + -0.998317539691925, + 0.0, + -0.12323324382305145 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.05819617211818695, + 0.9983052015304565, + 0.0, + 0.11770457029342651 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9578440189361572, + 0.2872886657714844, + 0.0, + 0.02363177388906479 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.012140625156462193, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.11729184538125992, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004734629765152931, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f240884e567ea66d4036d9f84e40e36a63c6ba --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03413644665852189, + "parts": [ + { + "vertices_raw": [ + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9854162931442261, + -0.17016080021858215, + 0.0, + -0.02320345863699913 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.037435516715049744, + -0.9992989897727966, + 0.0, + -0.12325233221054077 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.03757064789533615, + 0.9992939233779907, + 0.0, + 0.11774536222219467 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9732666611671448, + 0.2296779304742813, + 0.0, + 0.0234648697078228 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004953125026077032, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.1176908016204834, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004516798071563244, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json new file mode 100644 index 0000000000000000000000000000000000000000..fb76dfc83cc692fa2d3aa8aa49fdfc8d82c0d1b1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03508800594136119, + "parts": [ + { + "vertices_raw": [ + [ + 0.009421874769032001, + -0.1239117830991745, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9940633177757263, + -0.10880301147699356, + 0.0, + -0.022847913205623627 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.06791753321886063, + -0.9976909160614014, + 0.0, + -0.12298574298620224 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.06816379725933075, + 0.9976741671562195, + 0.0, + 0.11745703965425491 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9854162931442261, + 0.17016080021858215, + 0.0, + 0.02320345863699913 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.0022343751043081284, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11794810742139816, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005326061509549618, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json new file mode 100644 index 0000000000000000000000000000000000000000..83c4a2301eb2b8a37cb3e4a7067129fb66496470 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03611868293955922, + "parts": [ + { + "vertices_raw": [ + [ + 0.016609374433755875, + -0.12372803688049316, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9988983273506165, + -0.04692629724740982, + 0.0, + -0.022397175431251526 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02555634267628193, + -0.9996733665466309, + 0.0, + -0.1241120994091034 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.02564823068678379, + 0.9996709823608398, + 0.0, + 0.11863381415605545 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9940633177757263, + 0.10880301147699356, + 0.0, + 0.022847915068268776 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004436909221112728, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json new file mode 100644 index 0000000000000000000000000000000000000000..75cbc3a60b03b158ae6476fbf3e32c3517af2b6a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.037099727895110846, + "parts": [ + { + "vertices_raw": [ + [ + 0.023796875029802322, + -0.12373429536819458, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.999877393245697, + 0.01565653085708618, + 0.0, + -0.021856706589460373 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.0008707457454875112, + -0.9999996423721313, + 0.0, + -0.12371353060007095 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0008742008940316737, + 0.9999995827674866, + 0.0, + 0.11822530627250671 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9988983273506165, + 0.04692629724740982, + 0.0, + 0.022397175431251526 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.016609374433755875, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023796875029802322, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047902483493089676, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e367cc5c2855e65913e7f5d19eefea30743976 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03806656273081899, + "parts": [ + { + "vertices_raw": [ + [ + 0.03098437562584877, + -0.12383213639259338, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9969539642333984, + 0.07799272239208221, + 0.0, + -0.021231990307569504 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.013611401431262493, + -0.9999073147773743, + 0.0, + -0.12339891493320465 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.013660437427461147, + 0.9999066591262817, + 0.0, + 0.11791114509105682 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.999877393245697, + -0.01565653085708618, + 0.0, + 0.021856708452105522 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023710938170552254, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03098437562584877, + -0.11824608594179153, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004441221244633198, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json new file mode 100644 index 0000000000000000000000000000000000000000..91271be1acb2cb59f7e90b9f5052caa4ce596a94 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03901307471096516, + "parts": [ + { + "vertices_raw": [ + [ + 0.03817187622189522, + -0.12381499260663986, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.1340000033378601 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.002385215600952506, + -0.9999971985816956, + 0.0, + -0.12390569597482681 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9902278780937195, + 0.13945886492729187, + 0.0, + -0.020531758666038513 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.0023939763195812702, + 0.999997079372406, + 0.0, + 0.11841238290071487 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9969539642333984, + -0.07799272239208221, + 0.0, + 0.021231990307569504 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.03055468760430813, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03817187622189522, + -0.1183231994509697, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043946830555796623, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json new file mode 100644 index 0000000000000000000000000000000000000000..700f5342ae146ba4220f0384c36f89a81cf6ae27 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03996987268328667, + "parts": [ + { + "vertices_raw": [ + [ + 0.045359376817941666, + -0.12350311875343323, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.1340000033378601 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.1340000033378601 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9798306822776794, + 0.19982914626598358, + 0.0, + -0.019764987751841545 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.04335034638643265, + -0.9990598559379578, + 0.0, + -0.1253533512353897 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.043507713824510574, + 0.9990530610084534, + 0.0, + 0.11983828246593475 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9902278780937195, + -0.13945886492729187, + 0.0, + 0.020531758666038513 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.03739843890070915, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.045359376817941666, + -0.11802516132593155, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004467829130589962, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json new file mode 100644 index 0000000000000000000000000000000000000000..7d62b7e50d18a454612dd57b1cc1bec13dae1e6d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0409064800478518, + "parts": [ + { + "vertices_raw": [ + [ + 0.052546873688697815, + -0.12334326654672623, + 0.1340000033378601 + ], + [ + 0.052546873688697815, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.004000000189989805 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9661453366279602, + 0.2579984664916992, + 0.0, + -0.018945541232824326 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02223481610417366, + -0.9997527599334717, + 0.0, + -0.12448113411664963 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.022316521033644676, + 0.9997510313987732, + 0.0, + 0.11898311227560043 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9798306822776794, + -0.19982914626598358, + 0.0, + 0.019764982163906097 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.04424218833446503, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.052546873688697815, + -0.11787239462137222, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004350380040705204, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json new file mode 100644 index 0000000000000000000000000000000000000000..c94d42f500d0b75b1213ba60950542a3881fce0a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json @@ -0,0 +1,172 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04183747200295329, + "parts": [ + { + "vertices_raw": [ + [ + 0.052546873688697815, + -0.12334326654672623, + 0.1340000033378601 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.004000000189989805 + ], + [ + 0.052546873688697815, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0536762997508049, + -0.12314366549253464, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + -0.11785423755645752, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 4, + 0, + 3, + 4, + 3, + 1, + 4, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.9661453366279602, + -0.2579984664916992, + 0.0, + 0.018945541232824326 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.17403100430965424, + -0.984740138053894, + 0.0, + -0.13060584664344788 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.9828245043754578, + 0.1843317151069641, + 0.008821695111691952, + -0.030090386047959328 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.897485077381134, + 0.44103431701660156, + -0.0030402271077036858, + 0.006149068474769592 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9828574657440186, + -0.18433788418769836, + 0.0032877137418836355, + 0.028468700125813484 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 1 + ], + [ + 4, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.0510859377682209, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0536762997508049, + -0.11785423755645752, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004340759478509426, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4efd0455cb052bf7d843b514d88a3f970578d1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json @@ -0,0 +1,1570 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04512429190799594, + "parts": [ + { + "vertices_raw": [ + [ + 0.13340625166893005, + -0.05999645218253136, + 0.1340000033378601 + ], + [ + 0.13699999451637268, + 0.024415651336312294, + 0.1340000033378601 + ], + [ + 0.13449999690055847, + -0.023923400789499283, + 0.257999986410141 + ], + [ + 0.12981249392032623, + -0.07589410245418549, + 0.2540000081062317 + ], + [ + -0.08760937303304672, + -0.06937939673662186, + 0.2540000081062317 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.2540000081062317 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.2540000081062317 + ], + [ + -0.04268750175833702, + -0.11790874600410461, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + -0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011453124694526196, + -0.12150000035762787, + 0.257999986410141 + ], + [ + 0.07231249660253525, + -0.12148725241422653, + 0.2540000081062317 + ], + [ + 0.08309374749660492, + -0.11938485503196716, + 0.1340000033378601 + ], + [ + 0.10824999958276749, + -0.107428640127182, + 0.2540000081062317 + ], + [ + 0.13520312309265137, + 0.045220986008644104, + 0.2540000081062317 + ], + [ + 0.12981249392032623, + 0.07589410245418549, + 0.1340000033378601 + ], + [ + -0.08760937303304672, + 0.06937939673662186, + 0.1340000033378601 + ], + [ + -0.09300000220537186, + 0.020077358931303024, + 0.1340000033378601 + ], + [ + -0.09300000220537186, + 0.020077358931303024, + 0.2540000081062317 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.2540000081062317 + ], + [ + -0.07323437184095383, + 0.09834851324558258, + 0.2540000081062317 + ], + [ + -0.0696406215429306, + 0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.04268750175833702, + 0.11790874600410461, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + 0.12013746798038483, + 0.2540000081062317 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.07231249660253525, + 0.12148725241422653, + 0.1340000033378601 + ], + [ + 0.08848437666893005, + 0.11779563128948212, + 0.2540000081062317 + ], + [ + 0.10824999958276749, + 0.107428640127182, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + -0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.05358593910932541, + 0.11039372533559799, + 0.257999986410141 + ], + [ + 0.03782031312584877, + 0.12131872028112411, + 0.257999986410141 + ], + [ + 0.1274687498807907, + 0.07436398416757584, + 0.257999986410141 + ], + [ + 0.12082812190055847, + 0.09423449635505676, + 0.2540000081062317 + ], + [ + 0.11867968738079071, + -0.09233461320400238, + 0.257999986410141 + ], + [ + 0.11723437160253525, + -0.09878461062908173, + 0.1340000033378601 + ], + [ + -0.05358593910932541, + -0.11039372533559799, + 0.257999986410141 + ], + [ + 0.10461718589067459, + 0.10660891979932785, + 0.257999986410141 + ], + [ + -0.08171093463897705, + 0.07882212847471237, + 0.257999986410141 + ], + [ + -0.07819531112909317, + -0.08613093942403793, + 0.257999986410141 + ], + [ + -0.09049999713897705, + -0.0196725744754076, + 0.257999986410141 + ], + [ + 0.08703906089067459, + -0.11542071402072906, + 0.257999986410141 + ], + [ + -0.06424999982118607, + -0.10694726556539536, + 0.1340000033378601 + ], + [ + 0.10106249898672104, + -0.11226283013820648, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.2540000081062317 + ], + [ + 0.12801562249660492, + -0.08082769811153412, + 0.1340000033378601 + ], + [ + 0.12082812190055847, + 0.09423449635505676, + 0.1340000033378601 + ], + [ + -0.05885937437415123, + 0.11050029844045639, + 0.2540000081062317 + ] + ], + "indices_raw": [ + 45, + 15, + 1, + 0, + 44, + 34, + 42, + 12, + 9, + 8, + 41, + 5, + 28, + 17, + 16, + 21, + 22, + 24, + 25, + 27, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 9, + 10, + 11, + 10, + 9, + 11, + 9, + 12, + 11, + 12, + 13, + 14, + 1, + 15, + 14, + 2, + 1, + 16, + 17, + 18, + 19, + 16, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 5, + 4, + 29, + 30, + 23, + 31, + 2, + 14, + 31, + 14, + 15, + 31, + 15, + 32, + 33, + 13, + 34, + 33, + 34, + 3, + 33, + 3, + 2, + 35, + 8, + 7, + 35, + 7, + 10, + 36, + 26, + 30, + 36, + 31, + 32, + 36, + 32, + 27, + 36, + 27, + 26, + 37, + 29, + 20, + 37, + 20, + 16, + 37, + 16, + 19, + 38, + 6, + 35, + 38, + 39, + 4, + 38, + 4, + 6, + 40, + 13, + 33, + 40, + 33, + 2, + 31, + 36, + 30, + 29, + 37, + 39, + 38, + 35, + 10, + 40, + 10, + 11, + 40, + 11, + 13, + 41, + 8, + 35, + 41, + 35, + 6, + 41, + 6, + 5, + 42, + 13, + 12, + 42, + 34, + 13, + 43, + 24, + 23, + 43, + 23, + 30, + 43, + 30, + 26, + 43, + 26, + 25, + 43, + 25, + 24, + 44, + 0, + 3, + 44, + 3, + 34, + 18, + 39, + 37, + 18, + 37, + 19, + 18, + 17, + 28, + 18, + 28, + 4, + 18, + 4, + 39, + 45, + 32, + 15, + 45, + 27, + 32, + 46, + 20, + 29, + 46, + 29, + 23, + 46, + 23, + 22, + 46, + 22, + 21, + 46, + 21, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1340000480413437 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9990886449813843, + -0.04253498464822769, + 0.003561437362805009, + -0.13631385564804077 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9956772923469543, + -0.09117060154676437, + 0.017740201205015182, + -0.14067669212818146 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.8769172430038452, + -0.48027363419532776, + 0.01880067214369774, + -0.11492264270782471 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.11227691173553467, + -0.9936261773109436, + -0.010048153810203075, + -0.12060359120368958 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -0.03194214031100273, + -0.9992854595184326, + 0.020207243040204048, + -0.12626081705093384 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.0015340592944994569, + -0.9997957348823547, + 0.020154256373643875, + -0.12669254839420319 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.06407430768013, + -0.9978762269020081, + -0.011726091615855694, + -0.12288418412208557 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.3642629086971283, + -0.9311515688896179, + 0.016412990167737007, + -0.143632709980011 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.9903517365455627, + 0.1382744312286377, + -0.009144258685410023, + -0.13782891631126404 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.999820351600647, + -0.009208685718476772, + 0.016567818820476532, + -0.13897064328193665 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.9949971437454224, + 0.0999031588435173, + 0.0, + -0.09454052150249481 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.8770201802253723, + 0.4803300201892853, + -0.010896419174969196, + -0.10870006680488586 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.11227691173553467, + 0.9936261773109436, + -0.010048153810203075, + -0.12060359120368958 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.36423584818840027, + 0.9310823678970337, + -0.02044312283396721, + -0.13671405613422394 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + -0.9361298084259033, + -0.35142505168914795, + -0.012699805200099945, + -0.10316965728998184 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.05693645402789116, + 0.47637075185775757, + 0.8773990273475647, + -0.28200826048851013 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5773522853851318, + 0.04130241274833679, + 0.8154498338699341, + -0.28705182671546936 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.9670435786247253, + 0.25370898842811584, + 0.021408934146165848, + -0.14765816926956177 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.9468802809715271, + 0.3208424746990204, + 0.02185622975230217, + -0.1501956731081009 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.8200240731239319, + -0.5719726085662842, + 0.020193777978420258, + -0.15534307062625885 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.8300408720970154, + -0.5573679804801941, + 0.019317351281642914, + -0.15495721995830536 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.47606194019317627, + -0.11009082943201065, + 0.87249356508255, + -0.291767418384552 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.43739572167396545, + -0.8991259932518005, + 0.016048548743128777, + -0.1268366575241089 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + -0.09065534174442291, + -0.5308834910392761, + 0.8425819277763367, + -0.2808501720428467 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.10167693346738815, + 0.46171265840530396, + 0.881182849407196, + -0.2872050106525421 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + 0.4488719403743744, + 0.3181096613407135, + 0.8350570797920227, + -0.2963177561759949 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.6101987361907959, + 0.791911244392395, + 0.023111971095204353, + -0.1542249619960785 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.5659916400909424, + 0.824116587638855, + 0.02202974073588848, + -0.1527543067932129 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + -0.3844875693321228, + 0.34251391887664795, + 0.8572360873222351, + -0.2795814275741577 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.9162352681159973, + 0.40042683482170105, + 0.013090602122247219, + -0.10980632156133652 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.9248278737068176, + 0.3800880014896393, + 0.015048160217702389, + -0.10941032320261002 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + -0.4164840877056122, + -0.42243343591690063, + 0.8050409555435181, + -0.2766522467136383 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.5326377749443054, + -0.09861724078655243, + 0.8405781388282776, + -0.26701292395591736 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + -0.8758652210235596, + -0.47969749569892883, + 0.05244443565607071, + -0.12333600968122482 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.3252246677875519, + -0.44573625922203064, + 0.8339953422546387, + -0.2949252426624298 + ] + }, + { + "index_base": 126, + "num_vertices": 12, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.2579999566078186 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.050906695425510406, + -0.6329411268234253, + 0.7725244164466858, + -0.2767966687679291 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.36339351534843445, + -0.9289292097091675, + 0.07096204906702042, + -0.15715532004833221 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.45311883091926575, + -0.8913370370864868, + 0.014194592833518982, + -0.12634103000164032 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + -0.45795950293540955, + -0.8888518214225769, + 0.014679970219731331, + -0.1264512985944748 + ] + }, + { + "index_base": 150, + "num_vertices": 3, + "plane": [ + -0.7235589027404785, + -0.6902436017990112, + -0.005128155928105116, + -0.1196211576461792 + ] + }, + { + "index_base": 153, + "num_vertices": 3, + "plane": [ + 0.36842501163482666, + -0.9295302629470825, + 0.0153789222240448, + -0.14364643394947052 + ] + }, + { + "index_base": 156, + "num_vertices": 3, + "plane": [ + 0.6402133107185364, + -0.7681614756584167, + -0.00740079628303647, + -0.14994584023952484 + ] + }, + { + "index_base": 159, + "num_vertices": 3, + "plane": [ + -0.085667185485363, + 0.996323823928833, + 0.0, + -0.12258308380842209 + ] + }, + { + "index_base": 162, + "num_vertices": 3, + "plane": [ + -0.05384136736392975, + 0.6261842250823975, + 0.7778138518333435, + -0.27460750937461853 + ] + }, + { + "index_base": 165, + "num_vertices": 3, + "plane": [ + 0.07931289821863174, + 0.98771733045578, + 0.13462507724761963, + -0.1575615108013153 + ] + }, + { + "index_base": 168, + "num_vertices": 3, + "plane": [ + 0.08002573996782303, + 0.9965946674346924, + 0.019874026998877525, + -0.12952353060245514 + ] + }, + { + "index_base": 171, + "num_vertices": 3, + "plane": [ + 0.041094593703746796, + 0.9991552233695984, + 0.0, + -0.12435626983642578 + ] + }, + { + "index_base": 174, + "num_vertices": 3, + "plane": [ + 0.9681019186973572, + -0.2505216598510742, + -0.004196517635136843, + -0.14361894130706787 + ] + }, + { + "index_base": 177, + "num_vertices": 3, + "plane": [ + 0.8573135733604431, + -0.5147272348403931, + 0.008324782364070415, + -0.15246927738189697 + ] + }, + { + "index_base": 180, + "num_vertices": 3, + "plane": [ + -0.5510323643684387, + 0.04917074739933014, + 0.8330339789390564, + -0.26382386684417725 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.5518094301223755, + 0.049355849623680115, + 0.8325085043907166, + -0.2637663781642914 + ] + }, + { + "index_base": 186, + "num_vertices": 3, + "plane": [ + -0.9990008473396301, + -0.044690608978271484, + 0.0, + -0.09200981259346008 + ] + }, + { + "index_base": 189, + "num_vertices": 3, + "plane": [ + -0.9981355667114258, + -0.06014726310968399, + 0.010373327881097794, + -0.09425383806228638 + ] + }, + { + "index_base": 192, + "num_vertices": 3, + "plane": [ + -0.9978488683700562, + -0.060129985213279724, + 0.026116197928786278, + -0.09822620451450348 + ] + }, + { + "index_base": 195, + "num_vertices": 3, + "plane": [ + 0.8980370759963989, + 0.43991968035697937, + 0.0, + -0.14996375143527985 + ] + }, + { + "index_base": 198, + "num_vertices": 3, + "plane": [ + 0.7238016724586487, + 0.6900081038475037, + 0.0, + -0.1524781584739685 + ] + }, + { + "index_base": 201, + "num_vertices": 3, + "plane": [ + -0.4867020845413208, + 0.5757459402084351, + 0.6569913029670715, + -0.2591428756713867 + ] + }, + { + "index_base": 204, + "num_vertices": 3, + "plane": [ + -0.32041803002357483, + 0.8363986611366272, + 0.44471272826194763, + -0.22423896193504333 + ] + }, + { + "index_base": 207, + "num_vertices": 3, + "plane": [ + -0.35772398114204407, + 0.9337797164916992, + 0.009439927525818348, + -0.1266360878944397 + ] + }, + { + "index_base": 210, + "num_vertices": 3, + "plane": [ + -0.5037720799446106, + 0.8637138605117798, + -0.014567984268069267, + -0.12139208614826202 + ] + }, + { + "index_base": 213, + "num_vertices": 3, + "plane": [ + -0.6455723643302917, + 0.7636821269989014, + 0.005101004149764776, + -0.12368074059486389 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 45, + 15, + 1 + ], + [ + 45, + 1, + 0 + ], + [ + 45, + 0, + 44 + ], + [ + 45, + 44, + 34 + ], + [ + 45, + 34, + 42 + ], + [ + 45, + 42, + 12 + ], + [ + 45, + 12, + 9 + ], + [ + 45, + 9, + 8 + ], + [ + 45, + 8, + 41 + ], + [ + 45, + 41, + 5 + ], + [ + 45, + 5, + 28 + ], + [ + 45, + 28, + 17 + ], + [ + 45, + 17, + 16 + ], + [ + 45, + 16, + 21 + ], + [ + 45, + 21, + 22 + ], + [ + 45, + 22, + 24 + ], + [ + 45, + 24, + 25 + ], + [ + 45, + 25, + 27 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 11, + 10, + 9 + ], + [ + 11, + 9, + 12 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 1, + 15 + ], + [ + 14, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 20, + 21 + ], + [ + 22, + 23, + 24 + ], + [ + 25, + 26, + 27 + ], + [ + 28, + 5, + 4 + ], + [ + 29, + 30, + 23 + ], + [ + 31, + 2, + 14 + ], + [ + 31, + 14, + 15 + ], + [ + 31, + 15, + 32 + ], + [ + 33, + 13, + 34 + ], + [ + 33, + 34, + 3 + ], + [ + 33, + 3, + 2 + ], + [ + 35, + 8, + 7 + ], + [ + 35, + 7, + 10 + ], + [ + 36, + 26, + 30 + ], + [ + 36, + 31, + 32 + ], + [ + 36, + 32, + 27 + ], + [ + 36, + 27, + 26 + ], + [ + 37, + 29, + 20 + ], + [ + 37, + 20, + 16 + ], + [ + 37, + 16, + 19 + ], + [ + 38, + 6, + 35 + ], + [ + 38, + 39, + 4 + ], + [ + 38, + 4, + 6 + ], + [ + 40, + 13, + 33 + ], + [ + 40, + 33, + 2 + ], + [ + 40, + 2, + 31 + ], + [ + 40, + 31, + 36 + ], + [ + 40, + 36, + 30 + ], + [ + 40, + 30, + 29 + ], + [ + 40, + 29, + 37 + ], + [ + 40, + 37, + 39 + ], + [ + 40, + 39, + 38 + ], + [ + 40, + 38, + 35 + ], + [ + 40, + 35, + 10 + ], + [ + 40, + 10, + 11 + ], + [ + 40, + 11, + 13 + ], + [ + 41, + 8, + 35 + ], + [ + 41, + 35, + 6 + ], + [ + 41, + 6, + 5 + ], + [ + 42, + 13, + 12 + ], + [ + 42, + 34, + 13 + ], + [ + 43, + 24, + 23 + ], + [ + 43, + 23, + 30 + ], + [ + 43, + 30, + 26 + ], + [ + 43, + 26, + 25 + ], + [ + 43, + 25, + 24 + ], + [ + 44, + 0, + 3 + ], + [ + 44, + 3, + 34 + ], + [ + 18, + 39, + 37 + ], + [ + 18, + 37, + 19 + ], + [ + 18, + 17, + 28 + ], + [ + 18, + 28, + 4 + ], + [ + 18, + 4, + 39 + ], + [ + 45, + 32, + 15 + ], + [ + 45, + 27, + 32 + ], + [ + 46, + 20, + 29 + ], + [ + 46, + 29, + 23 + ], + [ + 46, + 23, + 22 + ], + [ + 46, + 22, + 21 + ], + [ + 46, + 21, + 20 + ] + ], + "raw_bounds": [ + [ + -0.09300000220537186, + -0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.13699999451637268, + 0.12399999797344208, + 0.257999986410141 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0018182210624217987, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json new file mode 100644 index 0000000000000000000000000000000000000000..007c9351f553ea7bddcf754998fdcc352167feb1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json @@ -0,0 +1,1465 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.047466784715652466, + "parts": [ + { + "vertices_raw": [ + [ + 0.07525712251663208, + -0.09197601675987244, + 0.03200000151991844 + ], + [ + 0.07525712251663208, + -0.09197601675987244, + 0.03699999675154686 + ], + [ + -0.019195377826690674, + 0.09700000286102295, + 0.03700000047683716 + ], + [ + -0.019195377826690674, + 0.09700000286102295, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + 0.09197604656219482, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + 0.09197604656219482, + 0.03700000047683716 + ], + [ + 0.05869537591934204, + 0.09700000286102295, + 0.03700000047683716 + ], + [ + 0.05869537591934204, + 0.09700000286102295, + 0.03200000524520874 + ], + [ + 0.07525712251663208, + 0.09197601675987244, + 0.03200000151991844 + ], + [ + 0.07525712251663208, + 0.09197601675987244, + 0.03699999675154686 + ], + [ + -0.03575712442398071, + -0.09197604656219482, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + -0.09197604656219482, + 0.03700000047683716 + ], + [ + -0.0714760571718216, + 0.056257039308547974, + 0.03200000151991844 + ], + [ + -0.06537698209285736, + 0.06766769289970398, + 0.03200000524520874 + ], + [ + -0.06537698209285736, + 0.06766769289970398, + 0.03700000047683716 + ], + [ + -0.0714760571718216, + 0.056257039308547974, + 0.03699999675154686 + ], + [ + 0.11097607016563416, + -0.05625706911087036, + 0.03200000151991844 + ], + [ + 0.10487696528434753, + -0.06766766309738159, + 0.03200000524520874 + ], + [ + 0.10487696528434753, + -0.06766766309738159, + 0.03700000047683716 + ], + [ + 0.11097607016563416, + -0.05625706911087036, + 0.03699999675154686 + ], + [ + -0.06537698209285736, + -0.06766769289970398, + 0.03200000524520874 + ], + [ + -0.0714760571718216, + -0.056257039308547974, + 0.03200000151991844 + ], + [ + -0.0714760571718216, + -0.056257039308547974, + 0.03699999675154686 + ], + [ + -0.06537698209285736, + -0.06766769289970398, + 0.03700000047683716 + ], + [ + 0.10487696528434753, + 0.06766766309738159, + 0.03200000524520874 + ], + [ + 0.11097607016563416, + 0.05625706911087036, + 0.03200000151991844 + ], + [ + 0.11097607016563416, + 0.05625706911087036, + 0.03699999675154686 + ], + [ + 0.10487696528434753, + 0.06766766309738159, + 0.03700000047683716 + ], + [ + 0.09666907787322998, + -0.07766908407211304, + 0.03200000524520874 + ], + [ + 0.08666762709617615, + -0.08587697148323059, + 0.03200000524520874 + ], + [ + 0.08666762709617615, + -0.08587697148323059, + 0.03700000047683716 + ], + [ + 0.09666907787322998, + -0.07766908407211304, + 0.03700000047683716 + ], + [ + -0.057169049978256226, + 0.07766902446746826, + 0.03200000524520874 + ], + [ + -0.04716762900352478, + 0.08587701618671417, + 0.03200000524520874 + ], + [ + -0.04716762900352478, + 0.08587701618671417, + 0.03700000047683716 + ], + [ + -0.057169049978256226, + 0.07766902446746826, + 0.03700000047683716 + ], + [ + 0.08666762709617615, + 0.08587697148323059, + 0.03200000524520874 + ], + [ + 0.09666907787322998, + 0.07766908407211304, + 0.03200000524520874 + ], + [ + 0.09666907787322998, + 0.07766908407211304, + 0.03700000047683716 + ], + [ + 0.08666762709617615, + 0.08587697148323059, + 0.03700000047683716 + ], + [ + -0.04716762900352478, + -0.08587701618671417, + 0.03200000524520874 + ], + [ + -0.057169049978256226, + -0.07766902446746826, + 0.03200000524520874 + ], + [ + -0.057169049978256226, + -0.07766902446746826, + 0.03700000047683716 + ], + [ + -0.04716762900352478, + -0.08587701618671417, + 0.03700000047683716 + ], + [ + 0.1147318035364151, + 0.043875932693481445, + 0.03200000151991844 + ], + [ + 0.1147318035364151, + 0.043875932693481445, + 0.03699999675154686 + ], + [ + 0.11600000411272049, + 0.03099977970123291, + 0.03200000524520874 + ], + [ + 0.11473182588815689, + -0.04387599229812622, + 0.03200000524520874 + ], + [ + 0.11473182588815689, + -0.04387599229812622, + 0.03700000047683716 + ], + [ + 0.11600000411272049, + 0.03099977970123291, + 0.03700000047683716 + ], + [ + -0.07523181289434433, + -0.04387599229812622, + 0.03200000151991844 + ], + [ + -0.07523181289434433, + -0.04387599229812622, + 0.03699999675154686 + ], + [ + -0.07523183524608612, + 0.04387596249580383, + 0.03200000524520874 + ], + [ + -0.07649999856948853, + -0.03099989891052246, + 0.03200000524520874 + ], + [ + -0.07523183524608612, + 0.04387596249580383, + 0.03700000047683716 + ], + [ + -0.07649999856948853, + -0.03099989891052246, + 0.03700000047683716 + ], + [ + 0.06287598609924316, + -0.09573182463645935, + 0.03200000524520874 + ], + [ + 0.06287598609924316, + -0.09573182463645935, + 0.03700000047683716 + ], + [ + 0.049999892711639404, + -0.09700000286102295, + 0.03200000524520874 + ], + [ + -0.023375988006591797, + -0.09573183208703995, + 0.03200000524520874 + ], + [ + 0.049999892711639404, + -0.09700000286102295, + 0.03700000047683716 + ], + [ + -0.023375988006591797, + -0.09573183208703995, + 0.03700000047683716 + ] + ], + "indices_raw": [ + 52, + 12, + 13, + 32, + 33, + 4, + 3, + 7, + 8, + 36, + 37, + 24, + 25, + 44, + 46, + 47, + 16, + 17, + 28, + 29, + 0, + 56, + 58, + 59, + 10, + 40, + 41, + 20, + 21, + 50, + 53, + 2, + 6, + 7, + 3, + 60, + 57, + 1, + 30, + 31, + 18, + 19, + 48, + 49, + 45, + 26, + 27, + 38, + 39, + 9, + 6, + 2, + 5, + 34, + 35, + 14, + 15, + 54, + 55, + 51, + 22, + 23, + 42, + 43, + 11, + 61, + 18, + 31, + 28, + 17, + 14, + 35, + 32, + 13, + 24, + 37, + 38, + 27, + 20, + 41, + 42, + 23, + 4, + 33, + 34, + 5, + 0, + 29, + 30, + 1, + 11, + 43, + 40, + 10, + 9, + 39, + 36, + 8, + 54, + 15, + 12, + 52, + 48, + 19, + 16, + 47, + 50, + 21, + 22, + 51, + 44, + 25, + 26, + 45, + 56, + 0, + 1, + 57, + 2, + 3, + 4, + 5, + 7, + 6, + 9, + 8, + 61, + 11, + 10, + 59, + 13, + 12, + 15, + 14, + 17, + 16, + 19, + 18, + 21, + 20, + 23, + 22, + 25, + 24, + 27, + 26, + 29, + 28, + 31, + 30, + 33, + 32, + 35, + 34, + 37, + 36, + 39, + 38, + 41, + 40, + 43, + 42, + 46, + 44, + 45, + 49, + 47, + 46, + 49, + 48, + 53, + 50, + 51, + 55, + 52, + 53, + 55, + 54, + 58, + 56, + 57, + 60, + 59, + 58, + 60, + 61 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 31, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.03200000524520874 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + -0.0, + 1.0, + 0.0, + -0.09700000286102295 + ] + }, + { + "index_base": 35, + "num_vertices": 31, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.03700000047683716 + ] + }, + { + "index_base": 66, + "num_vertices": 4, + "plane": [ + 0.7730104923248291, + -0.6343932747840881, + 0.0, + -0.12399891018867493 + ] + }, + { + "index_base": 70, + "num_vertices": 4, + "plane": [ + -0.7730103731155396, + 0.6343933939933777, + 0.0, + -0.09346500039100647 + ] + }, + { + "index_base": 74, + "num_vertices": 4, + "plane": [ + 0.7730104923248291, + 0.6343932747840881, + 0.0, + -0.12399891018867493 + ] + }, + { + "index_base": 78, + "num_vertices": 4, + "plane": [ + -0.7730103731155396, + -0.6343933939933777, + 0.0, + -0.09346500039100647 + ] + }, + { + "index_base": 82, + "num_vertices": 4, + "plane": [ + -0.4713965654373169, + 0.8819213509559631, + 0.0, + -0.09797141700983047 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + 0.47139668464660645, + -0.8819212913513184, + 0.0, + -0.11659158766269684 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.4713965654373169, + -0.8819213509559631, + 0.0, + -0.09797141700983047 + ] + }, + { + "index_base": 94, + "num_vertices": 4, + "plane": [ + 0.47139668464660645, + 0.8819212913513184, + 0.0, + -0.11659158766269684 + ] + }, + { + "index_base": 98, + "num_vertices": 4, + "plane": [ + -0.9569403529167175, + 0.2902846038341522, + 0.0, + -0.08472888916730881 + ] + }, + { + "index_base": 102, + "num_vertices": 4, + "plane": [ + 0.9569403529167175, + -0.2902846038341522, + 0.0, + -0.12252803146839142 + ] + }, + { + "index_base": 106, + "num_vertices": 4, + "plane": [ + -0.9569403529167175, + -0.2902846038341522, + 0.0, + -0.08472888916730881 + ] + }, + { + "index_base": 110, + "num_vertices": 4, + "plane": [ + 0.9569403529167175, + 0.2902846038341522, + 0.0, + -0.12252803146839142 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + 0.2902850806713104, + -0.9569401144981384, + 0.0, + -0.1098615825176239 + ] + }, + { + "index_base": 118, + "num_vertices": 4, + "plane": [ + -0.2902850806713104, + 0.9569401144981384, + 0.0, + -0.09839532524347305 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.2902850806713104, + 0.9569401144981384, + 0.0, + -0.1098615825176239 + ] + }, + { + "index_base": 126, + "num_vertices": 4, + "plane": [ + -0.2902850806713104, + -0.9569401144981384, + 0.0, + -0.09839532524347305 + ] + }, + { + "index_base": 130, + "num_vertices": 4, + "plane": [ + -0.8819212913513184, + 0.47139668464660645, + 0.0, + -0.08955565840005875 + ] + }, + { + "index_base": 134, + "num_vertices": 4, + "plane": [ + 0.8819212913513184, + -0.47139668464660645, + 0.0, + -0.12439154833555222 + ] + }, + { + "index_base": 138, + "num_vertices": 4, + "plane": [ + -0.8819212913513184, + -0.47139668464660645, + 0.0, + -0.08955565840005875 + ] + }, + { + "index_base": 142, + "num_vertices": 4, + "plane": [ + 0.8819212913513184, + 0.47139668464660645, + 0.0, + -0.12439154833555222 + ] + }, + { + "index_base": 146, + "num_vertices": 4, + "plane": [ + 0.6343932747840881, + -0.7730104923248291, + 0.0, + -0.12136518210172653 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + -0.6343933939933777, + 0.7730104327201843, + 0.0, + -0.09630665183067322 + ] + }, + { + "index_base": 154, + "num_vertices": 4, + "plane": [ + 0.6343932747840881, + 0.7730104923248291, + 0.0, + -0.12136518210172653 + ] + }, + { + "index_base": 158, + "num_vertices": 4, + "plane": [ + -0.6343933939933777, + -0.7730104327201843, + 0.0, + -0.09630665183067322 + ] + }, + { + "index_base": 162, + "num_vertices": 4, + "plane": [ + 0.9951847195625305, + 0.09801706671714783, + 0.0, + -0.11847994476556778 + ] + }, + { + "index_base": 166, + "num_vertices": 4, + "plane": [ + 0.9998565912246704, + -0.016934525221586227, + 0.0, + -0.11545838415622711 + ] + }, + { + "index_base": 170, + "num_vertices": 4, + "plane": [ + -0.9951847195625305, + -0.09801706671714783, + 0.0, + -0.07917015254497528 + ] + }, + { + "index_base": 174, + "num_vertices": 4, + "plane": [ + -0.9998565912246704, + 0.016934525221586227, + 0.0, + -0.07596405595541 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + 0.09801706671714783, + -0.9951847195625305, + 0.0, + -0.10143376886844635 + ] + }, + { + "index_base": 182, + "num_vertices": 4, + "plane": [ + -0.017280610278248787, + -0.9998507499694824, + 0.0, + -0.09612149745225906 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 52, + 12, + 13 + ], + [ + 52, + 13, + 32 + ], + [ + 52, + 32, + 33 + ], + [ + 52, + 33, + 4 + ], + [ + 52, + 4, + 3 + ], + [ + 52, + 3, + 7 + ], + [ + 52, + 7, + 8 + ], + [ + 52, + 8, + 36 + ], + [ + 52, + 36, + 37 + ], + [ + 52, + 37, + 24 + ], + [ + 52, + 24, + 25 + ], + [ + 52, + 25, + 44 + ], + [ + 52, + 44, + 46 + ], + [ + 52, + 46, + 47 + ], + [ + 52, + 47, + 16 + ], + [ + 52, + 16, + 17 + ], + [ + 52, + 17, + 28 + ], + [ + 52, + 28, + 29 + ], + [ + 52, + 29, + 0 + ], + [ + 52, + 0, + 56 + ], + [ + 52, + 56, + 58 + ], + [ + 52, + 58, + 59 + ], + [ + 52, + 59, + 10 + ], + [ + 52, + 10, + 40 + ], + [ + 52, + 40, + 41 + ], + [ + 52, + 41, + 20 + ], + [ + 52, + 20, + 21 + ], + [ + 52, + 21, + 50 + ], + [ + 52, + 50, + 53 + ], + [ + 2, + 6, + 7 + ], + [ + 2, + 7, + 3 + ], + [ + 60, + 57, + 1 + ], + [ + 60, + 1, + 30 + ], + [ + 60, + 30, + 31 + ], + [ + 60, + 31, + 18 + ], + [ + 60, + 18, + 19 + ], + [ + 60, + 19, + 48 + ], + [ + 60, + 48, + 49 + ], + [ + 60, + 49, + 45 + ], + [ + 60, + 45, + 26 + ], + [ + 60, + 26, + 27 + ], + [ + 60, + 27, + 38 + ], + [ + 60, + 38, + 39 + ], + [ + 60, + 39, + 9 + ], + [ + 60, + 9, + 6 + ], + [ + 60, + 6, + 2 + ], + [ + 60, + 2, + 5 + ], + [ + 60, + 5, + 34 + ], + [ + 60, + 34, + 35 + ], + [ + 60, + 35, + 14 + ], + [ + 60, + 14, + 15 + ], + [ + 60, + 15, + 54 + ], + [ + 60, + 54, + 55 + ], + [ + 60, + 55, + 51 + ], + [ + 60, + 51, + 22 + ], + [ + 60, + 22, + 23 + ], + [ + 60, + 23, + 42 + ], + [ + 60, + 42, + 43 + ], + [ + 60, + 43, + 11 + ], + [ + 60, + 11, + 61 + ], + [ + 18, + 31, + 28 + ], + [ + 18, + 28, + 17 + ], + [ + 14, + 35, + 32 + ], + [ + 14, + 32, + 13 + ], + [ + 24, + 37, + 38 + ], + [ + 24, + 38, + 27 + ], + [ + 20, + 41, + 42 + ], + [ + 20, + 42, + 23 + ], + [ + 4, + 33, + 34 + ], + [ + 4, + 34, + 5 + ], + [ + 0, + 29, + 30 + ], + [ + 0, + 30, + 1 + ], + [ + 11, + 43, + 40 + ], + [ + 11, + 40, + 10 + ], + [ + 9, + 39, + 36 + ], + [ + 9, + 36, + 8 + ], + [ + 54, + 15, + 12 + ], + [ + 54, + 12, + 52 + ], + [ + 48, + 19, + 16 + ], + [ + 48, + 16, + 47 + ], + [ + 50, + 21, + 22 + ], + [ + 50, + 22, + 51 + ], + [ + 44, + 25, + 26 + ], + [ + 44, + 26, + 45 + ], + [ + 56, + 0, + 1 + ], + [ + 56, + 1, + 57 + ], + [ + 2, + 3, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 7, + 6, + 9 + ], + [ + 7, + 9, + 8 + ], + [ + 61, + 11, + 10 + ], + [ + 61, + 10, + 59 + ], + [ + 13, + 12, + 15 + ], + [ + 13, + 15, + 14 + ], + [ + 17, + 16, + 19 + ], + [ + 17, + 19, + 18 + ], + [ + 21, + 20, + 23 + ], + [ + 21, + 23, + 22 + ], + [ + 25, + 24, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 29, + 28, + 31 + ], + [ + 29, + 31, + 30 + ], + [ + 33, + 32, + 35 + ], + [ + 33, + 35, + 34 + ], + [ + 37, + 36, + 39 + ], + [ + 37, + 39, + 38 + ], + [ + 41, + 40, + 43 + ], + [ + 41, + 43, + 42 + ], + [ + 46, + 44, + 45 + ], + [ + 46, + 45, + 49 + ], + [ + 47, + 46, + 49 + ], + [ + 47, + 49, + 48 + ], + [ + 53, + 50, + 51 + ], + [ + 53, + 51, + 55 + ], + [ + 52, + 53, + 55 + ], + [ + 52, + 55, + 54 + ], + [ + 58, + 56, + 57 + ], + [ + 58, + 57, + 60 + ], + [ + 59, + 58, + 60 + ], + [ + 59, + 60, + 61 + ] + ], + "raw_bounds": [ + [ + -0.07649999856948853, + -0.09700000286102295, + 0.03200000151991844 + ], + [ + 0.11600000411272049, + 0.09700000286102295, + 0.03700000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013360069133341312, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json new file mode 100644 index 0000000000000000000000000000000000000000..3cefd8b80e498f53198edf9e5e7af150e0d6ce93 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json @@ -0,0 +1,1067 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04937428189441562, + "parts": [ + { + "vertices_raw": [ + [ + 0.07999999821186066, + -0.11949999630451202, + 0.03400000184774399 + ], + [ + 0.07999999821186066, + -0.11911570280790329, + 0.12990181148052216 + ], + [ + 0.06800000369548798, + -0.11911570280790329, + 0.12990181148052216 + ], + [ + 0.06800000369548798, + -0.11949999630451202, + 0.03400000184774399 + ], + [ + 0.07999999821186066, + 0.11949999630451202, + 0.12600000202655792 + ], + [ + 0.07999999821186066, + 0.11911570280790329, + 0.030098194256424904 + ], + [ + 0.06800000369548798, + 0.11911570280790329, + 0.030098194256424904 + ], + [ + 0.06800000369548798, + 0.11949999630451202, + 0.12600000202655792 + ], + [ + 0.06800000369548798, + -0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + -0.10340180993080139, + 0.014384293928742409 + ], + [ + 0.07999999821186066, + -0.10340180993080139, + 0.014384293928742409 + ], + [ + 0.07999999821186066, + -0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + 0.11797758936882019, + 0.1336536705493927 + ], + [ + 0.07999999821186066, + 0.11797758936882019, + 0.1336536705493927 + ], + [ + 0.06800000369548798, + -0.09950000047683716, + 0.1459999978542328 + ], + [ + 0.06800000369548798, + -0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + -0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + -0.09950000047683716, + 0.1459999978542328 + ], + [ + 0.07999999821186066, + 0.10340180993080139, + 0.14561571180820465 + ], + [ + 0.06800000369548798, + 0.10340180993080139, + 0.14561571180820465 + ], + [ + 0.06800000369548798, + 0.09950000047683716, + 0.014000000432133675 + ], + [ + 0.06800000369548798, + 0.10715366899967194, + 0.015522409230470657 + ], + [ + 0.07999999821186066, + 0.10715366899967194, + 0.015522409230470657 + ], + [ + 0.07999999821186066, + 0.09950000047683716, + 0.014000000432133675 + ], + [ + 0.06800000369548798, + -0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.06800000369548798, + -0.11612939089536667, + 0.02288859523832798 + ], + [ + 0.07999999821186066, + -0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.07999999821186066, + -0.1136421337723732, + 0.01985786482691765 + ], + [ + 0.06800000369548798, + 0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + 0.11061140149831772, + 0.14262938499450684 + ], + [ + 0.06800000369548798, + 0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.07999999821186066, + 0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.06800000369548798, + 0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + 0.11612939089536667, + 0.02288859523832798 + ], + [ + 0.07999999821186066, + 0.1136421337723732, + 0.01985786482691765 + ], + [ + 0.07999999821186066, + 0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.07999999821186066, + -0.11612939089536667, + 0.13711141049861908 + ], + [ + 0.07999999821186066, + -0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.06800000369548798, + -0.11612939089536667, + 0.13711141049861908 + ], + [ + 0.06800000369548798, + -0.11061140149831772, + 0.14262938499450684 + ] + ], + "indices_raw": [ + 36, + 1, + 0, + 26, + 27, + 11, + 10, + 23, + 22, + 34, + 35, + 5, + 4, + 13, + 31, + 29, + 18, + 17, + 16, + 37, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 4, + 7, + 14, + 15, + 16, + 17, + 14, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 20, + 23, + 10, + 9, + 24, + 25, + 26, + 24, + 26, + 0, + 3, + 27, + 26, + 25, + 27, + 25, + 8, + 27, + 8, + 11, + 28, + 29, + 30, + 28, + 19, + 18, + 28, + 18, + 29, + 31, + 13, + 12, + 30, + 31, + 30, + 29, + 32, + 33, + 34, + 32, + 34, + 22, + 32, + 22, + 21, + 35, + 34, + 33, + 35, + 33, + 6, + 35, + 6, + 5, + 36, + 37, + 38, + 36, + 38, + 2, + 1, + 39, + 15, + 14, + 19, + 28, + 30, + 12, + 7, + 6, + 33, + 32, + 21, + 20, + 9, + 8, + 25, + 24, + 3, + 2, + 38, + 39, + 38, + 37, + 39, + 37, + 16, + 39, + 16, + 15 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.08000000566244125 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999920129776001, + 0.004007123410701752, + -0.11963527649641037 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999920129776001, + -0.004007123410701752, + -0.11899413913488388 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -0.38268378376960754, + -0.9238793253898621, + -0.026280846446752548 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9807853698730469, + 0.19509002566337585, + -0.1417851746082306 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.19509002566337585, + 0.9807853698730469, + -0.1626061201095581 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0018939473666250706, + 0.999998152256012, + -0.1458112895488739 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + 0.19509024918079376, + -0.9807853102684021, + -0.005680485628545284 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.0, + -0.0018939839210361242, + -0.999998152256012, + 0.014188426546752453 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8819212913513184, + -0.4713967442512512, + -0.09162737429141998 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9807853698730469, + -0.19508998095989227, + -0.11057078093290329 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.03200817108154297, + -0.831043541431427, + -0.555285632610321, + -0.08597542345523834 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.03200812637805939, + -0.7067443132400513, + -0.7067445516586304, + -0.06372085213661194 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6343931555747986, + -0.7730104923248291, + -0.056743454188108444 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.03200727328658104, + 0.5552850961685181, + 0.8310438990592957, + -0.17739157378673553 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.0, + 0.2902863025665283, + 0.9569398164749146, + -0.16936160624027252 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.032008204609155655, + 0.3824891149997711, + 0.9234053492546082, + -0.17657305300235748 + ] + }, + { + "index_base": 77, + "num_vertices": 4, + "plane": [ + 0.0, + 0.8314697742462158, + 0.5555699467658997, + -0.1723487675189972 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6343909502029419, + 0.7730124592781067, + -0.18042516708374023 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.032008133828639984, + 0.7067443132400513, + -0.7067445516586304, + -0.06372085213661194 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.03200804814696312, + 0.5552857518196106, + -0.8310434818267822, + -0.04916175454854965 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.0, + 0.47139713168144226, + -0.8819210529327393, + -0.03682239353656769 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.03200817108154297, + 0.831043541431427, + -0.555285632610321, + -0.08597542345523834 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.032008204609155655, + 0.9234062433242798, + -0.38248714804649353, + -0.09630345553159714 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9569404721260071, + -0.29028427600860596, + -0.10524961352348328 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7730104923248291, + 0.6343931555747986, + -0.17675179243087769 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9238796234130859, + 0.38268327713012695, + -0.15975981950759888 + ] + }, + { + "index_base": 109, + "num_vertices": 20, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.06800000369548798 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.03200862184166908, + -0.7067435383796692, + 0.7067453861236572, + -0.1767999827861786 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.03200727328658104, + -0.5552850961685181, + 0.8310438990592957, + -0.1821286380290985 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.0, + -0.47139859199523926, + 0.8819202780723572, + -0.1779298186302185 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 36, + 1, + 0 + ], + [ + 36, + 0, + 26 + ], + [ + 36, + 26, + 27 + ], + [ + 36, + 27, + 11 + ], + [ + 36, + 11, + 10 + ], + [ + 36, + 10, + 23 + ], + [ + 36, + 23, + 22 + ], + [ + 36, + 22, + 34 + ], + [ + 36, + 34, + 35 + ], + [ + 36, + 35, + 5 + ], + [ + 36, + 5, + 4 + ], + [ + 36, + 4, + 13 + ], + [ + 36, + 13, + 31 + ], + [ + 36, + 31, + 29 + ], + [ + 36, + 29, + 18 + ], + [ + 36, + 18, + 17 + ], + [ + 36, + 17, + 16 + ], + [ + 36, + 16, + 37 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 4 + ], + [ + 12, + 4, + 7 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 20, + 23, + 10 + ], + [ + 20, + 10, + 9 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 0 + ], + [ + 24, + 0, + 3 + ], + [ + 27, + 26, + 25 + ], + [ + 27, + 25, + 8 + ], + [ + 27, + 8, + 11 + ], + [ + 28, + 29, + 30 + ], + [ + 28, + 19, + 18 + ], + [ + 28, + 18, + 29 + ], + [ + 31, + 13, + 12 + ], + [ + 31, + 12, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 32, + 33, + 34 + ], + [ + 32, + 34, + 22 + ], + [ + 32, + 22, + 21 + ], + [ + 35, + 34, + 33 + ], + [ + 35, + 33, + 6 + ], + [ + 35, + 6, + 5 + ], + [ + 36, + 37, + 38 + ], + [ + 36, + 38, + 2 + ], + [ + 36, + 2, + 1 + ], + [ + 39, + 15, + 14 + ], + [ + 39, + 14, + 19 + ], + [ + 39, + 19, + 28 + ], + [ + 39, + 28, + 30 + ], + [ + 39, + 30, + 12 + ], + [ + 39, + 12, + 7 + ], + [ + 39, + 7, + 6 + ], + [ + 39, + 6, + 33 + ], + [ + 39, + 33, + 32 + ], + [ + 39, + 32, + 21 + ], + [ + 39, + 21, + 20 + ], + [ + 39, + 20, + 9 + ], + [ + 39, + 9, + 8 + ], + [ + 39, + 8, + 25 + ], + [ + 39, + 25, + 24 + ], + [ + 39, + 24, + 3 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 38 + ], + [ + 39, + 38, + 37 + ], + [ + 39, + 37, + 16 + ], + [ + 39, + 16, + 15 + ] + ], + "raw_bounds": [ + [ + 0.06800000369548798, + -0.11949999630451202, + 0.014000000432133675 + ], + [ + 0.07999999821186066, + 0.11949999630451202, + 0.1459999978542328 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001072706189006567, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6425526329baf0e78554a62ec61089d78d3ae4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05099507700651884, + "parts": [ + { + "vertices_raw": [ + [ + 0.07599999755620956, + 0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.07599999755620956, + -0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.07599999755620956, + -0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.07599999755620956, + 0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.13199999928474426, + -0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.13199999928474426, + 0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.12356434762477875, + -0.017500000074505806, + 0.11662311851978302 + ], + [ + 0.12356434762477875, + 0.017500000074505806, + 0.11662311851978302 + ], + [ + 0.13151057064533234, + 0.017500000074505806, + 0.12340983003377914 + ], + [ + 0.13199999928474426, + -0.017500000074505806, + 0.1264999955892563 + ], + [ + 0.12907107174396515, + 0.017500000074505806, + 0.11942893266677856 + ], + [ + 0.12907107174396515, + -0.017500000074505806, + 0.11942893266677856 + ], + [ + 0.13151057064533234, + -0.017500000074505806, + 0.12340983003377914 + ] + ], + "indices_raw": [ + 12, + 9, + 4, + 2, + 1, + 6, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 1, + 0, + 7, + 8, + 5, + 4, + 9, + 10, + 11, + 6, + 7, + 10, + 7, + 0, + 3, + 5, + 8, + 12, + 11, + 10, + 8, + 12, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.017500000074505806 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.07599999755620956 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13950000703334808 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.002588502364233136, + 0.0, + -0.9999966621398926, + 0.11630288511514664 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9998584985733032, + 0.0, + -0.016822144389152527, + -0.12963463366031647 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.45399025082588196, + 0.0, + -0.8910066485404968, + 0.04781495779752731 + ] + }, + { + "index_base": 27, + "num_vertices": 6, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.017500000074505806 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.85263991355896, + 0.0, + -0.5224988460540771, + -0.04764966666698456 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9876886010169983, + 0.0, + -0.15643274784088135, + -0.11058616638183594 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 9, + 4 + ], + [ + 12, + 4, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 6 + ], + [ + 12, + 6, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 7 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 9 + ], + [ + 10, + 11, + 6 + ], + [ + 10, + 6, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 5 + ], + [ + 10, + 5, + 8 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 8 + ], + [ + 12, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + 0.07599999755620956, + -0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.13199999928474426, + 0.017500000074505806, + 0.13950000703334808 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005452241748571396, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca191bfcd2eccb37310d6a34f142fa0a51365eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json @@ -0,0 +1,651 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05213745962828398, + "parts": [ + { + "vertices_raw": [ + [ + 0.12579524517059326, + 0.016891036182641983, + 0.1306668072938919 + ], + [ + 0.1486836075782776, + 0.017346281558275223, + 0.1333826184272766 + ], + [ + 0.1672937572002411, + 0.017346281558275223, + 0.032971203327178955 + ], + [ + 0.14467889070510864, + 0.017346281558275223, + 0.028779787942767143 + ], + [ + 0.1486836075782776, + -0.017346281558275223, + 0.1333826184272766 + ], + [ + 0.12606874108314514, + -0.017346281558275223, + 0.12919120490550995 + ], + [ + 0.14467889070510864, + -0.017346281558275223, + 0.028779787942767143 + ], + [ + 0.1672937572002411, + -0.017346281558275223, + 0.032971203327178955 + ], + [ + 0.1458243429660797, + -0.011060722172260284, + 0.0225994810461998 + ], + [ + 0.14585235714912415, + 0.009499999694526196, + 0.022448336705565453 + ], + [ + 0.1684672236442566, + 0.009499999694526196, + 0.026639753952622414 + ], + [ + 0.16843920946121216, + -0.011060722172260284, + 0.02679089829325676 + ], + [ + 0.12492328882217407, + 0.011060722172260284, + 0.13537150621414185 + ], + [ + 0.12489527463912964, + -0.009499999694526196, + 0.13552264869213104 + ], + [ + 0.14751014113426208, + -0.009499999694526196, + 0.1397140622138977 + ], + [ + 0.14753815531730652, + 0.011060722172260284, + 0.1395629197359085 + ], + [ + 0.1680402159690857, + 0.015156853944063187, + 0.028943663462996483 + ], + [ + 0.1479371339082718, + -0.015156853944063187, + 0.13741016387939453 + ], + [ + 0.14560666680335999, + 0.013944561593234539, + 0.023774003610014915 + ], + [ + 0.1251409649848938, + -0.013944561593234539, + 0.13419698178768158 + ], + [ + 0.1479371339082718, + 0.015156853944063187, + 0.13741016387939453 + ], + [ + 0.1680402159690857, + -0.015156853944063187, + 0.028943663462996483 + ], + [ + 0.14542534947395325, + -0.015156853944063187, + 0.024752246215939522 + ], + [ + 0.12532228231430054, + 0.015156853944063187, + 0.13321873545646667 + ] + ], + "indices_raw": [ + 20, + 15, + 14, + 17, + 4, + 7, + 21, + 11, + 10, + 16, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 3, + 2, + 17, + 5, + 4, + 18, + 3, + 16, + 18, + 16, + 10, + 18, + 10, + 9, + 19, + 5, + 17, + 19, + 17, + 14, + 19, + 14, + 13, + 20, + 1, + 0, + 22, + 8, + 11, + 21, + 22, + 21, + 7, + 6, + 23, + 12, + 15, + 20, + 23, + 20, + 0, + 23, + 0, + 3, + 18, + 9, + 8, + 22, + 6, + 5, + 19, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + 0.9832549095153809, + -7.603194518424061e-08, + 0.1822354793548584, + -0.17050093412399292 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.009730438701808453, + 0.9999510049819946, + -0.0018034294480457902, + -0.015658129006624222 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.017346281558275223 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.18223042786121368, + -0.007476119790226221, + -0.9832274913787842, + -0.004435893148183823 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.18223027884960175, + 0.007476028986275196, + 0.9832274913787842, + -0.11041887104511261 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.08590520173311234, + 0.881921112537384, + -0.46350324153900146, + -0.014387198723852634 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.0859050378203392, + -0.8819215297698975, + 0.46350255608558655, + -0.06434857845306396 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.08176673203706741, + 0.8313068151473999, + -0.5497663021087646, + -0.01042784471064806 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.18778878450393677, + 0.3826085329055786, + -0.9046248197555542, + -0.011172054335474968 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.17438849806785583, + 0.2902844548225403, + -0.9409162998199463, + -0.0070706699043512344 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.12068308144807816, + -0.8313065767288208, + 0.5425541996955872, + -0.06929895281791687 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.148872971534729, + -0.3826066553592682, + 0.911838173866272, + -0.10907110571861267 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.1743883639574051, + -0.29028448462486267, + 0.9409163594245911, + -0.108492910861969 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.07281919568777084, + 0.881843626499176, + 0.4658854603767395, + -0.06661070883274078 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.16071736812591553, + -0.47139665484428406, + -0.8671534657478333, + -0.009053273126482964 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.08590522408485413, + -0.8819212317466736, + -0.4635031521320343, + -0.014387203380465508 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + -0.16071727871894836, + 0.4713961184024811, + 0.8671537041664124, + -0.10252455621957779 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.1012449562549591, + 0.8314695358276367, + 0.5462671518325806, + -0.07268723100423813 + ] + }, + { + "index_base": 70, + "num_vertices": 12, + "plane": [ + -0.9832549691200256, + -1.7553021791627543e-07, + -0.18223556876182556, + 0.14750096201896667 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 20, + 15, + 14 + ], + [ + 20, + 14, + 17 + ], + [ + 20, + 17, + 4 + ], + [ + 20, + 4, + 7 + ], + [ + 20, + 7, + 21 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 20, + 10, + 16 + ], + [ + 20, + 16, + 2 + ], + [ + 20, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 3, + 2 + ], + [ + 17, + 5, + 4 + ], + [ + 18, + 3, + 16 + ], + [ + 18, + 16, + 10 + ], + [ + 18, + 10, + 9 + ], + [ + 19, + 5, + 17 + ], + [ + 19, + 17, + 14 + ], + [ + 19, + 14, + 13 + ], + [ + 20, + 1, + 0 + ], + [ + 22, + 8, + 11 + ], + [ + 22, + 11, + 21 + ], + [ + 22, + 21, + 7 + ], + [ + 22, + 7, + 6 + ], + [ + 23, + 12, + 15 + ], + [ + 23, + 15, + 20 + ], + [ + 23, + 20, + 0 + ], + [ + 23, + 0, + 3 + ], + [ + 23, + 3, + 18 + ], + [ + 23, + 18, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 8, + 22 + ], + [ + 23, + 22, + 6 + ], + [ + 23, + 6, + 5 + ], + [ + 23, + 5, + 19 + ], + [ + 23, + 19, + 13 + ], + [ + 23, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + 0.12489527463912964, + -0.017346281558275223, + 0.022448336705565453 + ], + [ + 0.1684672236442566, + 0.017346281558275223, + 0.1397140622138977 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007773912511765957, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json new file mode 100644 index 0000000000000000000000000000000000000000..6d10e266161add8738071dd6f76530215c03ed41 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05342546384781599, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + -0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9759815335273743, + -0.21785302460193634, + 0.0, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.975981593132019, + 0.21785305440425873, + 0.0, + -0.00765971839427948 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + -0.032999999821186066, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048798881471157074, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2166fa0b738ecccfa264ef64e132f72616f597 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.054425892885774374, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.21785302460193634, + -0.9759815335273743, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.21785305440425873, + 0.975981593132019, + -0.00765971839427948 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.032999999821186066 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004613208584487438, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3fa0c4674e2a413ae8a76ac81b426d9369f3da --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05540777603164315, + "parts": [ + { + "vertices_raw": [ + [ + 0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9759815335273743, + -0.21785302460193634, + 0.0, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.975981593132019, + 0.21785305440425873, + 0.0, + -0.00765971839427948 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + 0.032999999821186066, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044409604743123055, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json new file mode 100644 index 0000000000000000000000000000000000000000..56de92cac7e5e157a59c335d84ca5e42fed835c3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05635478859767318, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.21785302460193634, + 0.9759815335273743, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.21785305440425873, + -0.975981593132019, + -0.00765971839427948 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004489179700613022, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json new file mode 100644 index 0000000000000000000000000000000000000000..031b36cf1a8a53ab3e28a574a20f9f7af3de3aa2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05742949293926358, + "parts": [ + { + "vertices_raw": [ + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0016406249487772584 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.0, + -0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ], + [ + 0.0, + -0.004692429210990667, + 0.0 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 5, + 4, + 8, + 4, + 3, + 10, + 11, + 12, + 7, + 6, + 11, + 6, + 5, + 9, + 13, + 10, + 3, + 2, + 13, + 2, + 1, + 14, + 15, + 14, + 1, + 0, + 15, + 0, + 7, + 12, + 15, + 12, + 11, + 9, + 8, + 10, + 13, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0016406250651925802 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 9 + ], + [ + 13, + 10, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 14 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 7 + ], + [ + 15, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ] + ], + "raw_bounds": [ + [ + -0.004692429210990667, + -0.004692429210990667, + 0.0 + ], + [ + 0.004692429210990667, + 0.004692429210990667, + 0.0016406249487772584 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006638192571699619, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json new file mode 100644 index 0000000000000000000000000000000000000000..e5479bfa16e61b60addc9b003e043f0ca14fc9ed --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json @@ -0,0 +1,392 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.058690623845905066, + "parts": [ + { + "vertices_raw": [ + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + -0.0023462146054953337, + 0.004063762724399567, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 1.947072526542898e-18, + 0.0158990528434515, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0, + -0.0158990528434515, + 0.004921874962747097 + ], + [ + -0.0012144900392740965, + -0.00453253835439682, + 0.0016406249487772584 + ] + ], + "indices_raw": [ + 10, + 6, + 5, + 8, + 0, + 3, + 4, + 11, + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 5, + 7, + 8, + 9, + 7, + 6, + 10, + 11, + 12, + 9, + 10, + 9, + 6, + 1, + 8, + 7, + 1, + 0, + 8, + 12, + 2, + 1, + 7, + 9, + 12, + 11, + 4, + 12, + 4, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.004921875428408384 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.25829023122787476, + 0.11817457526922226, + -0.9588123559951782, + 0.00048681371845304966 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.27911412715911865, + -0.11561283469200134, + -0.9532728791236877, + 0.0002542396541684866 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.2791140675544739, + 0.11561283469200134, + -0.953272819519043, + 0.00025424035266041756 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.11561281979084015, + 0.27911409735679626, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.2523678243160248, + 0.0, + -0.9676313996315002, + 0.0007501514628529549 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.11258277297019958, + -0.27179884910583496, + -0.9557461142539978, + 0.00038271863013505936 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.27911409735679626, + -0.11561281979084015, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.034319739788770676, + 0.2606842815876007, + -0.9648139476776123, + 0.0006040602456778288 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + 0.287091463804245, + -0.9504930973052979, + 0.00011372612789273262 + ] + }, + { + "index_base": 37, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0016406249487772584 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + -0.287091463804245, + -0.9504930973052979, + 0.00011372589506208897 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.20859934389591217, + -0.16006390750408173, + -0.9648139476776123, + 0.0006040600128471851 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 4 + ], + [ + 10, + 4, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 9, + 7, + 6 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 6 + ], + [ + 1, + 8, + 7 + ], + [ + 1, + 0, + 8 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 7 + ], + [ + 12, + 7, + 9 + ], + [ + 12, + 11, + 4 + ], + [ + 12, + 4, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0158990528434515, + -0.0158990528434515, + 0.0016406249487772584 + ], + [ + 0.0158990528434515, + 0.0158990528434515, + 0.004921874962747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006170598790049553, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json new file mode 100644 index 0000000000000000000000000000000000000000..4577f2f9998afc1529bb8c30c2792b4a98048c92 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json @@ -0,0 +1,467 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05989791499450803, + "parts": [ + { + "vertices_raw": [ + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.0, + -0.02528391219675541, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 3.096386220945514e-18, + 0.02528391219675541, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + -0.004114978015422821, + -0.015357306227087975, + 0.004921874962747097 + ], + [ + -0.004114978015422821, + 0.015357306227087975, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + -0.013768984004855156, + -0.00794952642172575, + 0.004921874962747097 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ] + ], + "indices_raw": [ + 3, + 5, + 6, + 7, + 8, + 1, + 0, + 9, + 0, + 1, + 2, + 3, + 4, + 5, + 10, + 2, + 1, + 10, + 1, + 8, + 11, + 5, + 4, + 11, + 6, + 5, + 12, + 4, + 3, + 9, + 12, + 9, + 0, + 2, + 13, + 10, + 8, + 13, + 8, + 7, + 13, + 7, + 14, + 15, + 6, + 11, + 15, + 11, + 4, + 12, + 2, + 10, + 13, + 14, + 15, + 14, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.008203125558793545 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + -0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + 0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.07618460059165955, + -0.2843247652053833, + -0.9556962847709656, + 0.0006508529186248779 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + -0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.07618460804224014, + 0.2843247950077057, + -0.9556962847709656, + 0.0006508519873023033 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + 0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + -0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.18350711464881897, + -0.23915112018585205, + -0.953484058380127, + 0.0002650842070579529 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.36635786294937134, + -0.151750385761261, + -0.918016254901886, + -0.0017323591746389866 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.3287581205368042, + -0.0880904570221901, + -0.9402968287467957, + -0.000598919577896595 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.17017772793769836, + 0.2947564125061035, + -0.9402968287467957, + -0.0005989186465740204 + ] + }, + { + "index_base": 46, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004921875428408384 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + -0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 3, + 8, + 1 + ], + [ + 3, + 1, + 0 + ], + [ + 3, + 0, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 8 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 6, + 5 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 9 + ], + [ + 12, + 9, + 0 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 10, + 8 + ], + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 14 + ], + [ + 15, + 6, + 11 + ], + [ + 15, + 11, + 4 + ], + [ + 15, + 4, + 12 + ], + [ + 15, + 12, + 2 + ], + [ + 15, + 2, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ], + [ + 15, + 14, + 7 + ], + [ + 15, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.02528391219675541, + -0.02528391219675541, + 0.004921874962747097 + ], + [ + 0.02528391219675541, + 0.02528391219675541, + 0.00820312462747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006210589781403542, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json new file mode 100644 index 0000000000000000000000000000000000000000..119e177a66e912617823c059e37afffc552ca5ec --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.061107710003852844, + "parts": [ + { + "vertices_raw": [ + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.029810724779963493, + 0.011484375223517418 + ], + [ + 0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + 0.02189650945365429, + 0.00820312462747097 + ], + [ + -0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + -0.02189650945365429, + 0.00820312462747097 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + 3.650760806322175e-18, + 0.029810724779963493, + 0.011484375223517418 + ], + [ + -0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + -0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ] + ], + "indices_raw": [ + 25, + 12, + 11, + 15, + 5, + 7, + 21, + 18, + 17, + 9, + 8, + 1, + 0, + 4, + 22, + 24, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 11, + 14, + 15, + 16, + 10, + 9, + 17, + 18, + 19, + 17, + 19, + 16, + 17, + 16, + 9, + 20, + 7, + 6, + 21, + 7, + 20, + 21, + 20, + 19, + 21, + 19, + 18, + 22, + 23, + 24, + 25, + 24, + 23, + 26, + 6, + 5, + 26, + 5, + 15, + 26, + 15, + 14, + 27, + 1, + 8, + 27, + 8, + 10, + 27, + 2, + 1, + 28, + 13, + 12, + 28, + 12, + 25, + 28, + 25, + 23, + 29, + 23, + 22, + 29, + 22, + 4, + 29, + 4, + 3, + 29, + 3, + 2, + 27, + 10, + 16, + 19, + 20, + 6, + 26, + 14, + 13, + 28, + 23 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.011484374292194843 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.07703543454408646, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.30010682344436646, + -0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + 0.5913171768188477, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + -0.5913171768188477, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.30010679364204407, + 0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.07703544199466705, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + -0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.5851427912712097, + -0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.5023854970932007, + -0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + -0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + 0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + 0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.5023854374885559, + 0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5851428508758545, + 0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.5851428508758545, + -0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5851427912712097, + 0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.22585667669773102, + 0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.07703543454408646, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.0, + 0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.07703544199466705, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.22585664689540863, + -0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.0, + -0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + 0.35928595066070557, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + 0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5023854970932007, + 0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5023854374885559, + -0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + -0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + -0.35928598046302795, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 102, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00820312649011612 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 12, + 11 + ], + [ + 25, + 11, + 15 + ], + [ + 25, + 15, + 5 + ], + [ + 25, + 5, + 7 + ], + [ + 25, + 7, + 21 + ], + [ + 25, + 21, + 18 + ], + [ + 25, + 18, + 17 + ], + [ + 25, + 17, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 25, + 8, + 1 + ], + [ + 25, + 1, + 0 + ], + [ + 25, + 0, + 4 + ], + [ + 25, + 4, + 22 + ], + [ + 25, + 22, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 16, + 10, + 9 + ], + [ + 17, + 18, + 19 + ], + [ + 17, + 19, + 16 + ], + [ + 17, + 16, + 9 + ], + [ + 20, + 7, + 6 + ], + [ + 21, + 7, + 20 + ], + [ + 21, + 20, + 19 + ], + [ + 21, + 19, + 18 + ], + [ + 22, + 23, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 27, + 1, + 8 + ], + [ + 27, + 8, + 10 + ], + [ + 27, + 2, + 1 + ], + [ + 28, + 13, + 12 + ], + [ + 28, + 12, + 25 + ], + [ + 28, + 25, + 23 + ], + [ + 29, + 23, + 22 + ], + [ + 29, + 22, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 2 + ], + [ + 29, + 2, + 27 + ], + [ + 29, + 27, + 10 + ], + [ + 29, + 10, + 16 + ], + [ + 29, + 16, + 19 + ], + [ + 29, + 19, + 20 + ], + [ + 29, + 20, + 6 + ], + [ + 29, + 6, + 26 + ], + [ + 29, + 26, + 14 + ], + [ + 29, + 14, + 13 + ], + [ + 29, + 13, + 28 + ], + [ + 29, + 28, + 23 + ] + ], + "raw_bounds": [ + [ + -0.029810724779963493, + -0.029810724779963493, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + 0.029810724779963493, + 0.011484375223517418 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009446321055293083, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json new file mode 100644 index 0000000000000000000000000000000000000000..037210b3479f717d6227c3eb3cd7c695d2913169 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06268583284690976, + "parts": [ + { + "vertices_raw": [ + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.025816844776272774, + 0.014905362389981747, + 0.011484375223517418 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.014905362389981747, + 0.025816844776272774, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 37, + 17, + 16, + 34, + 31, + 30, + 15, + 1, + 0, + 29, + 21, + 22, + 35, + 12, + 14, + 36, + 33, + 32, + 19, + 7, + 6, + 28, + 9, + 10, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 9, + 5, + 10, + 9, + 8, + 11, + 12, + 13, + 14, + 12, + 11, + 15, + 2, + 1, + 16, + 17, + 18, + 19, + 4, + 7, + 20, + 21, + 3, + 20, + 22, + 21, + 23, + 2, + 15, + 24, + 4, + 19, + 25, + 16, + 18, + 25, + 18, + 8, + 5, + 4, + 24, + 26, + 11, + 13, + 20, + 3, + 2, + 23, + 27, + 28, + 6, + 5, + 28, + 5, + 9, + 29, + 0, + 3, + 29, + 3, + 21, + 30, + 31, + 27, + 23, + 30, + 23, + 15, + 32, + 33, + 26, + 24, + 32, + 24, + 19, + 34, + 16, + 25, + 34, + 25, + 27, + 31, + 35, + 22, + 20, + 13, + 35, + 13, + 12, + 36, + 14, + 11, + 36, + 11, + 26, + 36, + 26, + 33, + 37, + 10, + 8, + 37, + 8, + 18, + 37, + 18, + 17 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014765623025596142 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + 0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + 0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.336283415555954, + -0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.10272129625082016, + -0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4755764901638031, + 0.4755764901638031, + -0.7400364279747009, + -0.010867668315768242 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.6243534088134766, + 0.4790831506252289, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + 0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10272129625082016, + 0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + 0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.5824601054191589, + -0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + -0.336283415555954, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.011484375223517418 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.3011644184589386, + -0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.10272131115198135, + -0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.3011644184589386, + 0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + 0.10272131115198135, + 0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 98, + "num_vertices": 4, + "plane": [ + 0.7802475690841675, + 0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + 0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.7802475690841675, + -0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + -0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + -0.3011644184589386, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.7802475094795227, + -0.1027214452624321, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 119, + "num_vertices": 4, + "plane": [ + -0.3011644184589386, + 0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.4790830910205841, + 0.6243534088134766, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + 0.3011643886566162, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.6496495008468628, + 0.17407307028770447, + -0.7400366067886353, + -0.010867664590477943 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + -0.7802476286888123, + 0.10272131860256195, + -0.616978108882904, + -0.016174139454960823 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.3011643886566162, + -0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + -0.5824601054191589, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 17, + 16 + ], + [ + 37, + 16, + 34 + ], + [ + 37, + 34, + 31 + ], + [ + 37, + 31, + 30 + ], + [ + 37, + 30, + 15 + ], + [ + 37, + 15, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 29 + ], + [ + 37, + 29, + 21 + ], + [ + 37, + 21, + 22 + ], + [ + 37, + 22, + 35 + ], + [ + 37, + 35, + 12 + ], + [ + 37, + 12, + 14 + ], + [ + 37, + 14, + 36 + ], + [ + 37, + 36, + 33 + ], + [ + 37, + 33, + 32 + ], + [ + 37, + 32, + 19 + ], + [ + 37, + 19, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 28 + ], + [ + 37, + 28, + 9 + ], + [ + 37, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 10, + 9, + 8 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 12, + 11 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 4, + 7 + ], + [ + 20, + 21, + 3 + ], + [ + 20, + 22, + 21 + ], + [ + 23, + 2, + 15 + ], + [ + 24, + 4, + 19 + ], + [ + 25, + 16, + 18 + ], + [ + 25, + 18, + 8 + ], + [ + 25, + 8, + 5 + ], + [ + 25, + 5, + 4 + ], + [ + 25, + 4, + 24 + ], + [ + 25, + 24, + 26 + ], + [ + 25, + 26, + 11 + ], + [ + 25, + 11, + 13 + ], + [ + 25, + 13, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 23 + ], + [ + 25, + 23, + 27 + ], + [ + 28, + 6, + 5 + ], + [ + 28, + 5, + 9 + ], + [ + 29, + 0, + 3 + ], + [ + 29, + 3, + 21 + ], + [ + 30, + 31, + 27 + ], + [ + 30, + 27, + 23 + ], + [ + 30, + 23, + 15 + ], + [ + 32, + 33, + 26 + ], + [ + 32, + 26, + 24 + ], + [ + 32, + 24, + 19 + ], + [ + 34, + 16, + 25 + ], + [ + 34, + 25, + 27 + ], + [ + 34, + 27, + 31 + ], + [ + 35, + 22, + 20 + ], + [ + 35, + 20, + 13 + ], + [ + 35, + 13, + 12 + ], + [ + 36, + 14, + 11 + ], + [ + 36, + 11, + 26 + ], + [ + 36, + 26, + 33 + ], + [ + 37, + 10, + 8 + ], + [ + 37, + 8, + 18 + ], + [ + 37, + 18, + 17 + ] + ], + "raw_bounds": [ + [ + -0.03240536153316498, + -0.03240536153316498, + 0.011484375223517418 + ], + [ + 0.03240536153316498, + 0.03240536153316498, + 0.014765624888241291 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011187801137566566, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e835f74d165f43b7d466f6b0f9ff0c04977a43 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06437212787568569, + "parts": [ + { + "vertices_raw": [ + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 14, + 9, + 6, + 5, + 15, + 16, + 17, + 18, + 19, + 11, + 10, + 20, + 21, + 22, + 23, + 24, + 2, + 1, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 10, + 11, + 12, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 10, + 13, + 33, + 34, + 23, + 22, + 33, + 22, + 21, + 32, + 35, + 36, + 28, + 27, + 35, + 27, + 26, + 37, + 38, + 12, + 11, + 19, + 38, + 19, + 18, + 39, + 40, + 3, + 2, + 24, + 40, + 24, + 23, + 34, + 41, + 39, + 18, + 17, + 41, + 17, + 16, + 42, + 43, + 25, + 1, + 0, + 43, + 37, + 26, + 25, + 44, + 45, + 30, + 29, + 44, + 29, + 28, + 36, + 46, + 42, + 16, + 15, + 46, + 15, + 5, + 4, + 47, + 8, + 9, + 14, + 47, + 14, + 30, + 45, + 47, + 45, + 44, + 36, + 35, + 37, + 43, + 0, + 3, + 40, + 34, + 33, + 32, + 31, + 13, + 12, + 38, + 39, + 41, + 42, + 46, + 4, + 7, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.018046876415610313 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7300550937652588, + -0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9123415946960449, + 0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9123417139053345, + -0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7300549745559692, + 0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5601910352706909, + 0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9123417139053345, + 0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.12011213600635529, + -0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.12011215090751648, + -0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.12011213600635529, + 0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.12011215090751648, + 0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.9123415946960449, + -0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.5601909756660461, + 0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.5601909756660461, + -0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.5601910352706909, + -0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.7300550937652588, + 0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.7300549745559692, + -0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014765623025596142 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 10 + ], + [ + 31, + 10, + 13 + ], + [ + 33, + 34, + 23 + ], + [ + 33, + 23, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 32 + ], + [ + 35, + 36, + 28 + ], + [ + 35, + 28, + 27 + ], + [ + 35, + 27, + 26 + ], + [ + 35, + 26, + 37 + ], + [ + 38, + 12, + 11 + ], + [ + 38, + 11, + 19 + ], + [ + 38, + 19, + 18 + ], + [ + 38, + 18, + 39 + ], + [ + 40, + 3, + 2 + ], + [ + 40, + 2, + 24 + ], + [ + 40, + 24, + 23 + ], + [ + 40, + 23, + 34 + ], + [ + 41, + 39, + 18 + ], + [ + 41, + 18, + 17 + ], + [ + 41, + 17, + 16 + ], + [ + 41, + 16, + 42 + ], + [ + 43, + 25, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 43, + 37, + 26 + ], + [ + 43, + 26, + 25 + ], + [ + 44, + 45, + 30 + ], + [ + 44, + 30, + 29 + ], + [ + 44, + 29, + 28 + ], + [ + 44, + 28, + 36 + ], + [ + 46, + 42, + 16 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 5 + ], + [ + 46, + 5, + 4 + ], + [ + 47, + 8, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 37 + ], + [ + 47, + 37, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 40 + ], + [ + 47, + 40, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 46 + ], + [ + 47, + 46, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 8 + ] + ], + "raw_bounds": [ + [ + -0.03381309285759926, + -0.03381309285759926, + 0.014765624888241291 + ], + [ + 0.03381309285759926, + 0.03381309285759926, + 0.018046874552965164 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010736691765487194, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb3c8e7953a6b4d46888cb47532d989473c64a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06604757066816092, + "parts": [ + { + "vertices_raw": [ + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ] + ], + "indices_raw": [ + 16, + 3, + 2, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 12, + 15, + 24, + 25, + 26, + 27, + 28, + 5, + 4, + 29, + 30, + 31, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 32, + 33, + 25, + 24, + 32, + 24, + 15, + 14, + 34, + 6, + 5, + 28, + 34, + 28, + 27, + 35, + 36, + 0, + 3, + 16, + 36, + 16, + 11, + 10, + 37, + 38, + 22, + 21, + 37, + 21, + 20, + 39, + 40, + 41, + 18, + 17, + 40, + 17, + 2, + 1, + 42, + 43, + 30, + 29, + 42, + 29, + 4, + 7, + 44, + 9, + 8, + 31, + 44, + 31, + 30, + 43, + 45, + 13, + 12, + 23, + 45, + 23, + 22, + 38, + 46, + 19, + 18, + 41, + 46, + 39, + 20, + 19, + 47, + 26, + 25, + 33, + 47, + 33, + 32, + 14, + 13, + 45, + 38, + 37, + 39, + 46, + 41, + 40, + 1, + 0, + 36, + 10, + 9, + 44, + 43, + 42, + 7, + 6, + 34, + 35, + 47, + 35, + 27, + 26 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + 0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + -0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9736923575401306, + -0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.9736923575401306, + 0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + -0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9736924171447754, + -0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + -0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + -0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + 0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.9736924171447754, + 0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + 0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + 0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + 0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + 0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + -0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + -0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + -0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + -0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + 0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + 0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + 0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + 0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + -0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 116, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.018046876415610313 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + -0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 16, + 20, + 21 + ], + [ + 16, + 21, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 16, + 23, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 24 + ], + [ + 16, + 24, + 25 + ], + [ + 16, + 25, + 26 + ], + [ + 16, + 26, + 27 + ], + [ + 16, + 27, + 28 + ], + [ + 16, + 28, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 29 + ], + [ + 16, + 29, + 30 + ], + [ + 16, + 30, + 31 + ], + [ + 16, + 31, + 8 + ], + [ + 16, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 32, + 33, + 25 + ], + [ + 32, + 25, + 24 + ], + [ + 32, + 24, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 34, + 6, + 5 + ], + [ + 34, + 5, + 28 + ], + [ + 34, + 28, + 27 + ], + [ + 34, + 27, + 35 + ], + [ + 36, + 0, + 3 + ], + [ + 36, + 3, + 16 + ], + [ + 36, + 16, + 11 + ], + [ + 36, + 11, + 10 + ], + [ + 37, + 38, + 22 + ], + [ + 37, + 22, + 21 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 39 + ], + [ + 40, + 41, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 2 + ], + [ + 40, + 2, + 1 + ], + [ + 42, + 43, + 30 + ], + [ + 42, + 30, + 29 + ], + [ + 42, + 29, + 4 + ], + [ + 42, + 4, + 7 + ], + [ + 44, + 9, + 8 + ], + [ + 44, + 8, + 31 + ], + [ + 44, + 31, + 30 + ], + [ + 44, + 30, + 43 + ], + [ + 45, + 13, + 12 + ], + [ + 45, + 12, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 45, + 22, + 38 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 41 + ], + [ + 46, + 39, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 14 + ], + [ + 47, + 14, + 13 + ], + [ + 47, + 13, + 45 + ], + [ + 47, + 45, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 36 + ], + [ + 47, + 36, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 42 + ], + [ + 47, + 42, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 27 + ], + [ + 47, + 27, + 26 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.021328125149011612 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009468486532568932, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json new file mode 100644 index 0000000000000000000000000000000000000000..00fe9613bd7b06f01ba956811dffa3d265847228 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06759660178795457, + "parts": [ + { + "vertices_raw": [ + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ] + ], + "indices_raw": [ + 24, + 26, + 2, + 1, + 27, + 28, + 29, + 16, + 9, + 8, + 30, + 31, + 32, + 18, + 13, + 12, + 33, + 34, + 35, + 7, + 6, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 14, + 13, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 21, + 20, + 36, + 37, + 36, + 6, + 5, + 38, + 26, + 24, + 25, + 38, + 3, + 2, + 26, + 39, + 17, + 16, + 29, + 39, + 29, + 28, + 40, + 41, + 19, + 18, + 32, + 41, + 32, + 31, + 42, + 43, + 4, + 7, + 35, + 43, + 35, + 34, + 44, + 45, + 30, + 8, + 11, + 45, + 42, + 31, + 30, + 46, + 33, + 12, + 15, + 46, + 44, + 34, + 33, + 47, + 40, + 28, + 27, + 47, + 27, + 1, + 0, + 47, + 0, + 3, + 38, + 25, + 22, + 21, + 37, + 5, + 4, + 43, + 44, + 46, + 15, + 14, + 19, + 41, + 42, + 45, + 11, + 10, + 17, + 39, + 40 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + 0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + -0.7927952408790588, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + 0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.608333170413971, + -0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + 0.7927952408790588, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + -0.6083331108093262, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9907472729682922, + -0.13043460249900818, + 0.03750445321202278, + -0.03492911159992218 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.990747332572937, + 0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + -0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + -0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + 0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + 0.608333170413971, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + 0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + 0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + -0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + -0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + -0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + -0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + 0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + 0.13043451309204102, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + -0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + -0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + 0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + 0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.027890626341104507 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 18 + ], + [ + 24, + 18, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 14 + ], + [ + 18, + 14, + 13 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 36 + ], + [ + 37, + 36, + 6 + ], + [ + 37, + 6, + 5 + ], + [ + 38, + 26, + 24 + ], + [ + 38, + 24, + 25 + ], + [ + 38, + 3, + 2 + ], + [ + 38, + 2, + 26 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 29 + ], + [ + 39, + 29, + 28 + ], + [ + 39, + 28, + 40 + ], + [ + 41, + 19, + 18 + ], + [ + 41, + 18, + 32 + ], + [ + 41, + 32, + 31 + ], + [ + 41, + 31, + 42 + ], + [ + 43, + 4, + 7 + ], + [ + 43, + 7, + 35 + ], + [ + 43, + 35, + 34 + ], + [ + 43, + 34, + 44 + ], + [ + 45, + 30, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 42, + 31 + ], + [ + 45, + 31, + 30 + ], + [ + 46, + 33, + 12 + ], + [ + 46, + 12, + 15 + ], + [ + 46, + 44, + 34 + ], + [ + 46, + 34, + 33 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 38 + ], + [ + 47, + 38, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 37 + ], + [ + 47, + 37, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 19 + ], + [ + 47, + 19, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 40 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.027890624478459358 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009306557476520538, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json new file mode 100644 index 0000000000000000000000000000000000000000..a9faccdf76f233cd028f490911dcfb4b7b259cc2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0691061238758266, + "parts": [ + { + "vertices_raw": [ + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ] + ], + "indices_raw": [ + 14, + 7, + 6, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 2, + 1, + 26, + 27, + 28, + 8, + 11, + 12, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 23, + 22, + 32, + 31, + 33, + 24, + 23, + 34, + 35, + 18, + 17, + 34, + 17, + 16, + 36, + 37, + 9, + 8, + 28, + 37, + 28, + 27, + 38, + 39, + 29, + 12, + 13, + 39, + 40, + 30, + 29, + 41, + 38, + 27, + 26, + 41, + 26, + 1, + 0, + 42, + 4, + 7, + 14, + 42, + 14, + 30, + 40, + 43, + 3, + 2, + 25, + 43, + 25, + 24, + 33, + 44, + 36, + 16, + 15, + 44, + 15, + 6, + 5, + 45, + 32, + 22, + 21, + 45, + 21, + 20, + 46, + 47, + 46, + 20, + 19, + 47, + 19, + 18, + 35, + 47, + 35, + 34, + 36, + 44, + 5, + 4, + 42, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 41, + 0, + 3, + 43, + 33, + 31, + 32, + 45, + 46 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.027890624478459358 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + 0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6004651188850403, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + -0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.6004651784896851, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + 0.37746813893318176, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + 0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + -0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + -0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.6004651784896851, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.3774681091308594, + 0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.37746813893318176, + -0.9112887978553772, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6004651188850403, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37746813893318176, + 0.9112887978553772, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.3774681091308594, + -0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + 0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + -0.37746813893318176, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.03773438557982445 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 32 + ], + [ + 31, + 33, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 34, + 35, + 18 + ], + [ + 34, + 18, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 36 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 28 + ], + [ + 37, + 28, + 27 + ], + [ + 37, + 27, + 38 + ], + [ + 39, + 29, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 38, + 27 + ], + [ + 41, + 27, + 26 + ], + [ + 41, + 26, + 1 + ], + [ + 41, + 1, + 0 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 14 + ], + [ + 42, + 14, + 30 + ], + [ + 42, + 30, + 40 + ], + [ + 43, + 3, + 2 + ], + [ + 43, + 2, + 25 + ], + [ + 43, + 25, + 24 + ], + [ + 43, + 24, + 33 + ], + [ + 44, + 36, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 6 + ], + [ + 44, + 6, + 5 + ], + [ + 45, + 32, + 22 + ], + [ + 45, + 22, + 21 + ], + [ + 45, + 21, + 20 + ], + [ + 45, + 20, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 44 + ], + [ + 47, + 44, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 41 + ], + [ + 47, + 41, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 43 + ], + [ + 47, + 43, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 46 + ] + ], + "raw_bounds": [ + [ + -0.03419952839612961, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + 0.03419952839612961, + 0.03773437440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009286371059715748, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json new file mode 100644 index 0000000000000000000000000000000000000000..79ffd8eff15a60bfd057364b658ff43836f2de76 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07063685404136777, + "parts": [ + { + "vertices_raw": [ + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 24, + 27, + 28, + 7, + 6, + 29, + 18, + 21, + 30, + 3, + 2, + 31, + 16, + 9, + 8, + 32, + 33, + 34, + 22, + 13, + 12, + 35, + 36, + 37, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 20, + 21, + 22, + 23, + 14, + 13, + 24, + 25, + 26, + 27, + 38, + 17, + 16, + 31, + 38, + 31, + 2, + 1, + 39, + 19, + 18, + 29, + 39, + 29, + 6, + 5, + 40, + 23, + 22, + 34, + 40, + 34, + 33, + 41, + 42, + 25, + 24, + 37, + 42, + 37, + 36, + 43, + 44, + 32, + 8, + 11, + 44, + 41, + 33, + 32, + 45, + 35, + 12, + 15, + 45, + 43, + 36, + 35, + 46, + 0, + 3, + 30, + 46, + 30, + 21, + 20, + 47, + 4, + 7, + 28, + 47, + 28, + 27, + 26, + 47, + 26, + 25, + 42, + 43, + 45, + 15, + 14, + 23, + 40, + 41, + 44, + 11, + 10, + 17, + 38, + 1, + 0, + 46, + 20, + 19, + 39, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.03773438557982445 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6083331108093262, + 0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7927951812744141, + 0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7927951216697693, + 0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6083332896232605, + -0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6083332896232605, + 0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.7927951216697693, + -0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + 0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + -0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + 0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + -0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + 0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + 0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + -0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.7927951812744141, + -0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + -0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + -0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04429686814546585 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 21 + ], + [ + 24, + 21, + 30 + ], + [ + 24, + 30, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 31 + ], + [ + 24, + 31, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 22 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 35 + ], + [ + 24, + 35, + 36 + ], + [ + 24, + 36, + 37 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 21 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 38, + 17, + 16 + ], + [ + 38, + 16, + 31 + ], + [ + 38, + 31, + 2 + ], + [ + 38, + 2, + 1 + ], + [ + 39, + 19, + 18 + ], + [ + 39, + 18, + 29 + ], + [ + 39, + 29, + 6 + ], + [ + 39, + 6, + 5 + ], + [ + 40, + 23, + 22 + ], + [ + 40, + 22, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 40, + 33, + 41 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 32, + 8 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 41, + 33 + ], + [ + 44, + 33, + 32 + ], + [ + 45, + 35, + 12 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 43, + 36 + ], + [ + 45, + 36, + 35 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 21 + ], + [ + 46, + 21, + 20 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 45 + ], + [ + 47, + 45, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 23 + ], + [ + 47, + 23, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 38 + ], + [ + 47, + 38, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 39 + ], + [ + 47, + 39, + 5 + ], + [ + 47, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.032543376088142395, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + 0.032543376088142395, + 0.04429687559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010152650065720081, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json new file mode 100644 index 0000000000000000000000000000000000000000..f613af9dd42211df3466b32132b06930b9405913 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07224846305325627, + "parts": [ + { + "vertices_raw": [ + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 28, + 30, + 10, + 9, + 31, + 25, + 24, + 32, + 2, + 1, + 33, + 34, + 35, + 7, + 6, + 36, + 19, + 18, + 37, + 15, + 14, + 38, + 23, + 22, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 22, + 21, + 29, + 39, + 32, + 24, + 27, + 39, + 3, + 2, + 32, + 40, + 30, + 28, + 29, + 40, + 11, + 10, + 30, + 41, + 16, + 19, + 36, + 41, + 36, + 6, + 5, + 42, + 20, + 23, + 38, + 42, + 38, + 14, + 13, + 43, + 44, + 34, + 33, + 43, + 33, + 1, + 0, + 45, + 4, + 7, + 35, + 45, + 35, + 34, + 44, + 46, + 26, + 25, + 31, + 46, + 31, + 9, + 8, + 47, + 12, + 15, + 37, + 47, + 37, + 18, + 17, + 47, + 17, + 16, + 41, + 5, + 4, + 45, + 44, + 43, + 0, + 3, + 39, + 27, + 26, + 46, + 8, + 11, + 40, + 29, + 21, + 20, + 42, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06398438662290573 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13047567009925842, + -0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.13047565519809723, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + 0.13047565519809723, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + 0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + 0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + -0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + -0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + 0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + 0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + -0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047565519809723, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.13047567009925842, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + 0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + -0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.13047565519809723, + -0.9910619258880615, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.04429686442017555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 30, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 31 + ], + [ + 28, + 31, + 25 + ], + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 32 + ], + [ + 28, + 32, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 36 + ], + [ + 28, + 36, + 19 + ], + [ + 28, + 19, + 18 + ], + [ + 28, + 18, + 37 + ], + [ + 28, + 37, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 38 + ], + [ + 28, + 38, + 23 + ], + [ + 28, + 23, + 22 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 22, + 21 + ], + [ + 28, + 21, + 29 + ], + [ + 39, + 32, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 32 + ], + [ + 40, + 30, + 28 + ], + [ + 40, + 28, + 29 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 30 + ], + [ + 41, + 16, + 19 + ], + [ + 41, + 19, + 36 + ], + [ + 41, + 36, + 6 + ], + [ + 41, + 6, + 5 + ], + [ + 42, + 20, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 42, + 38, + 14 + ], + [ + 42, + 14, + 13 + ], + [ + 43, + 44, + 34 + ], + [ + 43, + 34, + 33 + ], + [ + 43, + 33, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 45, + 4, + 7 + ], + [ + 45, + 7, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 44 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 31 + ], + [ + 46, + 31, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 37 + ], + [ + 47, + 37, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 41 + ], + [ + 47, + 41, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 29 + ], + [ + 47, + 29, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 42 + ], + [ + 47, + 42, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.032847002148628235, + -0.032847002148628235, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + 0.032847002148628235, + 0.06398437172174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000950200017541647, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json new file mode 100644 index 0000000000000000000000000000000000000000..bd55313694c19c48b26ec1f2d187a1908aa9aa4f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07380079291760921, + "parts": [ + { + "vertices_raw": [ + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ] + ], + "indices_raw": [ + 24, + 25, + 26, + 22, + 2, + 1, + 27, + 28, + 29, + 20, + 15, + 14, + 30, + 31, + 32, + 11, + 10, + 18, + 33, + 34, + 35, + 13, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 14, + 15, + 16, + 17, + 18, + 10, + 9, + 19, + 20, + 21, + 16, + 15, + 22, + 23, + 3, + 2, + 36, + 30, + 14, + 17, + 36, + 37, + 31, + 30, + 38, + 33, + 18, + 19, + 38, + 39, + 34, + 33, + 40, + 21, + 20, + 29, + 40, + 29, + 28, + 41, + 42, + 23, + 22, + 26, + 42, + 26, + 25, + 43, + 44, + 8, + 11, + 32, + 44, + 32, + 31, + 37, + 45, + 12, + 13, + 35, + 45, + 35, + 34, + 39, + 46, + 41, + 28, + 27, + 46, + 27, + 1, + 0, + 47, + 43, + 25, + 24, + 47, + 24, + 5, + 4, + 47, + 4, + 7, + 12, + 45, + 39, + 38, + 19, + 9, + 8, + 44, + 37, + 36, + 17, + 16, + 21, + 40, + 41, + 46, + 0, + 3, + 23, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + -0.13000476360321045, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + -0.13000477850437164, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13000477850437164, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + -0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + -0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + -0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + -0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + 0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + 0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + 0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + 0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + -0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + -0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + -0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + -0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + 0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + 0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + 0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + 0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06398438662290573 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 22 + ], + [ + 24, + 22, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 20 + ], + [ + 24, + 20, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 18 + ], + [ + 24, + 18, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 13 + ], + [ + 24, + 13, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 10, + 9 + ], + [ + 18, + 9, + 19 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 23, + 3 + ], + [ + 22, + 3, + 2 + ], + [ + 36, + 30, + 14 + ], + [ + 36, + 14, + 17 + ], + [ + 36, + 37, + 31 + ], + [ + 36, + 31, + 30 + ], + [ + 38, + 33, + 18 + ], + [ + 38, + 18, + 19 + ], + [ + 38, + 39, + 34 + ], + [ + 38, + 34, + 33 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 40, + 28, + 41 + ], + [ + 42, + 23, + 22 + ], + [ + 42, + 22, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 11, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 37 + ], + [ + 45, + 12, + 13 + ], + [ + 45, + 13, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 39 + ], + [ + 46, + 41, + 28 + ], + [ + 46, + 28, + 27 + ], + [ + 46, + 27, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 12 + ], + [ + 47, + 12, + 45 + ], + [ + 47, + 45, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 19 + ], + [ + 47, + 19, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 44 + ], + [ + 47, + 44, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 23 + ], + [ + 47, + 23, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.06398437172174454 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.07710937410593033 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009248629212379456, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json new file mode 100644 index 0000000000000000000000000000000000000000..6253e1ebc053d7b99a844594e93708c6ca1db7bb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07533393567427993, + "parts": [ + { + "vertices_raw": [ + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 30, + 27, + 26, + 31, + 23, + 22, + 29, + 32, + 6, + 5, + 33, + 18, + 17, + 34, + 2, + 1, + 35, + 36, + 37, + 15, + 14, + 38, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 22, + 21, + 39, + 3, + 2, + 34, + 39, + 34, + 17, + 16, + 40, + 7, + 6, + 32, + 40, + 32, + 29, + 28, + 41, + 8, + 11, + 38, + 41, + 38, + 14, + 13, + 42, + 12, + 15, + 37, + 42, + 37, + 36, + 43, + 44, + 20, + 23, + 31, + 44, + 31, + 26, + 25, + 45, + 24, + 27, + 30, + 45, + 30, + 10, + 9, + 46, + 43, + 36, + 35, + 46, + 35, + 1, + 0, + 47, + 19, + 18, + 33, + 47, + 33, + 5, + 4, + 47, + 4, + 7, + 40, + 28, + 21, + 20, + 44, + 25, + 24, + 45, + 9, + 8, + 41, + 13, + 12, + 42, + 43, + 46, + 0, + 3, + 39, + 16, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + -0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.6087520122528076, + -0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + 0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + 0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + -0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + 0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6087520718574524, + 0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + -0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6087520718574524, + -0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + -0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + -0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9238652586936951, + -0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + 0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6087520122528076, + 0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9238652586936951, + 0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + 0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9238653182983398, + 0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + 0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + 0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + 0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + -0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9238653182983398, + -0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + -0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + -0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 30, + 27, + 26 + ], + [ + 30, + 26, + 31 + ], + [ + 30, + 31, + 23 + ], + [ + 30, + 23, + 22 + ], + [ + 30, + 22, + 29 + ], + [ + 30, + 29, + 32 + ], + [ + 30, + 32, + 6 + ], + [ + 30, + 6, + 5 + ], + [ + 30, + 5, + 33 + ], + [ + 30, + 33, + 18 + ], + [ + 30, + 18, + 17 + ], + [ + 30, + 17, + 34 + ], + [ + 30, + 34, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 35 + ], + [ + 30, + 35, + 36 + ], + [ + 30, + 36, + 37 + ], + [ + 30, + 37, + 15 + ], + [ + 30, + 15, + 14 + ], + [ + 30, + 14, + 38 + ], + [ + 30, + 38, + 11 + ], + [ + 30, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 22 + ], + [ + 28, + 22, + 21 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 34 + ], + [ + 39, + 34, + 17 + ], + [ + 39, + 17, + 16 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 6, + 32 + ], + [ + 40, + 32, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 41, + 8, + 11 + ], + [ + 41, + 11, + 38 + ], + [ + 41, + 38, + 14 + ], + [ + 41, + 14, + 13 + ], + [ + 42, + 12, + 15 + ], + [ + 42, + 15, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 20, + 23 + ], + [ + 44, + 23, + 31 + ], + [ + 44, + 31, + 26 + ], + [ + 44, + 26, + 25 + ], + [ + 45, + 24, + 27 + ], + [ + 45, + 27, + 30 + ], + [ + 45, + 30, + 10 + ], + [ + 45, + 10, + 9 + ], + [ + 46, + 43, + 36 + ], + [ + 46, + 36, + 35 + ], + [ + 46, + 35, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 33 + ], + [ + 47, + 33, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 40 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 44 + ], + [ + 47, + 44, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 45 + ], + [ + 47, + 45, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 41 + ], + [ + 47, + 41, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 16 + ], + [ + 47, + 16, + 19 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.09679687768220901 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010207248851656914, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json new file mode 100644 index 0000000000000000000000000000000000000000..abb02834fdf4a8ee3ae8f1aa67b4a04384798606 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07696594670414925, + "parts": [ + { + "vertices_raw": [ + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 24, + 26, + 6, + 5, + 27, + 28, + 29, + 18, + 15, + 14, + 30, + 31, + 32, + 8, + 11, + 12, + 33, + 34, + 35, + 3, + 2, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 16, + 15, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 33, + 12, + 13, + 37, + 38, + 34, + 33, + 39, + 30, + 14, + 17, + 39, + 40, + 31, + 30, + 41, + 21, + 20, + 36, + 41, + 36, + 2, + 1, + 42, + 26, + 24, + 25, + 42, + 7, + 6, + 26, + 43, + 44, + 28, + 27, + 43, + 27, + 5, + 4, + 45, + 9, + 8, + 32, + 45, + 32, + 31, + 40, + 46, + 19, + 18, + 29, + 46, + 29, + 28, + 44, + 47, + 0, + 3, + 35, + 47, + 35, + 34, + 38, + 47, + 38, + 37, + 13, + 10, + 9, + 45, + 40, + 39, + 17, + 16, + 19, + 46, + 44, + 43, + 4, + 7, + 42, + 25, + 22, + 21, + 41, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + 0.7911275625228882, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + -0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7911276817321777, + 0.6070537567138672, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.607053816318512, + 0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.7911275625228882, + -0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.6070537567138672, + -0.7911276817321777, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + 0.13016018271446228, + -0.07485147565603256, + -0.026293542236089706 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + 0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + -0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + 0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + 0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + -0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + -0.607053816318512, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + -0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + 0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + 0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + -0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + 0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 24, + 5, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 8 + ], + [ + 24, + 8, + 11 + ], + [ + 24, + 11, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 16 + ], + [ + 18, + 16, + 15 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 33, + 12 + ], + [ + 37, + 12, + 13 + ], + [ + 37, + 38, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 39, + 30, + 14 + ], + [ + 39, + 14, + 17 + ], + [ + 39, + 40, + 31 + ], + [ + 39, + 31, + 30 + ], + [ + 41, + 21, + 20 + ], + [ + 41, + 20, + 36 + ], + [ + 41, + 36, + 2 + ], + [ + 41, + 2, + 1 + ], + [ + 42, + 26, + 24 + ], + [ + 42, + 24, + 25 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 26 + ], + [ + 43, + 44, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 5 + ], + [ + 43, + 5, + 4 + ], + [ + 45, + 9, + 8 + ], + [ + 45, + 8, + 32 + ], + [ + 45, + 32, + 31 + ], + [ + 45, + 31, + 40 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 44 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 45 + ], + [ + 47, + 45, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 19 + ], + [ + 47, + 19, + 46 + ], + [ + 47, + 46, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 41 + ], + [ + 47, + 41, + 1 + ], + [ + 47, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.09679687768220901 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.10335937142372131 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009530661627650261, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json new file mode 100644 index 0000000000000000000000000000000000000000..3da1557b512726d9e2fc090aa9d2643d27a3e756 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07850449485704303, + "parts": [ + { + "vertices_raw": [ + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 26, + 30, + 6, + 5, + 31, + 32, + 33, + 15, + 14, + 34, + 20, + 23, + 35, + 11, + 10, + 36, + 16, + 19, + 24, + 37, + 2, + 1, + 38, + 27, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 19, + 18, + 25, + 26, + 27, + 28, + 29, + 39, + 17, + 16, + 36, + 39, + 36, + 10, + 9, + 40, + 21, + 20, + 34, + 40, + 34, + 14, + 13, + 41, + 37, + 24, + 25, + 41, + 3, + 2, + 37, + 42, + 30, + 26, + 29, + 42, + 7, + 6, + 30, + 43, + 28, + 27, + 38, + 43, + 38, + 1, + 0, + 44, + 45, + 32, + 31, + 44, + 31, + 5, + 4, + 46, + 8, + 11, + 35, + 46, + 35, + 23, + 22, + 47, + 12, + 15, + 33, + 47, + 33, + 32, + 45, + 47, + 45, + 44, + 4, + 7, + 42, + 29, + 28, + 43, + 0, + 3, + 41, + 25, + 18, + 17, + 39, + 9, + 8, + 46, + 22, + 21, + 40, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + 0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + -0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9235228300094604, + -0.38253548741340637, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + -0.9235228300094604, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + -0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9235227704048157, + 0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + 0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + 0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.382535457611084, + 0.9235227704048157, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + 0.382535457611084, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.38253548741340637, + -0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + -0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 30, + 6 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 31 + ], + [ + 26, + 31, + 32 + ], + [ + 26, + 32, + 33 + ], + [ + 26, + 33, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 26, + 14, + 34 + ], + [ + 26, + 34, + 20 + ], + [ + 26, + 20, + 23 + ], + [ + 26, + 23, + 35 + ], + [ + 26, + 35, + 11 + ], + [ + 26, + 11, + 10 + ], + [ + 26, + 10, + 36 + ], + [ + 26, + 36, + 16 + ], + [ + 26, + 16, + 19 + ], + [ + 26, + 19, + 24 + ], + [ + 26, + 24, + 37 + ], + [ + 26, + 37, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 26, + 1, + 38 + ], + [ + 26, + 38, + 27 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 19, + 18 + ], + [ + 24, + 18, + 25 + ], + [ + 26, + 27, + 28 + ], + [ + 26, + 28, + 29 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 36 + ], + [ + 39, + 36, + 10 + ], + [ + 39, + 10, + 9 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 34 + ], + [ + 40, + 34, + 14 + ], + [ + 40, + 14, + 13 + ], + [ + 41, + 37, + 24 + ], + [ + 41, + 24, + 25 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 37 + ], + [ + 42, + 30, + 26 + ], + [ + 42, + 26, + 29 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 30 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 38 + ], + [ + 43, + 38, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 45, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 5 + ], + [ + 44, + 5, + 4 + ], + [ + 46, + 8, + 11 + ], + [ + 46, + 11, + 35 + ], + [ + 46, + 35, + 23 + ], + [ + 46, + 23, + 22 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 29 + ], + [ + 47, + 29, + 28 + ], + [ + 47, + 28, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 25 + ], + [ + 47, + 25, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 46 + ], + [ + 47, + 46, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.11320312321186066 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009482139721512794, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json new file mode 100644 index 0000000000000000000000000000000000000000..aeded9282e6be24822d640fc61c26c1ddc3faa52 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08005959680303931, + "parts": [ + { + "vertices_raw": [ + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 14, + 2, + 1, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 12, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 9, + 8, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 6, + 5, + 31, + 32, + 18, + 17, + 31, + 17, + 16, + 33, + 34, + 26, + 25, + 35, + 34, + 36, + 27, + 26, + 37, + 22, + 4, + 7, + 37, + 38, + 23, + 22, + 39, + 15, + 1, + 0, + 39, + 33, + 16, + 15, + 40, + 13, + 12, + 21, + 40, + 21, + 20, + 41, + 42, + 35, + 25, + 24, + 42, + 24, + 23, + 38, + 43, + 10, + 9, + 28, + 43, + 28, + 27, + 36, + 44, + 41, + 20, + 19, + 44, + 19, + 18, + 32, + 45, + 29, + 8, + 11, + 45, + 46, + 30, + 29, + 47, + 3, + 2, + 14, + 47, + 14, + 30, + 46, + 47, + 46, + 45, + 11, + 10, + 43, + 36, + 34, + 35, + 42, + 38, + 37, + 7, + 6, + 13, + 40, + 41, + 44, + 32, + 31, + 33, + 39, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + -0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9856683611869812, + 0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + 0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9856681823730469, + -0.12976591289043427, + -0.10779111087322235, + -0.021452680230140686 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12976542115211487, + -0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12976539134979248, + -0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12976542115211487, + 0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + 0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + 0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + -0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + -0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + -0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + -0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + 0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + 0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + 0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + 0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + -0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + -0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + 0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + -0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9856683611869812, + -0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 12 + ], + [ + 14, + 12, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 31, + 32, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 16 + ], + [ + 31, + 16, + 33 + ], + [ + 34, + 26, + 25 + ], + [ + 34, + 25, + 35 + ], + [ + 34, + 36, + 27 + ], + [ + 34, + 27, + 26 + ], + [ + 37, + 22, + 4 + ], + [ + 37, + 4, + 7 + ], + [ + 37, + 38, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 39, + 15, + 1 + ], + [ + 39, + 1, + 0 + ], + [ + 39, + 33, + 16 + ], + [ + 39, + 16, + 15 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 21 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 41 + ], + [ + 42, + 35, + 25 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 43, + 10, + 9 + ], + [ + 43, + 9, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 36 + ], + [ + 44, + 41, + 20 + ], + [ + 44, + 20, + 19 + ], + [ + 44, + 19, + 18 + ], + [ + 44, + 18, + 32 + ], + [ + 45, + 29, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 46, + 30 + ], + [ + 45, + 30, + 29 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 43 + ], + [ + 47, + 43, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 42 + ], + [ + 47, + 42, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 39 + ], + [ + 47, + 39, + 0 + ], + [ + 47, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11320312321186066 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.11976562440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009651803411543369, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json new file mode 100644 index 0000000000000000000000000000000000000000..974513a4b94a7894834f00c82425acaa92e31754 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08163003204390407, + "parts": [ + { + "vertices_raw": [ + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 21, + 20, + 32, + 31, + 6, + 5, + 21, + 33, + 28, + 27, + 34, + 33, + 35, + 29, + 28, + 36, + 34, + 27, + 26, + 36, + 26, + 25, + 37, + 38, + 37, + 25, + 24, + 38, + 24, + 23, + 39, + 40, + 22, + 4, + 7, + 40, + 39, + 23, + 22, + 41, + 9, + 8, + 16, + 41, + 16, + 15, + 42, + 43, + 0, + 3, + 30, + 43, + 30, + 29, + 35, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 32, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 42, + 15, + 14, + 47, + 14, + 2, + 1, + 47, + 1, + 0, + 43, + 35, + 33, + 34, + 36, + 37, + 38, + 39, + 40, + 7, + 6, + 31, + 32, + 46, + 45, + 44, + 13, + 10, + 9, + 41, + 42 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + 0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + -0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + 0.12838323414325714, + 0.1804720014333725, + -0.055610544979572296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + -0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + -0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + -0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + 0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + 0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + -0.12838268280029297, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + -0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + 0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + 0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + 0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + -0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + -0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + 0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1230468675494194 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 31, + 6, + 5 + ], + [ + 31, + 5, + 21 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 34 + ], + [ + 33, + 35, + 29 + ], + [ + 33, + 29, + 28 + ], + [ + 36, + 34, + 27 + ], + [ + 36, + 27, + 26 + ], + [ + 36, + 26, + 25 + ], + [ + 36, + 25, + 37 + ], + [ + 38, + 37, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 39 + ], + [ + 40, + 22, + 4 + ], + [ + 40, + 4, + 7 + ], + [ + 40, + 39, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 41, + 9, + 8 + ], + [ + 41, + 8, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 42 + ], + [ + 43, + 0, + 3 + ], + [ + 43, + 3, + 30 + ], + [ + 43, + 30, + 29 + ], + [ + 43, + 29, + 35 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 32, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 42, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 43 + ], + [ + 47, + 43, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 40 + ], + [ + 47, + 40, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 41 + ], + [ + 47, + 41, + 42 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.123046875 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010497462935745716, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json new file mode 100644 index 0000000000000000000000000000000000000000..fc095431fb1dfcbdd283f64791287e39768b8aea --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08327120169997215, + "parts": [ + { + "vertices_raw": [ + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ] + ], + "indices_raw": [ + 14, + 9, + 8, + 15, + 16, + 17, + 4, + 7, + 12, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 3, + 2, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 19, + 33, + 34, + 5, + 4, + 17, + 34, + 17, + 16, + 35, + 36, + 29, + 28, + 37, + 36, + 38, + 30, + 29, + 39, + 22, + 21, + 32, + 39, + 40, + 23, + 22, + 41, + 35, + 16, + 15, + 41, + 15, + 8, + 11, + 42, + 0, + 3, + 24, + 42, + 24, + 23, + 40, + 43, + 18, + 12, + 13, + 43, + 33, + 19, + 18, + 44, + 37, + 28, + 27, + 44, + 27, + 26, + 45, + 46, + 45, + 26, + 25, + 46, + 25, + 2, + 1, + 47, + 10, + 9, + 14, + 47, + 14, + 30, + 38, + 47, + 38, + 36, + 37, + 44, + 45, + 46, + 1, + 0, + 42, + 40, + 39, + 32, + 31, + 33, + 43, + 13, + 6, + 5, + 34, + 35, + 41, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1230468675494194 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + 0.11434709280729294, + 0.4822246730327606, + -0.08908828347921371 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + 0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.12632815539836884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 12 + ], + [ + 14, + 12, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 33 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 35 + ], + [ + 36, + 29, + 28 + ], + [ + 36, + 28, + 37 + ], + [ + 36, + 38, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 32 + ], + [ + 39, + 40, + 23 + ], + [ + 39, + 23, + 22 + ], + [ + 41, + 35, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 8 + ], + [ + 41, + 8, + 11 + ], + [ + 42, + 0, + 3 + ], + [ + 42, + 3, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 40 + ], + [ + 43, + 18, + 12 + ], + [ + 43, + 12, + 13 + ], + [ + 43, + 33, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 44, + 37, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 26 + ], + [ + 44, + 26, + 45 + ], + [ + 46, + 45, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 38 + ], + [ + 47, + 38, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 43 + ], + [ + 47, + 43, + 13 + ], + [ + 47, + 13, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 11 + ], + [ + 47, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.034254733473062515, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.034254733473062515, + 0.034254733473062515, + 0.12632812559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009480169974267483, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c2a36bd31db0ab2f698b9585b45d09e6ef54d3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08482434693723917, + "parts": [ + { + "vertices_raw": [ + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 0, + 3, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 27, + 26, + 31, + 26, + 25, + 33, + 34, + 33, + 25, + 24, + 34, + 24, + 23, + 35, + 36, + 21, + 20, + 37, + 36, + 6, + 5, + 21, + 38, + 28, + 27, + 32, + 38, + 1, + 0, + 28, + 39, + 29, + 3, + 2, + 39, + 40, + 30, + 29, + 41, + 22, + 4, + 7, + 41, + 35, + 23, + 22, + 42, + 9, + 8, + 16, + 42, + 16, + 15, + 43, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 37, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 40, + 47, + 40, + 39, + 2, + 1, + 38, + 32, + 31, + 33, + 34, + 35, + 41, + 7, + 6, + 36, + 37, + 46, + 45, + 44, + 13, + 10, + 9, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.12632817029953003 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.36735227704048157, + 0.8868666887283325, + 0.28021374344825745, + -0.06626614928245544 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.36735230684280396, + -0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.95172518491745, + 0.1252967268228531, + 0.2802138924598694, + -0.06626616418361664 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + 0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + -0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + 0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + 0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + -0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + -0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + 0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + 0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + -0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + -0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + -0.8868667483329773, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + -0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + 0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + 0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1296093463897705 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 33 + ], + [ + 34, + 33, + 25 + ], + [ + 34, + 25, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 35 + ], + [ + 36, + 21, + 20 + ], + [ + 36, + 20, + 37 + ], + [ + 36, + 6, + 5 + ], + [ + 36, + 5, + 21 + ], + [ + 38, + 28, + 27 + ], + [ + 38, + 27, + 32 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 28 + ], + [ + 39, + 29, + 3 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 22, + 4 + ], + [ + 41, + 4, + 7 + ], + [ + 41, + 35, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 42, + 9, + 8 + ], + [ + 42, + 8, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 37, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03243296593427658, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + 0.03243296593427658, + 0.1296093761920929 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009323786944150925, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json new file mode 100644 index 0000000000000000000000000000000000000000..31de4ae9ba912db835746560a65e464a6ef28b75 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08635784266516566, + "parts": [ + { + "vertices_raw": [ + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 11, + 10, + 19, + 20, + 21, + 6, + 9, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 4, + 1, + 0, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 7, + 6, + 21, + 31, + 21, + 20, + 32, + 33, + 19, + 10, + 13, + 33, + 32, + 20, + 19, + 34, + 29, + 0, + 3, + 34, + 35, + 30, + 29, + 36, + 5, + 4, + 28, + 36, + 28, + 27, + 37, + 38, + 22, + 9, + 8, + 38, + 39, + 23, + 22, + 40, + 12, + 11, + 18, + 40, + 18, + 17, + 41, + 42, + 37, + 27, + 26, + 42, + 26, + 25, + 43, + 44, + 45, + 15, + 14, + 44, + 14, + 30, + 35, + 46, + 16, + 15, + 45, + 46, + 41, + 17, + 16, + 47, + 39, + 38, + 8, + 7, + 31, + 32, + 33, + 13, + 12, + 40, + 41, + 46, + 45, + 44, + 35, + 34, + 3, + 2, + 5, + 36, + 37, + 42, + 43, + 47, + 43, + 25, + 24, + 47, + 24, + 23, + 39 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1361718475818634 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8925064206123352, + -0.11750045418739319, + -0.4354606568813324, + 0.028355393558740616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + -0.5480117797851562, + -0.43546053767204285, + 0.028355378657579422 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8316835761070251, + -0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + -0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8316834568977356, + 0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.8316835761070251, + 0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.8316834568977356, + -0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + -0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.3444947600364685, + -0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.3444948196411133, + 0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3444948196411133, + -0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3444947600364685, + 0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1296093612909317 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 6 + ], + [ + 14, + 6, + 9 + ], + [ + 14, + 9, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 4 + ], + [ + 14, + 4, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 7, + 6 + ], + [ + 31, + 6, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 33, + 19, + 10 + ], + [ + 33, + 10, + 13 + ], + [ + 33, + 32, + 20 + ], + [ + 33, + 20, + 19 + ], + [ + 34, + 29, + 0 + ], + [ + 34, + 0, + 3 + ], + [ + 34, + 35, + 30 + ], + [ + 34, + 30, + 29 + ], + [ + 36, + 5, + 4 + ], + [ + 36, + 4, + 28 + ], + [ + 36, + 28, + 27 + ], + [ + 36, + 27, + 37 + ], + [ + 38, + 22, + 9 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 39, + 23 + ], + [ + 38, + 23, + 22 + ], + [ + 40, + 12, + 11 + ], + [ + 40, + 11, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 41 + ], + [ + 42, + 37, + 27 + ], + [ + 42, + 27, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 45, + 15 + ], + [ + 44, + 15, + 14 + ], + [ + 44, + 14, + 30 + ], + [ + 44, + 30, + 35 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 45 + ], + [ + 46, + 41, + 17 + ], + [ + 46, + 17, + 16 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 8 + ], + [ + 47, + 8, + 7 + ], + [ + 47, + 7, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 33 + ], + [ + 47, + 33, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 3 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 5 + ], + [ + 47, + 5, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 23 + ], + [ + 47, + 23, + 39 + ] + ], + "raw_bounds": [ + [ + -0.03466876968741417, + -0.03466876968741417, + 0.1296093761920929 + ], + [ + 0.03466876968741417, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010286732576787472, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5ce024029408fd293ef7cbc8d38a14673f76c1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08799175079911947, + "parts": [ + { + "vertices_raw": [ + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "indices_raw": [ + 12, + 14, + 15, + 16, + 17, + 18, + 5, + 4, + 19, + 20, + 21, + 22, + 23, + 2, + 1, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 20, + 19, + 31, + 19, + 4, + 7, + 33, + 34, + 22, + 21, + 33, + 21, + 20, + 32, + 35, + 24, + 1, + 0, + 35, + 36, + 25, + 24, + 37, + 9, + 8, + 30, + 37, + 30, + 29, + 38, + 39, + 14, + 12, + 13, + 39, + 40, + 15, + 14, + 41, + 3, + 2, + 23, + 41, + 23, + 22, + 34, + 42, + 38, + 29, + 28, + 42, + 28, + 27, + 43, + 44, + 45, + 17, + 16, + 44, + 16, + 15, + 40, + 46, + 43, + 27, + 26, + 46, + 26, + 25, + 36, + 47, + 45, + 44, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 42, + 43, + 46, + 36, + 35, + 0, + 3, + 41, + 34, + 33, + 32, + 31, + 7, + 6, + 47, + 6, + 5, + 18, + 47, + 18, + 17, + 45 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + -0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + 0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + -0.12987717986106873, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + 0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + 0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + 0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + 0.12987731397151947, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + 0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + -0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + -0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + -0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + -0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + 0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + 0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + -0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + -0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + -0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + -0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + 0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + 0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + -0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + -0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1361718475818634 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + 0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + 0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 19 + ], + [ + 12, + 19, + 20 + ], + [ + 12, + 20, + 21 + ], + [ + 12, + 21, + 22 + ], + [ + 12, + 22, + 23 + ], + [ + 12, + 23, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 24 + ], + [ + 12, + 24, + 25 + ], + [ + 12, + 25, + 26 + ], + [ + 12, + 26, + 27 + ], + [ + 12, + 27, + 28 + ], + [ + 12, + 28, + 29 + ], + [ + 12, + 29, + 30 + ], + [ + 12, + 30, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 4 + ], + [ + 31, + 4, + 7 + ], + [ + 33, + 34, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 20 + ], + [ + 33, + 20, + 32 + ], + [ + 35, + 24, + 1 + ], + [ + 35, + 1, + 0 + ], + [ + 35, + 36, + 25 + ], + [ + 35, + 25, + 24 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 30 + ], + [ + 37, + 30, + 29 + ], + [ + 37, + 29, + 38 + ], + [ + 39, + 14, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 15 + ], + [ + 39, + 15, + 14 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 41, + 22, + 34 + ], + [ + 42, + 38, + 29 + ], + [ + 42, + 29, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 43 + ], + [ + 44, + 45, + 17 + ], + [ + 44, + 17, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 40 + ], + [ + 46, + 43, + 27 + ], + [ + 46, + 27, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 36 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 45 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.13945312798023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009429426863789558, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json new file mode 100644 index 0000000000000000000000000000000000000000..e804cbd7459fa360f25b2c0f629bf7bf87ae3fc8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08953187288716435, + "parts": [ + { + "vertices_raw": [ + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ] + ], + "indices_raw": [ + 28, + 25, + 24, + 30, + 2, + 1, + 31, + 10, + 9, + 32, + 17, + 16, + 33, + 34, + 35, + 20, + 23, + 36, + 15, + 14, + 37, + 7, + 6, + 38, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 26, + 25, + 39, + 30, + 24, + 27, + 39, + 3, + 2, + 30, + 40, + 33, + 16, + 19, + 40, + 41, + 34, + 33, + 42, + 21, + 20, + 35, + 42, + 35, + 34, + 41, + 43, + 11, + 10, + 31, + 43, + 31, + 1, + 0, + 44, + 4, + 7, + 37, + 44, + 37, + 14, + 13, + 45, + 18, + 17, + 32, + 45, + 32, + 9, + 8, + 46, + 29, + 28, + 38, + 46, + 38, + 6, + 5, + 47, + 12, + 15, + 36, + 47, + 36, + 23, + 22, + 47, + 22, + 21, + 42, + 41, + 40, + 19, + 18, + 45, + 8, + 11, + 43, + 0, + 3, + 39, + 27, + 26, + 29, + 46, + 5, + 4, + 44, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + 0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + -0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + 0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + -0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779274970293045 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + 0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + 0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + -0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + 0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + 0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + -0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + -0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + 0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + 0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + -0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + -0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + -0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.149296835064888 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 30 + ], + [ + 28, + 30, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 31 + ], + [ + 28, + 31, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 32 + ], + [ + 28, + 32, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 36 + ], + [ + 28, + 36, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 37 + ], + [ + 28, + 37, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 38 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 26 + ], + [ + 28, + 26, + 25 + ], + [ + 39, + 30, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 30 + ], + [ + 40, + 33, + 16 + ], + [ + 40, + 16, + 19 + ], + [ + 40, + 41, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 35 + ], + [ + 42, + 35, + 34 + ], + [ + 42, + 34, + 41 + ], + [ + 43, + 11, + 10 + ], + [ + 43, + 10, + 31 + ], + [ + 43, + 31, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 4, + 7 + ], + [ + 44, + 7, + 37 + ], + [ + 44, + 37, + 14 + ], + [ + 44, + 14, + 13 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 32 + ], + [ + 45, + 32, + 9 + ], + [ + 45, + 9, + 8 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 38 + ], + [ + 46, + 38, + 6 + ], + [ + 46, + 6, + 5 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 36 + ], + [ + 47, + 36, + 23 + ], + [ + 47, + 23, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 45 + ], + [ + 47, + 45, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 29 + ], + [ + 47, + 29, + 46 + ], + [ + 47, + 46, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.14929687976837158 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009403727017343044, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json new file mode 100644 index 0000000000000000000000000000000000000000..6d13ed27ef0242e33206032f562a430c3f931475 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09106810670346022, + "parts": [ + { + "vertices_raw": [ + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 9, + 8, + 17, + 18, + 19, + 20, + 21, + 4, + 7, + 22, + 23, + 24, + 25, + 26, + 0, + 3, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 10, + 9, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 5, + 4, + 21, + 36, + 17, + 8, + 11, + 36, + 37, + 18, + 17, + 38, + 1, + 0, + 26, + 38, + 26, + 25, + 39, + 40, + 22, + 7, + 6, + 40, + 41, + 23, + 22, + 42, + 13, + 12, + 16, + 42, + 16, + 15, + 43, + 44, + 33, + 28, + 27, + 44, + 27, + 3, + 2, + 45, + 35, + 20, + 19, + 45, + 19, + 18, + 37, + 46, + 39, + 25, + 24, + 46, + 24, + 23, + 41, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 44, + 2, + 1, + 38, + 39, + 46, + 41, + 40, + 6, + 5, + 34, + 35, + 45, + 37, + 36, + 11, + 10, + 13, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.149296835064888 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + 0.6030778288841248, + 0.13632895052433014, + -0.05451318621635437 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37911054491996765, + -0.9152538180351257, + 0.1363290399312973, + -0.05451320856809616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + 0.12930768728256226, + 0.13632893562316895, + -0.05451319366693497 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + -0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + -0.6030778884887695, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + 0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + 0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + -0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + -0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + 0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + 0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.37911057472229004, + 0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + 0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + -0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + -0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + -0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + 0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + 0.915253758430481, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15585941076278687 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 21 + ], + [ + 36, + 17, + 8 + ], + [ + 36, + 8, + 11 + ], + [ + 36, + 37, + 18 + ], + [ + 36, + 18, + 17 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 22, + 7 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 41, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 42, + 13, + 12 + ], + [ + 42, + 12, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 33, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 3 + ], + [ + 44, + 3, + 2 + ], + [ + 45, + 35, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 18 + ], + [ + 45, + 18, + 37 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 23 + ], + [ + 46, + 23, + 41 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 44 + ], + [ + 47, + 44, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 45 + ], + [ + 47, + 45, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 13 + ], + [ + 47, + 13, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.034779179841279984, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + 0.034779179841279984, + 0.15585938096046448 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009201150387525558, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json new file mode 100644 index 0000000000000000000000000000000000000000..48546fec645303e07338ece8243b9bf3dc7ca247 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09556740568950772, + "parts": [ + { + "vertices_raw": [ + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 6, + 5, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 3, + 2, + 24, + 25, + 26, + 8, + 11, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 7, + 6, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 36, + 22, + 21, + 37, + 0, + 3, + 23, + 37, + 23, + 22, + 36, + 38, + 9, + 8, + 26, + 38, + 26, + 25, + 39, + 40, + 13, + 12, + 16, + 40, + 16, + 15, + 41, + 42, + 33, + 28, + 27, + 42, + 27, + 11, + 10, + 43, + 35, + 20, + 19, + 43, + 19, + 18, + 44, + 45, + 44, + 18, + 17, + 45, + 17, + 5, + 4, + 46, + 39, + 25, + 24, + 46, + 24, + 2, + 1, + 47, + 41, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 42, + 10, + 9, + 38, + 39, + 46, + 1, + 0, + 37, + 36, + 34, + 35, + 43, + 44, + 45, + 4, + 7, + 13, + 40, + 41 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15585941076278687 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7615699172019958, + 0.584372878074646, + 0.2802134156227112, + -0.07590720802545547 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + 0.125296950340271, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + 0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16242192685604095 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 36, + 22 + ], + [ + 34, + 22, + 21 + ], + [ + 37, + 0, + 3 + ], + [ + 37, + 3, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 36 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 8, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 16 + ], + [ + 40, + 16, + 15 + ], + [ + 40, + 15, + 41 + ], + [ + 42, + 33, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 11 + ], + [ + 42, + 11, + 10 + ], + [ + 43, + 35, + 20 + ], + [ + 43, + 20, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 43, + 18, + 44 + ], + [ + 45, + 44, + 18 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 5 + ], + [ + 45, + 5, + 4 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 41, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 42 + ], + [ + 47, + 42, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ] + ], + "raw_bounds": [ + [ + -0.033868297934532166, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + 0.033868297934532166, + 0.16242188215255737 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011237249709665775, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json new file mode 100644 index 0000000000000000000000000000000000000000..748085af57412d4a68b29c96cdb41b0ba4bd8674 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09722955990582705, + "parts": [ + { + "vertices_raw": [ + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 9, + 8, + 21, + 22, + 23, + 24, + 25, + 10, + 13, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 18, + 17, + 32, + 31, + 33, + 19, + 18, + 34, + 35, + 24, + 23, + 34, + 23, + 22, + 36, + 37, + 26, + 13, + 12, + 37, + 38, + 27, + 26, + 39, + 36, + 22, + 21, + 39, + 21, + 8, + 7, + 40, + 25, + 24, + 35, + 40, + 11, + 10, + 25, + 41, + 42, + 29, + 28, + 41, + 28, + 27, + 38, + 43, + 32, + 17, + 16, + 43, + 16, + 15, + 44, + 45, + 6, + 9, + 20, + 45, + 20, + 19, + 33, + 46, + 0, + 3, + 30, + 46, + 30, + 29, + 42, + 47, + 44, + 15, + 14, + 47, + 14, + 5, + 4, + 47, + 4, + 1, + 0, + 46, + 42, + 41, + 38, + 37, + 12, + 11, + 40, + 35, + 34, + 36, + 39, + 7, + 6, + 45, + 33, + 31, + 32, + 43, + 44 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16242192685604095 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + -0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3478338420391083, + 0.8397449851036072, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + 0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + -0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + 0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + 0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + 0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + 0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + -0.8397449254989624, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + -0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + -0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.34783393144607544, + -0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + 0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + 0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + -0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + -0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16570308804512024 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 10 + ], + [ + 14, + 10, + 13 + ], + [ + 14, + 13, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 32 + ], + [ + 31, + 33, + 19 + ], + [ + 31, + 19, + 18 + ], + [ + 34, + 35, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 36 + ], + [ + 37, + 26, + 13 + ], + [ + 37, + 13, + 12 + ], + [ + 37, + 38, + 27 + ], + [ + 37, + 27, + 26 + ], + [ + 39, + 36, + 22 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 8 + ], + [ + 39, + 8, + 7 + ], + [ + 40, + 25, + 24 + ], + [ + 40, + 24, + 35 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 25 + ], + [ + 41, + 42, + 29 + ], + [ + 41, + 29, + 28 + ], + [ + 41, + 28, + 27 + ], + [ + 41, + 27, + 38 + ], + [ + 43, + 32, + 17 + ], + [ + 43, + 17, + 16 + ], + [ + 43, + 16, + 15 + ], + [ + 43, + 15, + 44 + ], + [ + 45, + 6, + 9 + ], + [ + 45, + 9, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 33 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 29 + ], + [ + 46, + 29, + 42 + ], + [ + 47, + 44, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 12 + ], + [ + 47, + 12, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 39 + ], + [ + 47, + 39, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 45 + ], + [ + 47, + 45, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 43 + ], + [ + 47, + 43, + 44 + ] + ], + "raw_bounds": [ + [ + -0.03193612024188042, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.03193612024188042, + 0.03193612024188042, + 0.16570311784744263 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009657628834247589, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json new file mode 100644 index 0000000000000000000000000000000000000000..8d98e681b6a443686efc9c58734962524f7b240e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09879716159775853, + "parts": [ + { + "vertices_raw": [ + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 37, + 14, + 5, + 6, + 32, + 23, + 30, + 10, + 13, + 15, + 31, + 2, + 29, + 25, + 8, + 7, + 36, + 20, + 19, + 35, + 34, + 33, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 3, + 5, + 15, + 13, + 12, + 15, + 12, + 0, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 11, + 23, + 24, + 8, + 25, + 24, + 9, + 8, + 26, + 17, + 16, + 27, + 19, + 21, + 27, + 21, + 9, + 24, + 1, + 0, + 12, + 11, + 22, + 4, + 3, + 17, + 26, + 28, + 29, + 1, + 24, + 25, + 29, + 2, + 1, + 30, + 11, + 10, + 30, + 23, + 11, + 31, + 15, + 0, + 31, + 0, + 2, + 32, + 6, + 4, + 22, + 32, + 22, + 23, + 33, + 34, + 28, + 26, + 33, + 26, + 16, + 35, + 19, + 27, + 35, + 27, + 28, + 34, + 36, + 7, + 9, + 36, + 9, + 21, + 36, + 21, + 20, + 37, + 3, + 14, + 37, + 18, + 17, + 37, + 17, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16570308804512024 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + 0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.1089945137500763, + -0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.1089945137500763, + 0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + -0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + -0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.10899452865123749, + -0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + 0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + 0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + -0.508340060710907, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + -0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10899452865123749, + 0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.6254284381866455, + -0.3610912561416626, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.6254283785820007, + 0.3610911965370178, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16898439824581146 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + -0.3195558190345764, + 0.7714762091636658, + 0.5501894354820251, + -0.11635103076696396 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + 0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + -0.31955596804618835, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.6624817252159119, + -0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + 0.31955596804618835, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + -0.6624817848205566, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.31955596804618835, + -0.7714762687683105, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + -0.6624817848205566, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8278959393501282, + -0.1089945137500763, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 116, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + -0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + 0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.827895998954773, + 0.10899464040994644, + 0.5501894354820251, + -0.11635103821754456 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + 0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3610912561416626, + 0.6254284381866455, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + 0.6624817252159119, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + -0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + -0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3610911965370178, + -0.6254283785820007, + 0.6917025446891785, + -0.13658460974693298 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 14, + 5 + ], + [ + 37, + 5, + 6 + ], + [ + 37, + 6, + 32 + ], + [ + 37, + 32, + 23 + ], + [ + 37, + 23, + 30 + ], + [ + 37, + 30, + 10 + ], + [ + 37, + 10, + 13 + ], + [ + 37, + 13, + 15 + ], + [ + 37, + 15, + 31 + ], + [ + 37, + 31, + 2 + ], + [ + 37, + 2, + 29 + ], + [ + 37, + 29, + 25 + ], + [ + 37, + 25, + 8 + ], + [ + 37, + 8, + 7 + ], + [ + 37, + 7, + 36 + ], + [ + 37, + 36, + 20 + ], + [ + 37, + 20, + 19 + ], + [ + 37, + 19, + 35 + ], + [ + 37, + 35, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 37, + 33, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 3, + 5 + ], + [ + 15, + 13, + 12 + ], + [ + 15, + 12, + 0 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 20, + 21 + ], + [ + 22, + 11, + 23 + ], + [ + 24, + 8, + 25 + ], + [ + 24, + 9, + 8 + ], + [ + 26, + 17, + 16 + ], + [ + 27, + 19, + 21 + ], + [ + 27, + 21, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 1 + ], + [ + 27, + 1, + 0 + ], + [ + 27, + 0, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 22 + ], + [ + 27, + 22, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 17 + ], + [ + 27, + 17, + 26 + ], + [ + 27, + 26, + 28 + ], + [ + 29, + 1, + 24 + ], + [ + 29, + 24, + 25 + ], + [ + 29, + 2, + 1 + ], + [ + 30, + 11, + 10 + ], + [ + 30, + 23, + 11 + ], + [ + 31, + 15, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 32, + 6, + 4 + ], + [ + 32, + 4, + 22 + ], + [ + 32, + 22, + 23 + ], + [ + 33, + 34, + 28 + ], + [ + 33, + 28, + 26 + ], + [ + 33, + 26, + 16 + ], + [ + 35, + 19, + 27 + ], + [ + 35, + 27, + 28 + ], + [ + 35, + 28, + 34 + ], + [ + 36, + 7, + 9 + ], + [ + 36, + 9, + 21 + ], + [ + 36, + 21, + 20 + ], + [ + 37, + 3, + 14 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03041798062622547, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + 0.03041798062622547, + 0.16898436844348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011607878841459751, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json new file mode 100644 index 0000000000000000000000000000000000000000..223a9d3e7ae35c0cf0802b6233afc9f20e36920c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1005682097747922, + "parts": [ + { + "vertices_raw": [ + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + 3.458081903927442e-18, + 0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.012697161175310612, + 0.02199212834239006, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.0, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.024529030546545982, + -0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ] + ], + "indices_raw": [ + 37, + 12, + 11, + 29, + 23, + 22, + 25, + 35, + 7, + 6, + 34, + 5, + 33, + 20, + 1, + 0, + 36, + 14, + 13, + 30, + 31, + 32, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 3, + 9, + 10, + 11, + 12, + 9, + 11, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 1, + 20, + 19, + 2, + 1, + 21, + 22, + 23, + 21, + 23, + 10, + 21, + 24, + 25, + 22, + 26, + 13, + 15, + 27, + 17, + 16, + 27, + 28, + 26, + 15, + 2, + 19, + 4, + 3, + 8, + 24, + 21, + 10, + 9, + 17, + 29, + 10, + 23, + 29, + 11, + 10, + 30, + 13, + 26, + 30, + 26, + 28, + 31, + 32, + 31, + 28, + 27, + 32, + 27, + 16, + 33, + 4, + 19, + 20, + 33, + 5, + 4, + 34, + 6, + 3, + 34, + 3, + 5, + 35, + 25, + 24, + 35, + 24, + 8, + 35, + 8, + 7, + 36, + 0, + 2, + 36, + 2, + 15, + 36, + 15, + 14, + 37, + 9, + 12, + 37, + 18, + 17, + 37, + 17, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.16898438334465027 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.46857351064682007, + 0.46857351064682007, + 0.7489176988601685, + -0.14526726305484772 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + 0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + 0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + 0.461772084236145, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + -0.4617721140384674, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.0, + 0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.4617721140384674, + -0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6017931699752808, + -0.4617721140384674, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + 0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + -0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 70, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17226561903953552 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.29028207063674927, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + 0.2902820408344269, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 93, + "num_vertices": 4, + "plane": [ + 0.7520542740821838, + 0.09900996088981628, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 97, + "num_vertices": 4, + "plane": [ + 0.7520543336868286, + -0.09900989383459091, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + -0.29028207063674927, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.2902820110321045, + 0.7008031010627747, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.4617721438407898, + 0.6017932891845703, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.7008031606674194, + 0.29028210043907166, + 0.6516219973564148, + -0.13134998083114624 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + -0.6017932891845703, + 0.4617721438407898, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7008031010627747, + -0.29028213024139404, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + -0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + -0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.29028207063674927, + 0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + 0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.4617721140384674, + 0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.2902820408344269, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.461772084236145, + -0.6017931699752808, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 12, + 11 + ], + [ + 37, + 11, + 29 + ], + [ + 37, + 29, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 25 + ], + [ + 37, + 25, + 35 + ], + [ + 37, + 35, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 34 + ], + [ + 37, + 34, + 5 + ], + [ + 37, + 5, + 33 + ], + [ + 37, + 33, + 20 + ], + [ + 37, + 20, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 36 + ], + [ + 37, + 36, + 14 + ], + [ + 37, + 14, + 13 + ], + [ + 37, + 13, + 30 + ], + [ + 37, + 30, + 31 + ], + [ + 37, + 31, + 32 + ], + [ + 37, + 32, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 9, + 11 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 1, + 20 + ], + [ + 19, + 2, + 1 + ], + [ + 21, + 22, + 23 + ], + [ + 21, + 23, + 10 + ], + [ + 21, + 24, + 25 + ], + [ + 21, + 25, + 22 + ], + [ + 26, + 13, + 15 + ], + [ + 27, + 17, + 16 + ], + [ + 27, + 28, + 26 + ], + [ + 27, + 26, + 15 + ], + [ + 27, + 15, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 27, + 19, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 8 + ], + [ + 27, + 8, + 24 + ], + [ + 27, + 24, + 21 + ], + [ + 27, + 21, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 17 + ], + [ + 29, + 10, + 23 + ], + [ + 29, + 11, + 10 + ], + [ + 30, + 13, + 26 + ], + [ + 30, + 26, + 28 + ], + [ + 30, + 28, + 31 + ], + [ + 32, + 31, + 28 + ], + [ + 32, + 28, + 27 + ], + [ + 32, + 27, + 16 + ], + [ + 33, + 4, + 19 + ], + [ + 33, + 19, + 20 + ], + [ + 33, + 5, + 4 + ], + [ + 34, + 6, + 3 + ], + [ + 34, + 3, + 5 + ], + [ + 35, + 25, + 24 + ], + [ + 35, + 24, + 8 + ], + [ + 35, + 8, + 7 + ], + [ + 36, + 0, + 2 + ], + [ + 36, + 2, + 15 + ], + [ + 36, + 15, + 14 + ], + [ + 37, + 9, + 12 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 9 + ] + ], + "raw_bounds": [ + [ + -0.02823738195002079, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + 0.02823738195002079, + 0.17226561903953552 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011792751029133797, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json new file mode 100644 index 0000000000000000000000000000000000000000..7965f4b339eab78e4bb6b272ae891cf5a848d750 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json @@ -0,0 +1,861 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10234919982030988, + "parts": [ + { + "vertices_raw": [ + [ + -0.012697161175310612, + -0.02199212834239006, + 0.17226561903953552 + ], + [ + 0.0, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.01101340726017952, + 0.019075781106948853, + 0.17554686963558197 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + 3.109907522033459e-18, + 0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + 0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + -0.005700958892703056, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ] + ], + "indices_raw": [ + 22, + 17, + 16, + 1, + 0, + 23, + 6, + 9, + 20, + 4, + 3, + 11, + 10, + 14, + 21, + 24, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 15, + 2, + 1, + 16, + 17, + 18, + 15, + 16, + 15, + 1, + 19, + 5, + 4, + 20, + 9, + 8, + 20, + 8, + 19, + 20, + 19, + 4, + 21, + 14, + 13, + 22, + 18, + 17, + 25, + 26, + 24, + 25, + 24, + 21, + 25, + 21, + 13, + 27, + 18, + 22, + 27, + 22, + 24, + 27, + 24, + 26, + 28, + 23, + 0, + 28, + 0, + 2, + 28, + 7, + 6, + 23, + 29, + 11, + 3, + 29, + 3, + 5, + 29, + 5, + 19, + 8, + 7, + 28, + 2, + 15, + 18, + 27, + 26, + 25, + 13, + 12, + 29, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17226560413837433 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.20580582320690155, + -0.7680777907371521, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.3975863754749298, + 0.6886398792266846, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.6859841346740723, + -0.18380887806415558, + 0.7040172219276428, + -0.1386980563402176 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0914917066693306, + 0.6949476003646851, + 0.7132160067558289, + -0.14051032066345215 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.35509154200553894, + 0.6150364875793457, + 0.704017162322998, + -0.1386980414390564 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.3550914525985718, + -0.6150364875793457, + 0.7040171027183533, + -0.1386980414390564 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.09149173647165298, + -0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.4406450390815735, + 0.4406450390815735, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.6949474811553955, + 0.0914916843175888, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6019324660301208, + 0.16128729283809662, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.6886398792266846, + 0.3975863754749298, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5560963749885559, + 0.42670780420303345, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.5560962557792664, + -0.42670774459838867, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + 0.09149157255887985, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + 0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + 0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + -0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + -0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + -0.09149155765771866, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.42670774459838867, + -0.5560962557792664, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.31158310174942017, + -0.539677619934082, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 85, + "num_vertices": 4, + "plane": [ + -0.5560963749885559, + -0.42670780420303345, + 0.713216245174408, + -0.14051036536693573 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.09149173647165298, + 0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.2682397961616516, + 0.6475880146026611, + 0.7132160663604736, + -0.14051033556461334 + ] + }, + { + "index_base": 95, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.17554685473442078 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 17, + 16 + ], + [ + 22, + 16, + 1 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 23 + ], + [ + 22, + 23, + 6 + ], + [ + 22, + 6, + 9 + ], + [ + 22, + 9, + 20 + ], + [ + 22, + 20, + 4 + ], + [ + 22, + 4, + 3 + ], + [ + 22, + 3, + 11 + ], + [ + 22, + 11, + 10 + ], + [ + 22, + 10, + 14 + ], + [ + 22, + 14, + 21 + ], + [ + 22, + 21, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 10, + 13, + 14 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 15 + ], + [ + 16, + 15, + 1 + ], + [ + 19, + 5, + 4 + ], + [ + 20, + 9, + 8 + ], + [ + 20, + 8, + 19 + ], + [ + 20, + 19, + 4 + ], + [ + 21, + 14, + 13 + ], + [ + 22, + 18, + 17 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 21 + ], + [ + 25, + 21, + 13 + ], + [ + 27, + 18, + 22 + ], + [ + 27, + 22, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 23, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 23 + ], + [ + 29, + 11, + 3 + ], + [ + 29, + 3, + 5 + ], + [ + 29, + 5, + 19 + ], + [ + 29, + 19, + 8 + ], + [ + 29, + 8, + 7 + ], + [ + 29, + 7, + 28 + ], + [ + 29, + 28, + 2 + ], + [ + 29, + 2, + 15 + ], + [ + 29, + 15, + 18 + ], + [ + 29, + 18, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.025394322350621223, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + 0.025394322350621223, + 0.17554686963558197 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009651472792029381, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json new file mode 100644 index 0000000000000000000000000000000000000000..7c177125af02a6ed35cc1bacca71959d8fb56574 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json @@ -0,0 +1,849 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10392636992037296, + "parts": [ + { + "vertices_raw": [ + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.0, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + 0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 2.6975067014777965e-18, + 0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ] + ], + "indices_raw": [ + 23, + 24, + 22, + 19, + 18, + 2, + 6, + 9, + 8, + 12, + 21, + 5, + 7, + 14, + 13, + 17, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 5, + 4, + 8, + 9, + 10, + 8, + 10, + 11, + 12, + 13, + 14, + 15, + 13, + 15, + 16, + 17, + 18, + 19, + 20, + 0, + 18, + 0, + 2, + 21, + 12, + 11, + 21, + 11, + 3, + 21, + 3, + 5, + 22, + 20, + 19, + 25, + 26, + 24, + 23, + 25, + 23, + 17, + 16, + 27, + 10, + 9, + 27, + 9, + 6, + 27, + 6, + 1, + 28, + 14, + 7, + 28, + 7, + 4, + 28, + 15, + 14, + 29, + 20, + 22, + 29, + 22, + 24, + 29, + 24, + 26, + 29, + 26, + 25, + 16, + 15, + 28, + 4, + 3, + 11, + 10, + 27, + 1, + 0, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17554686963558197 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + 0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.10564523935317993, + -0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + 0.773627519607544, + 0.4494445025920868, + -0.09790484607219696 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6421238780021667, + -0.4927191138267517, + 0.5872860550880432, + -0.12077176570892334 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + -0.7887431383132935, + -0.21134310960769653, + 0.5772507190704346, + -0.1187080591917038 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.10564523935317993, + 0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + 0.7071678042411804, + 0.5772504806518555, + -0.11870801448822021 + ] + }, + { + "index_base": 42, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + -0.7071678638458252, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.10564522445201874, + -0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8024551272392273, + 0.10564522445201874, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.7053255438804626, + 0.18899142742156982, + 0.6832263469696045, + -0.1360223889350891 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.773627519607544, + 0.44665414094924927, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6421239972114563, + -0.49271920323371887, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 61, + "num_vertices": 4, + "plane": [ + 0.8024551868438721, + 0.10564521700143814, + 0.5872858762741089, + -0.12077173590660095 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + 0.7071678638458252, + 0.40828362107276917, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + -0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + -0.773627519607544, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + -0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.10564522445201874, + 0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + 0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.6323776245117188, + -0.36510345339775085, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.8628695607185364, + -0.23120519518852234, + 0.44944432377815247, + -0.09790481626987457 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.8024551272392273, + -0.10564497858285904, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 96, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1788281500339508 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 24, + 22 + ], + [ + 23, + 22, + 19 + ], + [ + 23, + 19, + 18 + ], + [ + 23, + 18, + 2 + ], + [ + 23, + 2, + 6 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 8, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 5 + ], + [ + 23, + 5, + 7 + ], + [ + 23, + 7, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 0 + ], + [ + 18, + 0, + 2 + ], + [ + 21, + 12, + 11 + ], + [ + 21, + 11, + 3 + ], + [ + 21, + 3, + 5 + ], + [ + 22, + 20, + 19 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 17 + ], + [ + 25, + 17, + 16 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 6 + ], + [ + 27, + 6, + 1 + ], + [ + 28, + 14, + 7 + ], + [ + 28, + 7, + 4 + ], + [ + 28, + 15, + 14 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 24 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 11 + ], + [ + 29, + 11, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 20 + ] + ], + "raw_bounds": [ + [ + -0.02202681452035904, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + 0.02202681452035904, + 0.17882812023162842 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009196363389492035, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json new file mode 100644 index 0000000000000000000000000000000000000000..f8d4e4c595a36c09a6bf6f4b4dcfa325ac37ad68 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10543370200321078, + "parts": [ + { + "vertices_raw": [ + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.009633280336856842, + 0.016685331240296364, + 0.18210937082767487 + ], + [ + -0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + -0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 2.4034177307307466e-18, + 0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + 0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 23, + 2, + 19, + 14, + 13, + 17, + 18, + 5, + 12, + 21, + 20, + 7, + 6, + 24, + 9, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 5, + 4, + 13, + 14, + 15, + 13, + 15, + 16, + 13, + 16, + 17, + 18, + 17, + 16, + 18, + 16, + 3, + 18, + 3, + 5, + 19, + 2, + 1, + 20, + 21, + 22, + 20, + 22, + 8, + 7, + 23, + 11, + 10, + 0, + 23, + 0, + 2, + 25, + 26, + 24, + 25, + 24, + 6, + 25, + 6, + 8, + 27, + 10, + 9, + 27, + 9, + 24, + 27, + 24, + 26, + 28, + 21, + 12, + 28, + 12, + 4, + 28, + 22, + 21, + 29, + 14, + 19, + 29, + 19, + 1, + 29, + 1, + 0, + 10, + 27, + 26, + 25, + 8, + 22, + 28, + 4, + 3, + 16, + 15, + 29, + 15, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1788281500339508 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6755065321922302, + 0.6755065321922302, + 0.29560407996177673, + -0.07161065936088562 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + 0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + -0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.4977850914001465, + 0.8621888756752014, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + -0.4977850914001465, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + -0.24725249409675598, + 0.2956043481826782, + -0.0716107115149498 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + -0.12976539134979248, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + 0.10779131203889847, + -0.038620248436927795 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + 0.24725249409675598, + 0.2956043779850006, + -0.0716107189655304 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + 0.4977850914001465, + -0.09402286261320114, + -0.002058766782283783 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.2576724886894226, + -0.9616467356681824, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.4972335994243622, + 0.8612337112426758, + 0.10504791885614395, + -0.03763731196522713 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.49723368883132935, + -0.8612338304519653, + 0.10504798591136932, + -0.03763732686638832 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + -0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + 0.12976548075675964, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + 0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.8273232579231262, + 0.4776553809642792, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.8273231983184814, + -0.4776553511619568, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + -0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + -0.12976549565792084, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.380453884601593, + 0.9184965491294861, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.6052143573760986, + -0.7887309193611145, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.4776553511619568, + -0.8273231983184814, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 99, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18210938572883606 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + -0.788730800151825, + -0.6052144169807434, + 0.1077912449836731, + -0.0386202298104763 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 2, + 19 + ], + [ + 23, + 19, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 23, + 17, + 18 + ], + [ + 23, + 18, + 5 + ], + [ + 23, + 5, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 20 + ], + [ + 23, + 20, + 7 + ], + [ + 23, + 7, + 6 + ], + [ + 23, + 6, + 24 + ], + [ + 23, + 24, + 9 + ], + [ + 23, + 9, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 5, + 4 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 17, + 16 + ], + [ + 18, + 16, + 3 + ], + [ + 18, + 3, + 5 + ], + [ + 19, + 2, + 1 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 8 + ], + [ + 20, + 8, + 7 + ], + [ + 23, + 11, + 10 + ], + [ + 23, + 10, + 0 + ], + [ + 23, + 0, + 2 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 6 + ], + [ + 25, + 6, + 8 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 21, + 12 + ], + [ + 28, + 12, + 4 + ], + [ + 28, + 22, + 21 + ], + [ + 29, + 14, + 19 + ], + [ + 29, + 19, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 8 + ], + [ + 29, + 8, + 22 + ], + [ + 29, + 22, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 14 + ] + ], + "raw_bounds": [ + [ + -0.01962539367377758, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + 0.01962539367377758, + 0.18210937082767487 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009512170217931271, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json new file mode 100644 index 0000000000000000000000000000000000000000..2b040e14c9ab363c4c7d297d6660338518dd33ae --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json @@ -0,0 +1,895 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1069844588637352, + "parts": [ + { + "vertices_raw": [ + [ + -0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 2.3594733470985608e-18, + 0.019266560673713684, + 0.18210937082767487 + ], + [ + -0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.019266560673713684, + 0.18210937082767487 + ], + [ + 0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 11, + 12, + 13, + 9, + 8, + 14, + 15, + 16, + 3, + 1, + 0, + 17, + 4, + 6, + 7, + 18, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 9, + 10, + 19, + 20, + 17, + 19, + 17, + 0, + 19, + 0, + 2, + 21, + 2, + 3, + 21, + 3, + 16, + 21, + 16, + 22, + 23, + 5, + 4, + 23, + 4, + 17, + 23, + 17, + 20, + 24, + 25, + 18, + 24, + 18, + 7, + 24, + 7, + 5, + 26, + 27, + 14, + 26, + 14, + 8, + 26, + 8, + 10, + 28, + 22, + 16, + 15, + 28, + 15, + 14, + 27, + 29, + 10, + 9, + 13, + 29, + 13, + 12, + 30, + 31, + 30, + 12, + 11, + 31, + 11, + 18, + 25, + 31, + 25, + 24, + 5, + 23, + 20, + 19, + 2, + 21, + 22, + 28, + 27, + 26, + 10, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1853906363248825 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.7911277413368225, + 0.6070536971092224, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + 0.7911276817321777, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.7911276817321777, + -0.6070536971092224, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + -0.7911277413368225, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.9886636137962341, + 0.13016001880168915, + -0.07485152781009674, + -0.0054169828072190285 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + 0.13015983998775482, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + 0.256758451461792, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + 0.4820060729980469, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + 0.8348588347434998, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + 0.9582359194755554, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + 0.9886636137962341, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + -0.4820060729980469, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + -0.256758451461792, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + -0.13015983998775482, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + -0.9886636137962341, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + -0.9582359194755554, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + -0.8348588347434998, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.7911277413368225, + 0.6070535182952881, + -0.07485149055719376, + -0.005416986532509327 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.8591307997703552, + 0.4960193336009979, + 0.12593309581279755, + -0.04204677417874336 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9311641454696655, + 0.24950462579727173, + -0.26585865020751953, + 0.03047502227127552 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + 0.9886636137962341, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.49866828322410583, + 0.8637188673019409, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9886636137962341, + -0.13016001880168915, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8637188673019409, + -0.49866828322410583, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.4986683130264282, + -0.8637189269065857, + -0.07293513417243958, + -0.005278333090245724 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + -0.9886636137962341, + -0.074851393699646, + -0.005417007952928543 + ] + }, + { + "index_base": 100, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18210937082767487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 11, + 15, + 16 + ], + [ + 11, + 16, + 3 + ], + [ + 11, + 3, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 17 + ], + [ + 11, + 17, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 7 + ], + [ + 11, + 7, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 9, + 10 + ], + [ + 19, + 20, + 17 + ], + [ + 19, + 17, + 0 + ], + [ + 19, + 0, + 2 + ], + [ + 21, + 2, + 3 + ], + [ + 21, + 3, + 16 + ], + [ + 21, + 16, + 22 + ], + [ + 23, + 5, + 4 + ], + [ + 23, + 4, + 17 + ], + [ + 23, + 17, + 20 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 7 + ], + [ + 24, + 7, + 5 + ], + [ + 26, + 27, + 14 + ], + [ + 26, + 14, + 8 + ], + [ + 26, + 8, + 10 + ], + [ + 28, + 22, + 16 + ], + [ + 28, + 16, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 27 + ], + [ + 29, + 10, + 9 + ], + [ + 29, + 9, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 30 + ], + [ + 31, + 30, + 12 + ], + [ + 31, + 12, + 11 + ], + [ + 31, + 11, + 18 + ], + [ + 31, + 18, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 5 + ], + [ + 31, + 5, + 23 + ], + [ + 31, + 23, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 2 + ], + [ + 31, + 2, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 28 + ], + [ + 31, + 28, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 10 + ], + [ + 31, + 10, + 29 + ], + [ + 31, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.18210937082767487 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.1853906214237213 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010357541032135487, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json new file mode 100644 index 0000000000000000000000000000000000000000..25f6433987ec023fc6140e716ad9d46904dc7168 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10865067597478628, + "parts": [ + { + "vertices_raw": [ + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + -0.01929258555173874, + 3.543990400805362e-18, + 0.19200000166893005 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + 2.3626604739987276e-18, + 0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + -0.004993288777768612, + 0.018635207787156105, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + -0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + 0.004993288777768612, + 0.19200000166893005 + ], + [ + 0.01929258555173874, + -1.1813302369993638e-18, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + -0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.0, + -0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + 0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.004993288777768612, + -0.018635207787156105, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + 0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + -0.004993288777768612, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 7, + 6, + 1, + 0, + 10, + 9, + 4, + 3, + 19, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 20, + 11, + 10, + 20, + 10, + 0, + 20, + 0, + 2, + 21, + 8, + 7, + 18, + 21, + 18, + 17, + 22, + 23, + 24, + 19, + 23, + 19, + 3, + 23, + 3, + 5, + 25, + 26, + 15, + 14, + 25, + 14, + 13, + 27, + 28, + 2, + 1, + 28, + 1, + 6, + 28, + 6, + 8, + 29, + 22, + 17, + 16, + 29, + 16, + 15, + 26, + 30, + 5, + 4, + 30, + 4, + 9, + 30, + 9, + 11, + 31, + 27, + 13, + 12, + 31, + 12, + 19, + 24, + 31, + 24, + 23, + 5, + 30, + 11, + 20, + 2, + 28, + 8, + 21, + 22, + 29, + 26, + 25, + 27 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1853906214237213 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.6084230542182922, + 0.7929122447967529, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.7929122447967529, + 0.6084230542182922, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9908936619758606, + 0.13045360147953033, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.13045360147953033, + 0.9908936619758606, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.13045340776443481, + 0.9908936023712158, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.2582406997680664, + 0.9637676477432251, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.4956285059452057, + 0.8584535121917725, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 37, + "num_vertices": 4, + "plane": [ + -0.9654159545898438, + -0.25868234038352966, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + -0.7929121851921082, + -0.608423113822937, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.9908936023712158, + 0.13045340776443481, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.9637676477432251, + 0.2582406997680664, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.8584535121917725, + 0.4956285059452057, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + 0.25868234038352966, + -0.9654159545898438, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.608423113822937, + -0.7929121851921082, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.792911946773529, + 0.608423113822937, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + -0.8640905022621155, + 0.49888280034065247, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.9574806094169617, + 0.25655597448349, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 71, + "num_vertices": 4, + "plane": [ + -0.4997360110282898, + -0.8655682802200317, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 75, + "num_vertices": 4, + "plane": [ + -0.13045349717140198, + -0.9908936023712158, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.608423113822937, + 0.792911946773529, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.49888280034065247, + 0.8640905022621155, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.25655597448349, + 0.9574806094169617, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8655682802200317, + -0.4997360110282898, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.9908936023712158, + -0.13045349717140198, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 1 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 4 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 19 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 20, + 10, + 0 + ], + [ + 20, + 0, + 2 + ], + [ + 21, + 8, + 7 + ], + [ + 21, + 7, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 22 + ], + [ + 23, + 24, + 19 + ], + [ + 23, + 19, + 3 + ], + [ + 23, + 3, + 5 + ], + [ + 25, + 26, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 13 + ], + [ + 25, + 13, + 27 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 6 + ], + [ + 28, + 6, + 8 + ], + [ + 29, + 22, + 17 + ], + [ + 29, + 17, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 26 + ], + [ + 30, + 5, + 4 + ], + [ + 30, + 4, + 9 + ], + [ + 30, + 9, + 11 + ], + [ + 31, + 27, + 13 + ], + [ + 31, + 13, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 31, + 23, + 5 + ], + [ + 31, + 5, + 30 + ], + [ + 31, + 30, + 11 + ], + [ + 31, + 11, + 20 + ], + [ + 31, + 20, + 2 + ], + [ + 31, + 2, + 28 + ], + [ + 31, + 28, + 8 + ], + [ + 31, + 8, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 29 + ], + [ + 31, + 29, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 27 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.19200000166893005 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000888011883944273, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json new file mode 100644 index 0000000000000000000000000000000000000000..934275e5f685d481e976dad81c5f1f3de538a48b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json @@ -0,0 +1,160 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11008147289976478, + "parts": [ + { + "vertices_raw": [ + [ + 0.0, + 0.0, + 0.21119999885559082 + ], + [ + -0.006200000178068876, + 7.592810266825178e-19, + 0.20960000157356262 + ], + [ + -1.1389215141743826e-18, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.0, + 0.20960000157356262 + ], + [ + 3.796405133412589e-19, + 0.006200000178068876, + 0.20960000157356262 + ] + ], + "indices_raw": [ + 4, + 3, + 2, + 1, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.20960000157356262 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.006200000178068876, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.006200000178068876, + 0.21119999885559082 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043904315680265427, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json new file mode 100644 index 0000000000000000000000000000000000000000..938295db7438bbeea608cdac064f10a99349b8fc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11111869663000107, + "parts": [ + { + "vertices_raw": [ + [ + 0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.020999999716877937, + 0.0, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.0, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.19200000166893005 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.01852034591138363, + -0.009899331256747246, + 0.19200000166893005 + ], + [ + -0.009899331256747246, + -0.01852034591138363, + 0.19200000166893005 + ], + [ + -0.01852034591138363, + 0.009899331256747246, + 0.19200000166893005 + ], + [ + 0.009899331256747246, + 0.01852034591138363, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 9, + 10, + 11, + 12, + 6, + 8, + 13, + 14, + 3, + 5, + 15, + 16, + 0, + 2, + 17, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 19, + 10, + 20, + 21, + 16, + 15, + 20, + 15, + 5, + 4, + 22, + 23, + 14, + 13, + 22, + 13, + 8, + 7, + 24, + 25, + 12, + 11, + 24, + 11, + 10, + 19, + 26, + 27, + 18, + 17, + 26, + 17, + 2, + 1, + 28, + 1, + 0, + 28, + 0, + 16, + 28, + 16, + 21, + 29, + 4, + 3, + 29, + 3, + 14, + 29, + 14, + 23, + 30, + 7, + 6, + 30, + 6, + 12, + 30, + 12, + 25, + 31, + 19, + 9, + 31, + 9, + 18, + 31, + 18, + 27, + 31, + 27, + 26, + 1, + 28, + 21, + 20, + 4, + 29, + 23, + 22, + 7, + 30, + 25, + 24, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.2094999998807907 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.5141027569770813, + -0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8577286601066589, + -0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5141027569770813, + 0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.8577286601066589, + 0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9694538712501526, + -0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8572181463241577, + -0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8032076358795166, + -0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.24283559620380402, + -0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.5137967467308044, + -0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.5956991910934448, + -0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.9694538712501526, + 0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.8572181463241577, + 0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.8032076358795166, + 0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.24283559620380402, + 0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5137967467308044, + 0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5956991910934448, + 0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 9, + 12, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 13 + ], + [ + 9, + 13, + 14 + ], + [ + 9, + 14, + 3 + ], + [ + 9, + 3, + 5 + ], + [ + 9, + 5, + 15 + ], + [ + 9, + 15, + 16 + ], + [ + 9, + 16, + 0 + ], + [ + 9, + 0, + 2 + ], + [ + 9, + 2, + 17 + ], + [ + 9, + 17, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 19, + 10 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 22, + 13, + 8 + ], + [ + 22, + 8, + 7 + ], + [ + 24, + 25, + 12 + ], + [ + 24, + 12, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 19 + ], + [ + 26, + 27, + 18 + ], + [ + 26, + 18, + 17 + ], + [ + 26, + 17, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 28, + 1, + 0 + ], + [ + 28, + 0, + 16 + ], + [ + 28, + 16, + 21 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 14 + ], + [ + 29, + 14, + 23 + ], + [ + 30, + 7, + 6 + ], + [ + 30, + 6, + 12 + ], + [ + 30, + 12, + 25 + ], + [ + 31, + 19, + 9 + ], + [ + 31, + 9, + 18 + ], + [ + 31, + 18, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 1 + ], + [ + 31, + 1, + 28 + ], + [ + 31, + 28, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 4 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 23 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 7 + ], + [ + 31, + 7, + 30 + ], + [ + 31, + 30, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 19 + ] + ], + "raw_bounds": [ + [ + -0.020999999716877937, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.020999999716877937, + 0.2094999998807907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008693668060004711, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json new file mode 100644 index 0000000000000000000000000000000000000000..7873af21eba638ffa7d0b3a5ca5ae0fe39c87e43 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json @@ -0,0 +1,929 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11265482380986214, + "parts": [ + { + "vertices_raw": [ + [ + -0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.013749999925494194, + 0.0238157007843256, + 0.0 + ], + [ + -0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.013749999925494194, + -0.0238157007843256, + 0.0 + ], + [ + 0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.01944543980062008, + 0.01944543980062008, + 0.0 + ], + [ + 0.007117520086467266, + 0.02656296081840992, + 0.0 + ], + [ + 0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.007117520086467266, + -0.02656296081840992, + 0.0 + ], + [ + 0.01944543980062008, + -0.01944543980062008, + 0.0 + ], + [ + 0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.0238157007843256, + -0.013749999925494194, + 0.0 + ], + [ + -0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + -0.027499999850988388, + 0.0, + 0.0 + ], + [ + -0.0238157007843256, + 0.013749999925494194, + 0.0 + ], + [ + -0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.0238157007843256, + 0.013749999925494194, + 0.0 + ], + [ + 0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + 0.027499999850988388, + 0.0, + 0.0 + ], + [ + 0.0238157007843256, + -0.013749999925494194, + 0.0 + ], + [ + 0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.007117520086467266, + 0.02656296081840992, + 0.0 + ], + [ + 0.0, + 0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.007117520086467266, + -0.02656296081840992, + 0.0 + ], + [ + 0.0, + -0.03150000050663948, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ] + ], + "indices_raw": [ + 33, + 29, + 31, + 10, + 13, + 25, + 22, + 21, + 7, + 6, + 30, + 27, + 32, + 0, + 2, + 19, + 16, + 15, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 5, + 4, + 15, + 16, + 17, + 14, + 15, + 14, + 4, + 18, + 2, + 1, + 19, + 2, + 18, + 19, + 18, + 17, + 16, + 20, + 8, + 7, + 21, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 24, + 25, + 13, + 12, + 26, + 27, + 9, + 28, + 5, + 14, + 17, + 18, + 1, + 26, + 9, + 8, + 20, + 23, + 24, + 12, + 11, + 28, + 11, + 29, + 30, + 6, + 9, + 30, + 9, + 27, + 31, + 11, + 10, + 31, + 29, + 11, + 32, + 27, + 26, + 32, + 26, + 1, + 0, + 33, + 3, + 5, + 28, + 33, + 28, + 29 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.003199998987838626 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.38228145241737366, + 0.49819836020469666, + -0.7782411575317383, + -0.017121313139796257 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.38228145241737366, + -0.49819841980934143, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.3822818100452423, + 0.49819889664649963, + -0.7782406210899353, + -0.0171213336288929 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.2719515860080719, + 0.471034437417984, + -0.839147686958313, + -0.014447690919041634 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.2719515860080719, + -0.471034437417984, + -0.839147686958313, + -0.014447690919041634 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.3822818100452423, + -0.49819889664649963, + -0.7782407402992249, + -0.0171213336288929 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.38459810614585876, + -0.38459810614585876, + -0.8391475677490234, + -0.01444769836962223 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + -0.616123378276825, + -0.16508980095386505, + -0.7701540589332581, + -0.016943393275141716 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.49819836020469666, + -0.38228145241737366, + -0.7782411575317383, + -0.017121313139796257 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38459810614585876, + 0.38459810614585876, + -0.8391475677490234, + -0.01444769836962223 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.49819841980934143, + 0.38228145241737366, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + -0.6161234378814697, + 0.1650896817445755, + -0.7701540589332581, + -0.016943397000432014 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.49819859862327576, + 0.3822816014289856, + -0.7782408595085144, + -0.017121322453022003 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + 0.616123378276825, + 0.16508980095386505, + -0.7701540589332581, + -0.016943393275141716 + ] + }, + { + "index_base": 66, + "num_vertices": 4, + "plane": [ + 0.6161233186721802, + -0.16508978605270386, + -0.7701541185379028, + -0.016943391412496567 + ] + }, + { + "index_base": 70, + "num_vertices": 4, + "plane": [ + 0.49819859862327576, + -0.3822816014289856, + -0.7782408595085144, + -0.017121322453022003 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.0, + 0.5439034700393677, + -0.8391478061676025, + -0.01444768626242876 + ] + }, + { + "index_base": 77, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.0, + -0.5439034700393677, + -0.8391478061676025, + -0.01444768626242876 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.24031183123588562, + 0.5801645517349243, + -0.7782412171363831, + -0.017121313139796257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.08196622133255005, + 0.6225932240486145, + -0.7782410979270935, + -0.017121316865086555 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.24031183123588562, + -0.5801645517349243, + -0.7782410979270935, + -0.017121313139796257 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.08196622878313065, + -0.6225932836532593, + -0.7782410979270935, + -0.017121318727731705 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + -0.08196622878313065, + 0.6225932836532593, + -0.7782410979270935, + -0.017121318727731705 + ] + }, + { + "index_base": 109, + "num_vertices": 4, + "plane": [ + -0.24031178653240204, + 0.5801646113395691, + -0.7782410979270935, + -0.017121313139796257 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.24031184613704681, + -0.5801646113395691, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.08196622133255005, + -0.6225932240486145, + -0.7782410979270935, + -0.017121316865086555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 33, + 29, + 31 + ], + [ + 33, + 31, + 10 + ], + [ + 33, + 10, + 13 + ], + [ + 33, + 13, + 25 + ], + [ + 33, + 25, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 7 + ], + [ + 33, + 7, + 6 + ], + [ + 33, + 6, + 30 + ], + [ + 33, + 30, + 27 + ], + [ + 33, + 27, + 32 + ], + [ + 33, + 32, + 0 + ], + [ + 33, + 0, + 2 + ], + [ + 33, + 2, + 19 + ], + [ + 33, + 19, + 16 + ], + [ + 33, + 16, + 15 + ], + [ + 33, + 15, + 4 + ], + [ + 33, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 5, + 4 + ], + [ + 15, + 16, + 17 + ], + [ + 15, + 17, + 14 + ], + [ + 15, + 14, + 4 + ], + [ + 18, + 2, + 1 + ], + [ + 19, + 2, + 18 + ], + [ + 19, + 18, + 17 + ], + [ + 19, + 17, + 16 + ], + [ + 20, + 8, + 7 + ], + [ + 20, + 7, + 21 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 24, + 25, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 26, + 27, + 9 + ], + [ + 28, + 5, + 14 + ], + [ + 28, + 14, + 17 + ], + [ + 28, + 17, + 18 + ], + [ + 28, + 18, + 1 + ], + [ + 28, + 1, + 26 + ], + [ + 28, + 26, + 9 + ], + [ + 28, + 9, + 8 + ], + [ + 28, + 8, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 24 + ], + [ + 28, + 24, + 12 + ], + [ + 28, + 12, + 11 + ], + [ + 28, + 11, + 29 + ], + [ + 30, + 6, + 9 + ], + [ + 30, + 9, + 27 + ], + [ + 31, + 11, + 10 + ], + [ + 31, + 29, + 11 + ], + [ + 32, + 27, + 26 + ], + [ + 32, + 26, + 1 + ], + [ + 32, + 1, + 0 + ], + [ + 33, + 3, + 5 + ], + [ + 33, + 5, + 28 + ], + [ + 33, + 28, + 29 + ] + ], + "raw_bounds": [ + [ + -0.03150000050663948, + -0.03150000050663948, + 0.0 + ], + [ + 0.03150000050663948, + 0.03150000050663948, + 0.0031999999191612005 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009924499318003654, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json new file mode 100644 index 0000000000000000000000000000000000000000..a0fa28182c5674f3421f6181cd8af6e04e8da680 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11424563359469175, + "parts": [ + { + "vertices_raw": [ + [ + 0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + 0.03400000184774399, + 0.010700000450015068 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + -0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.0, + 0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.0, + -0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.030426660552620888, + 0.008152799680829048, + 0.0031999999191612005 + ], + [ + -0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + -0.030426660552620888, + -0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.030426660552620888, + 0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.030426660552620888, + -0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ] + ], + "indices_raw": [ + 10, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 4, + 7, + 8, + 27, + 28, + 29, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 10, + 3, + 2, + 11, + 30, + 31, + 17, + 16, + 30, + 16, + 15, + 32, + 33, + 22, + 21, + 34, + 33, + 35, + 23, + 22, + 36, + 32, + 15, + 14, + 36, + 14, + 13, + 37, + 38, + 39, + 25, + 24, + 38, + 24, + 23, + 35, + 40, + 41, + 19, + 18, + 40, + 18, + 17, + 31, + 42, + 34, + 21, + 20, + 42, + 20, + 19, + 41, + 43, + 1, + 0, + 29, + 43, + 29, + 28, + 44, + 45, + 5, + 4, + 26, + 45, + 26, + 25, + 39, + 46, + 27, + 8, + 9, + 46, + 44, + 28, + 27, + 47, + 12, + 10, + 11, + 47, + 11, + 2, + 1, + 43, + 44, + 46, + 9, + 6, + 5, + 45, + 39, + 38, + 35, + 33, + 34, + 42, + 41, + 40, + 31, + 30, + 32, + 36, + 37, + 47, + 37, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.010700001381337643 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.7532827854156494, + 0.5780147910118103, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.5780147910118103, + -0.7532827854156494, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7532831430435181, + -0.5780142545700073, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5780142545700073, + 0.7532831430435181, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7532831430435181, + 0.5780142545700073, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5780142545700073, + 0.7532831430435181, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7532831430435181, + -0.5780142545700073, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5780142545700073, + -0.7532831430435181, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.3633556663990021, + 0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.12393344938755035, + 0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.12393344938755035, + -0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.3633556663990021, + -0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.941369354724884, + 0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.8772163391113281, + 0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8772163391113281, + -0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.941369354724884, + -0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8772163391113281, + 0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.941369354724884, + 0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3633556663990021, + -0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.12393344938755035, + -0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.8772163391113281, + -0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.941369354724884, + -0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.3633556663990021, + 0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 116, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.003199999686330557 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + 0.12393344938755035, + 0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 12, + 13 + ], + [ + 10, + 13, + 14 + ], + [ + 10, + 14, + 15 + ], + [ + 10, + 15, + 16 + ], + [ + 10, + 16, + 17 + ], + [ + 10, + 17, + 18 + ], + [ + 10, + 18, + 19 + ], + [ + 10, + 19, + 20 + ], + [ + 10, + 20, + 21 + ], + [ + 10, + 21, + 22 + ], + [ + 10, + 22, + 23 + ], + [ + 10, + 23, + 24 + ], + [ + 10, + 24, + 25 + ], + [ + 10, + 25, + 26 + ], + [ + 10, + 26, + 4 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 8 + ], + [ + 10, + 8, + 27 + ], + [ + 10, + 27, + 28 + ], + [ + 10, + 28, + 29 + ], + [ + 10, + 29, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 30, + 31, + 17 + ], + [ + 30, + 17, + 16 + ], + [ + 30, + 16, + 15 + ], + [ + 30, + 15, + 32 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 34 + ], + [ + 33, + 35, + 23 + ], + [ + 33, + 23, + 22 + ], + [ + 36, + 32, + 15 + ], + [ + 36, + 15, + 14 + ], + [ + 36, + 14, + 13 + ], + [ + 36, + 13, + 37 + ], + [ + 38, + 39, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 35 + ], + [ + 40, + 41, + 19 + ], + [ + 40, + 19, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 31 + ], + [ + 42, + 34, + 21 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 19 + ], + [ + 42, + 19, + 41 + ], + [ + 43, + 1, + 0 + ], + [ + 43, + 0, + 29 + ], + [ + 43, + 29, + 28 + ], + [ + 43, + 28, + 44 + ], + [ + 45, + 5, + 4 + ], + [ + 45, + 4, + 26 + ], + [ + 45, + 26, + 25 + ], + [ + 45, + 25, + 39 + ], + [ + 46, + 27, + 8 + ], + [ + 46, + 8, + 9 + ], + [ + 46, + 44, + 28 + ], + [ + 46, + 28, + 27 + ], + [ + 47, + 12, + 10 + ], + [ + 47, + 10, + 11 + ], + [ + 47, + 11, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 9 + ], + [ + 47, + 9, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 45 + ], + [ + 47, + 45, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 31 + ], + [ + 47, + 31, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03400000184774399, + -0.03400000184774399, + 0.0031999999191612005 + ], + [ + 0.03400000184774399, + 0.03400000184774399, + 0.010700000450015068 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010456438176333904, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7ed6f5bca50329f637ae8fa2624c8fdd5ecaae --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11591559601947665, + "parts": [ + { + "vertices_raw": [ + [ + -0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + -0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.0, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + -0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + 0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.0, + 0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.0, + 0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + -0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ] + ], + "indices_raw": [ + 24, + 7, + 6, + 13, + 25, + 26, + 27, + 18, + 10, + 9, + 28, + 29, + 30, + 14, + 17, + 20, + 31, + 32, + 33, + 3, + 2, + 22, + 34, + 35, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 6, + 5, + 14, + 15, + 16, + 17, + 18, + 19, + 11, + 10, + 20, + 17, + 16, + 21, + 22, + 2, + 1, + 23, + 36, + 15, + 14, + 30, + 36, + 30, + 29, + 37, + 38, + 19, + 18, + 27, + 38, + 27, + 26, + 39, + 40, + 0, + 3, + 33, + 40, + 33, + 32, + 41, + 42, + 4, + 7, + 24, + 42, + 24, + 35, + 43, + 44, + 31, + 20, + 21, + 44, + 41, + 32, + 31, + 45, + 34, + 22, + 23, + 45, + 43, + 35, + 34, + 46, + 37, + 29, + 28, + 46, + 28, + 9, + 8, + 47, + 39, + 26, + 25, + 47, + 25, + 13, + 12, + 47, + 12, + 5, + 4, + 42, + 43, + 45, + 23, + 1, + 0, + 40, + 41, + 44, + 21, + 16, + 15, + 36, + 37, + 46, + 8, + 11, + 19, + 38, + 39 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.026899997144937515 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13028250634670258, + -0.9895933270454407, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9895933270454407, + -0.13028250634670258, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13028250634670258, + 0.9895933270454407, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9895933270454407, + 0.13028250634670258, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9895933270454407, + 0.13028250634670258, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13028250634670258, + 0.9895933270454407, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9895933270454407, + -0.13028250634670258, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13028250634670258, + -0.9895933270454407, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9221541285514832, + 0.38196900486946106, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.791871964931488, + 0.6076242923736572, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38196900486946106, + 0.9221541285514832, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6076242923736572, + 0.791871964931488, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38196900486946106, + -0.9221541285514832, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6076242923736572, + -0.791871964931488, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9221541285514832, + -0.38196900486946106, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.791871964931488, + -0.6076242923736572, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9221540689468384, + -0.3819689452648163, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.791871964931488, + -0.607624351978302, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3819689452648163, + -0.9221540689468384, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.607624351978302, + -0.791871964931488, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.607624351978302, + 0.791871964931488, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.3819689452648163, + 0.9221540689468384, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.791871964931488, + 0.607624351978302, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9221540689468384, + 0.3819689452648163, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.010700001381337643 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 13 + ], + [ + 24, + 13, + 25 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 24, + 27, + 18 + ], + [ + 24, + 18, + 10 + ], + [ + 24, + 10, + 9 + ], + [ + 24, + 9, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 30 + ], + [ + 24, + 30, + 14 + ], + [ + 24, + 14, + 17 + ], + [ + 24, + 17, + 20 + ], + [ + 24, + 20, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 22 + ], + [ + 24, + 22, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 11 + ], + [ + 18, + 11, + 10 + ], + [ + 20, + 17, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 2, + 1 + ], + [ + 22, + 1, + 23 + ], + [ + 36, + 15, + 14 + ], + [ + 36, + 14, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 37 + ], + [ + 38, + 19, + 18 + ], + [ + 38, + 18, + 27 + ], + [ + 38, + 27, + 26 + ], + [ + 38, + 26, + 39 + ], + [ + 40, + 0, + 3 + ], + [ + 40, + 3, + 33 + ], + [ + 40, + 33, + 32 + ], + [ + 40, + 32, + 41 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 24 + ], + [ + 42, + 24, + 35 + ], + [ + 42, + 35, + 43 + ], + [ + 44, + 31, + 20 + ], + [ + 44, + 20, + 21 + ], + [ + 44, + 41, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 45, + 34, + 22 + ], + [ + 45, + 22, + 23 + ], + [ + 45, + 43, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 46, + 37, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 39, + 26 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 45 + ], + [ + 47, + 45, + 23 + ], + [ + 47, + 23, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 21 + ], + [ + 47, + 21, + 16 + ], + [ + 47, + 16, + 15 + ], + [ + 47, + 15, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 19 + ], + [ + 47, + 19, + 38 + ], + [ + 47, + 38, + 39 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.010700000450015068 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.026900000870227814 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009632636792957783, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json new file mode 100644 index 0000000000000000000000000000000000000000..7699caff2cc4a400a2c12ed6a946507126c41de6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11747162463143468, + "parts": [ + { + "vertices_raw": [ + [ + -0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.0, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.0, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + 0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0, + 0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.0, + 0.03500000014901161, + 0.026900000870227814 + ], + [ + -0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ] + ], + "indices_raw": [ + 28, + 29, + 30, + 26, + 2, + 1, + 31, + 32, + 33, + 22, + 25, + 34, + 17, + 16, + 35, + 11, + 10, + 36, + 21, + 20, + 37, + 13, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 3, + 2, + 38, + 23, + 22, + 33, + 38, + 33, + 32, + 39, + 40, + 27, + 26, + 30, + 40, + 30, + 29, + 41, + 42, + 8, + 11, + 35, + 42, + 35, + 16, + 15, + 43, + 12, + 13, + 37, + 43, + 37, + 20, + 19, + 44, + 14, + 17, + 34, + 44, + 34, + 25, + 24, + 45, + 18, + 21, + 36, + 45, + 36, + 10, + 9, + 46, + 39, + 32, + 31, + 46, + 31, + 1, + 0, + 47, + 41, + 29, + 28, + 47, + 28, + 5, + 4, + 47, + 4, + 7, + 12, + 43, + 19, + 18, + 45, + 9, + 8, + 42, + 15, + 14, + 44, + 24, + 23, + 38, + 39, + 46, + 0, + 3, + 27, + 40, + 41 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.026899995282292366 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13024209439754486, + -0.9892863035202026, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9892863035202026, + -0.13024209439754486, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13024206459522247, + 0.9892862439155579, + 0.06595229357481003, + -0.03639913350343704 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9892862439155579, + 0.13024206459522247, + 0.06595229357481003, + -0.03639913350343704 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7916262149810791, + 0.6074357628822327, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.6074357628822327, + 0.7916262149810791, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9892863035202026, + -0.13024209439754486, + 0.06595201045274734, + -0.03639913350343704 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13024209439754486, + -0.9892863035202026, + 0.06595201045274734, + -0.03639913350343704 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9218680262565613, + -0.3818505108356476, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7916261553764343, + -0.6074357032775879, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.3818505108356476, + -0.9218680262565613, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6074357032775879, + -0.7916261553764343, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.3818505108356476, + 0.9218680262565613, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6074357032775879, + 0.7916261553764343, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9218680262565613, + 0.3818505108356476, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7916261553764343, + 0.6074357032775879, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9218679666519165, + 0.3818504810333252, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9892863035202026, + 0.13024209439754486, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3818504810333252, + 0.9218679666519165, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13024209439754486, + 0.9892863035202026, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.6074357628822327, + -0.7916262149810791, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.3818504810333252, + -0.9218679666519165, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7916262149810791, + -0.6074357628822327, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9218679666519165, + -0.3818504810333252, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.041899994015693665 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 29, + 30 + ], + [ + 28, + 30, + 26 + ], + [ + 28, + 26, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 31 + ], + [ + 28, + 31, + 32 + ], + [ + 28, + 32, + 33 + ], + [ + 28, + 33, + 22 + ], + [ + 28, + 22, + 25 + ], + [ + 28, + 25, + 34 + ], + [ + 28, + 34, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 35 + ], + [ + 28, + 35, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 36 + ], + [ + 28, + 36, + 21 + ], + [ + 28, + 21, + 20 + ], + [ + 28, + 20, + 37 + ], + [ + 28, + 37, + 13 + ], + [ + 28, + 13, + 6 + ], + [ + 28, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 21 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 25 + ], + [ + 26, + 27, + 3 + ], + [ + 26, + 3, + 2 + ], + [ + 38, + 23, + 22 + ], + [ + 38, + 22, + 33 + ], + [ + 38, + 33, + 32 + ], + [ + 38, + 32, + 39 + ], + [ + 40, + 27, + 26 + ], + [ + 40, + 26, + 30 + ], + [ + 40, + 30, + 29 + ], + [ + 40, + 29, + 41 + ], + [ + 42, + 8, + 11 + ], + [ + 42, + 11, + 35 + ], + [ + 42, + 35, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 43, + 12, + 13 + ], + [ + 43, + 13, + 37 + ], + [ + 43, + 37, + 20 + ], + [ + 43, + 20, + 19 + ], + [ + 44, + 14, + 17 + ], + [ + 44, + 17, + 34 + ], + [ + 44, + 34, + 25 + ], + [ + 44, + 25, + 24 + ], + [ + 45, + 18, + 21 + ], + [ + 45, + 21, + 36 + ], + [ + 45, + 36, + 10 + ], + [ + 45, + 10, + 9 + ], + [ + 46, + 39, + 32 + ], + [ + 46, + 32, + 31 + ], + [ + 46, + 31, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 41, + 29 + ], + [ + 47, + 29, + 28 + ], + [ + 47, + 28, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 12 + ], + [ + 47, + 12, + 43 + ], + [ + 47, + 43, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 45 + ], + [ + 47, + 45, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 42 + ], + [ + 47, + 42, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 44 + ], + [ + 47, + 44, + 24 + ], + [ + 47, + 24, + 23 + ], + [ + 47, + 23, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 27 + ], + [ + 47, + 27, + 40 + ], + [ + 47, + 40, + 41 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.04190000146627426 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009436002001166344, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json new file mode 100644 index 0000000000000000000000000000000000000000..6a599a124df91dd915a85b942710a8ab521b4261 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1190369906835258, + "parts": [ + { + "vertices_raw": [ + [ + 0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.0, + -0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.0, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0, + 0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.0, + 0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + -0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 3, + 2, + 5, + 17, + 18, + 19, + 9, + 8, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 12, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 32, + 23, + 22, + 31, + 22, + 21, + 33, + 34, + 28, + 27, + 35, + 34, + 36, + 29, + 28, + 37, + 13, + 12, + 30, + 37, + 30, + 29, + 36, + 38, + 39, + 25, + 24, + 38, + 24, + 23, + 32, + 40, + 33, + 21, + 20, + 40, + 20, + 8, + 7, + 41, + 35, + 27, + 26, + 41, + 26, + 25, + 39, + 42, + 0, + 3, + 16, + 42, + 16, + 15, + 43, + 44, + 6, + 9, + 19, + 44, + 19, + 18, + 45, + 46, + 45, + 18, + 17, + 46, + 17, + 5, + 4, + 47, + 43, + 15, + 14, + 47, + 14, + 11, + 10, + 47, + 10, + 13, + 37, + 36, + 34, + 35, + 41, + 39, + 38, + 32, + 31, + 33, + 40, + 7, + 6, + 44, + 45, + 46, + 4, + 1, + 0, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.041899990290403366 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9140605330467224, + 0.12033820152282715, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9140605330467224, + -0.12033822387456894, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.12033820152282715, + -0.9140605330467224, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.12033822387456894, + 0.9140605330467224, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.73143070936203, + -0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5612461566925049, + -0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.73143070936203, + 0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5612461566925049, + 0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.12033820152282715, + 0.9140605330467224, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.35281431674957275, + 0.8517686724662781, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9140605330467224, + -0.12033820152282715, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.8517686724662781, + -0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.3528144061565399, + -0.8517688512802124, + 0.38731345534324646, + -0.04730649292469025 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.12033822387456894, + -0.9140605330467224, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8517688512802124, + 0.3528144061565399, + 0.38731345534324646, + -0.04730649292469025 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9140605330467224, + 0.12033822387456894, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8517686724662781, + 0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.73143070936203, + 0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.35281431674957275, + -0.8517686724662781, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.5612461566925049, + -0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.7314307689666748, + -0.5612462759017944, + 0.38731345534324646, + -0.047306496649980545 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8517686128616333, + -0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5612462759017944, + 0.7314307689666748, + 0.38731345534324646, + -0.047306496649980545 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.35281431674957275, + 0.8517686128616333, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05369998514652252 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 5 + ], + [ + 14, + 5, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 12 + ], + [ + 14, + 12, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 32, + 23 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 21 + ], + [ + 31, + 21, + 33 + ], + [ + 34, + 28, + 27 + ], + [ + 34, + 27, + 35 + ], + [ + 34, + 36, + 29 + ], + [ + 34, + 29, + 28 + ], + [ + 37, + 13, + 12 + ], + [ + 37, + 12, + 30 + ], + [ + 37, + 30, + 29 + ], + [ + 37, + 29, + 36 + ], + [ + 38, + 39, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 32 + ], + [ + 40, + 33, + 21 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 8 + ], + [ + 40, + 8, + 7 + ], + [ + 41, + 35, + 27 + ], + [ + 41, + 27, + 26 + ], + [ + 41, + 26, + 25 + ], + [ + 41, + 25, + 39 + ], + [ + 42, + 0, + 3 + ], + [ + 42, + 3, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 6, + 9 + ], + [ + 44, + 9, + 19 + ], + [ + 44, + 19, + 18 + ], + [ + 44, + 18, + 45 + ], + [ + 46, + 45, + 18 + ], + [ + 46, + 18, + 17 + ], + [ + 46, + 17, + 5 + ], + [ + 46, + 5, + 4 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 13 + ], + [ + 47, + 13, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 40 + ], + [ + 47, + 40, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 46 + ], + [ + 47, + 46, + 4 + ], + [ + 47, + 4, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03400000184774399, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.03400000184774399, + 0.03400000184774399, + 0.053700000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009497581049799919, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json new file mode 100644 index 0000000000000000000000000000000000000000..9221084835a60eb9ab6d8979f85584c6992c33ce --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12064468394964933, + "parts": [ + { + "vertices_raw": [ + [ + -0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + 0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.0, + 0.028999999165534973, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + -0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.0, + -0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.0, + -0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + 0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + -0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + -0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ] + ], + "indices_raw": [ + 28, + 25, + 24, + 30, + 10, + 9, + 31, + 17, + 16, + 32, + 2, + 1, + 33, + 34, + 35, + 7, + 6, + 36, + 20, + 23, + 37, + 15, + 14, + 38, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 26, + 25, + 39, + 32, + 16, + 19, + 39, + 3, + 2, + 32, + 40, + 21, + 20, + 36, + 40, + 36, + 6, + 5, + 41, + 30, + 24, + 27, + 41, + 11, + 10, + 30, + 42, + 29, + 28, + 38, + 42, + 38, + 14, + 13, + 43, + 4, + 7, + 35, + 43, + 35, + 34, + 44, + 45, + 12, + 15, + 37, + 45, + 37, + 23, + 22, + 46, + 44, + 34, + 33, + 46, + 33, + 1, + 0, + 47, + 18, + 17, + 31, + 47, + 31, + 9, + 8, + 47, + 8, + 11, + 41, + 27, + 26, + 29, + 42, + 13, + 12, + 45, + 22, + 21, + 40, + 5, + 4, + 43, + 44, + 46, + 0, + 3, + 39, + 19, + 18 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06560000777244568 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.792665958404541, + 0.6082337498664856, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7926660180091858, + -0.6082338094711304, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.6082337498664856, + 0.792665958404541, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.6082338094711304, + -0.7926660180091858, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13041312992572784, + 0.9905857443809509, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.13041315972805023, + -0.9905857443809509, + -0.041621141135692596, + -0.026491932570934296 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.9905857443809509, + 0.13041312992572784, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9905857443809509, + -0.13041315972805023, + -0.041621141135692596, + -0.026491932570934296 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.38235148787498474, + 0.9230791330337524, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6082338094711304, + 0.7926660180091858, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.38235148787498474, + -0.9230791330337524, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.6082337498664856, + -0.792665958404541, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9230791330337524, + 0.38235148787498474, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7926660180091858, + 0.6082338094711304, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9230791330337524, + -0.38235148787498474, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.792665958404541, + -0.6082337498664856, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9230791330337524, + -0.38235148787498474, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9905857443809509, + -0.13041312992572784, + -0.041621141135692596, + -0.026491930708289146 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.38235148787498474, + -0.9230791330337524, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13041312992572784, + -0.9905857443809509, + -0.041621141135692596, + -0.026491930708289146 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9905857443809509, + 0.13041314482688904, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9230791330337524, + 0.38235148787498474, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.13041314482688904, + 0.9905857443809509, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.38235148787498474, + 0.9230791330337524, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05369998514652252 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 30 + ], + [ + 28, + 30, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 31 + ], + [ + 28, + 31, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 32 + ], + [ + 28, + 32, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 36 + ], + [ + 28, + 36, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 37 + ], + [ + 28, + 37, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 38 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 26 + ], + [ + 28, + 26, + 25 + ], + [ + 39, + 32, + 16 + ], + [ + 39, + 16, + 19 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 32 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 36 + ], + [ + 40, + 36, + 6 + ], + [ + 40, + 6, + 5 + ], + [ + 41, + 30, + 24 + ], + [ + 41, + 24, + 27 + ], + [ + 41, + 11, + 10 + ], + [ + 41, + 10, + 30 + ], + [ + 42, + 29, + 28 + ], + [ + 42, + 28, + 38 + ], + [ + 42, + 38, + 14 + ], + [ + 42, + 14, + 13 + ], + [ + 43, + 4, + 7 + ], + [ + 43, + 7, + 35 + ], + [ + 43, + 35, + 34 + ], + [ + 43, + 34, + 44 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 15, + 37 + ], + [ + 45, + 37, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 46, + 44, + 34 + ], + [ + 46, + 34, + 33 + ], + [ + 46, + 33, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 31 + ], + [ + 47, + 31, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 41 + ], + [ + 47, + 41, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 29 + ], + [ + 47, + 29, + 42 + ], + [ + 47, + 42, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 45 + ], + [ + 47, + 45, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 19 + ], + [ + 47, + 19, + 18 + ] + ], + "raw_bounds": [ + [ + -0.029500000178813934, + -0.029500000178813934, + 0.053700000047683716 + ], + [ + 0.029500000178813934, + 0.029500000178813934, + 0.06560000032186508 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010447250679135323, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e4e73e93a240b10b9e15a124fb15b4b725dbc8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12230287259444594, + "parts": [ + { + "vertices_raw": [ + [ + -0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + 0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + 0.032999999821186066, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + -0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + 0.029500000178813934, + 0.06560000032186508 + ], + [ + -0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + -0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ] + ], + "indices_raw": [ + 24, + 15, + 14, + 22, + 25, + 26, + 27, + 20, + 10, + 9, + 28, + 29, + 30, + 16, + 2, + 1, + 31, + 32, + 33, + 7, + 6, + 18, + 34, + 35, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 3, + 2, + 18, + 6, + 5, + 19, + 20, + 21, + 11, + 10, + 22, + 14, + 13, + 23, + 36, + 17, + 16, + 30, + 36, + 30, + 29, + 37, + 38, + 34, + 18, + 19, + 38, + 39, + 35, + 34, + 40, + 21, + 20, + 27, + 40, + 27, + 26, + 41, + 42, + 25, + 22, + 23, + 42, + 41, + 26, + 25, + 43, + 44, + 32, + 31, + 43, + 31, + 1, + 0, + 45, + 4, + 7, + 33, + 45, + 33, + 32, + 44, + 46, + 37, + 29, + 28, + 46, + 28, + 9, + 8, + 47, + 12, + 15, + 24, + 47, + 24, + 35, + 39, + 47, + 39, + 38, + 19, + 5, + 4, + 45, + 44, + 43, + 0, + 3, + 17, + 36, + 37, + 46, + 8, + 11, + 21, + 40, + 41, + 42, + 23, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08070001006126404 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7731991410255432, + 0.5932971835136414, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7731992602348328, + -0.5932972431182861, + -0.22396700084209442, + -0.013812404125928879 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5932971835136414, + 0.7731991410255432, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5932972431182861, + -0.7731992602348328, + -0.22396700084209442, + -0.013812404125928879 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.5932971835136414, + 0.7731991410255432, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5932973623275757, + -0.7731993198394775, + -0.22396701574325562, + -0.013812405988574028 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.7731991410255432, + 0.5932971835136414, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.7731993198394775, + -0.5932973623275757, + -0.22396701574325562, + -0.013812405988574028 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.37296172976493835, + 0.9004100561141968, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.1272105574607849, + 0.9662588238716125, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.37296172976493835, + -0.9004100561141968, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.1272105574607849, + -0.9662588238716125, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9004100561141968, + 0.37296172976493835, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9662588238716125, + 0.1272105574607849, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9004100561141968, + -0.37296172976493835, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9662588238716125, + -0.1272105574607849, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9662588238716125, + 0.1272105574607849, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9004100561141968, + 0.37296172976493835, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9004100561141968, + -0.37296172976493835, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.9662588238716125, + -0.1272105574607849, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.1272105574607849, + 0.9662588238716125, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.37296172976493835, + 0.9004100561141968, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.37296172976493835, + -0.9004100561141968, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.1272105574607849, + -0.9662588238716125, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06560000777244568 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 24, + 27, + 20 + ], + [ + 24, + 20, + 10 + ], + [ + 24, + 10, + 9 + ], + [ + 24, + 9, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 30 + ], + [ + 24, + 30, + 16 + ], + [ + 24, + 16, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 18 + ], + [ + 24, + 18, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 18, + 6, + 5 + ], + [ + 18, + 5, + 19 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 22, + 14, + 13 + ], + [ + 22, + 13, + 23 + ], + [ + 36, + 17, + 16 + ], + [ + 36, + 16, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 37 + ], + [ + 38, + 34, + 18 + ], + [ + 38, + 18, + 19 + ], + [ + 38, + 39, + 35 + ], + [ + 38, + 35, + 34 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 27 + ], + [ + 40, + 27, + 26 + ], + [ + 40, + 26, + 41 + ], + [ + 42, + 25, + 22 + ], + [ + 42, + 22, + 23 + ], + [ + 42, + 41, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 43, + 44, + 32 + ], + [ + 43, + 32, + 31 + ], + [ + 43, + 31, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 45, + 4, + 7 + ], + [ + 45, + 7, + 33 + ], + [ + 45, + 33, + 32 + ], + [ + 45, + 32, + 44 + ], + [ + 46, + 37, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 24 + ], + [ + 47, + 24, + 35 + ], + [ + 47, + 35, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 19 + ], + [ + 47, + 19, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 17 + ], + [ + 47, + 17, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 23 + ], + [ + 47, + 23, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.032999999821186066, + -0.032999999821186066, + 0.06560000032186508 + ], + [ + 0.032999999821186066, + 0.032999999821186066, + 0.08070000261068344 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009434306994080544, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json new file mode 100644 index 0000000000000000000000000000000000000000..9afca941c2c288590637ee726534b5dbc1c1c8bc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12385885370895267, + "parts": [ + { + "vertices_raw": [ + [ + 0.0, + 0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + 0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.0, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.0, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + -0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + -0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ] + ], + "indices_raw": [ + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 3, + 2, + 23, + 10, + 9, + 24, + 25, + 26, + 12, + 15, + 27, + 6, + 5, + 28, + 29, + 30, + 31, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 32, + 7, + 6, + 27, + 32, + 27, + 15, + 14, + 33, + 20, + 19, + 34, + 33, + 35, + 21, + 20, + 36, + 37, + 31, + 30, + 36, + 30, + 29, + 38, + 39, + 11, + 10, + 23, + 39, + 23, + 2, + 1, + 40, + 13, + 12, + 26, + 40, + 26, + 25, + 41, + 42, + 34, + 19, + 18, + 42, + 18, + 17, + 43, + 44, + 0, + 3, + 22, + 44, + 22, + 21, + 35, + 45, + 38, + 29, + 28, + 45, + 28, + 5, + 4, + 46, + 41, + 25, + 24, + 46, + 24, + 9, + 8, + 47, + 43, + 17, + 16, + 47, + 16, + 31, + 37, + 47, + 37, + 36, + 38, + 45, + 4, + 7, + 32, + 14, + 13, + 40, + 41, + 46, + 8, + 11, + 39, + 1, + 0, + 44, + 35, + 33, + 34, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08070001751184464 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.1271391212940216, + 0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.127139151096344, + -0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7727642059326172, + 0.5929635167121887, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7727642059326172, + -0.5929635763168335, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.372751921415329, + -0.8999034762382507, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.5929635167121887, + -0.7727642059326172, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7727642059326172, + 0.5929635763168335, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5929635167121887, + 0.7727642059326172, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.7727642059326172, + -0.5929635167121887, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.5929635763168335, + -0.7727642059326172, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.5929636359214783, + 0.772764265537262, + 0.22633951902389526, + -0.05013420432806015 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.372751921415329, + 0.8999034762382507, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.8999034762382507, + -0.372751921415329, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9657152891159058, + -0.1271391212940216, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8999034762382507, + 0.372751921415329, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9657152891159058, + 0.1271391212940216, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.1271391361951828, + 0.9657152891159058, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.372751921415329, + 0.8999034762382507, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.372751921415329, + -0.8999034762382507, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.1271391212940216, + -0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.9657152891159058, + 0.1271391361951828, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8999034762382507, + 0.372751921415329, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9657152891159058, + -0.1271391361951828, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.8999034762382507, + -0.372751921415329, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09350000321865082 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 16, + 20, + 21 + ], + [ + 16, + 21, + 22 + ], + [ + 16, + 22, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 23 + ], + [ + 16, + 23, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 24 + ], + [ + 16, + 24, + 25 + ], + [ + 16, + 25, + 26 + ], + [ + 16, + 26, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 27 + ], + [ + 16, + 27, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 28 + ], + [ + 16, + 28, + 29 + ], + [ + 16, + 29, + 30 + ], + [ + 16, + 30, + 31 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 32, + 7, + 6 + ], + [ + 32, + 6, + 27 + ], + [ + 32, + 27, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 33, + 20, + 19 + ], + [ + 33, + 19, + 34 + ], + [ + 33, + 35, + 21 + ], + [ + 33, + 21, + 20 + ], + [ + 36, + 37, + 31 + ], + [ + 36, + 31, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 38 + ], + [ + 39, + 11, + 10 + ], + [ + 39, + 10, + 23 + ], + [ + 39, + 23, + 2 + ], + [ + 39, + 2, + 1 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 26 + ], + [ + 40, + 26, + 25 + ], + [ + 40, + 25, + 41 + ], + [ + 42, + 34, + 19 + ], + [ + 42, + 19, + 18 + ], + [ + 42, + 18, + 17 + ], + [ + 42, + 17, + 43 + ], + [ + 44, + 0, + 3 + ], + [ + 44, + 3, + 22 + ], + [ + 44, + 22, + 21 + ], + [ + 44, + 21, + 35 + ], + [ + 45, + 38, + 29 + ], + [ + 45, + 29, + 28 + ], + [ + 45, + 28, + 5 + ], + [ + 45, + 5, + 4 + ], + [ + 46, + 41, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 43, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 31 + ], + [ + 47, + 31, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 38 + ], + [ + 47, + 38, + 45 + ], + [ + 47, + 45, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 32 + ], + [ + 47, + 32, + 14 + ], + [ + 47, + 14, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 39 + ], + [ + 47, + 39, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 44 + ], + [ + 47, + 44, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.032999999821186066, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.032999999821186066, + 0.09350000321865082 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009278552606701851, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9345181a0bdc3c78a8e68a22cfcd801fa02139 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12540862569585443, + "parts": [ + { + "vertices_raw": [ + [ + -0.01905255950987339, + -0.010999999940395355, + 0.10100000351667404 + ], + [ + -0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.010999999940395355, + -0.01905255950987339, + 0.10100000351667404 + ], + [ + -0.01905255950987339, + 0.010999999940395355, + 0.10100000351667404 + ], + [ + -0.010999999940395355, + 0.01905255950987339, + 0.10100000351667404 + ], + [ + -0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.015556350350379944, + -0.015556350350379944, + 0.10100000351667404 + ], + [ + 0.005694020073860884, + -0.021250370889902115, + 0.10100000351667404 + ], + [ + 0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.0, + 0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.005694020073860884, + 0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.02199999988079071, + 0.0, + 0.10100000351667404 + ], + [ + -0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.015556350350379944, + 0.015556350350379944, + 0.10100000351667404 + ], + [ + 0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.005694020073860884, + 0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.005694020073860884, + -0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.0, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.021250370889902115, + 0.005694020073860884, + 0.10100000351667404 + ], + [ + 0.021250370889902115, + -0.005694020073860884, + 0.10100000351667404 + ], + [ + 0.02199999988079071, + 0.0, + 0.10100000351667404 + ], + [ + -0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ] + ], + "indices_raw": [ + 37, + 19, + 18, + 34, + 35, + 36, + 21, + 8, + 7, + 31, + 25, + 24, + 30, + 1, + 29, + 14, + 16, + 17, + 32, + 5, + 6, + 33, + 12, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 9, + 10, + 11, + 12, + 13, + 14, + 0, + 15, + 14, + 15, + 16, + 17, + 16, + 15, + 17, + 15, + 3, + 18, + 19, + 20, + 21, + 9, + 8, + 22, + 13, + 12, + 23, + 24, + 25, + 23, + 25, + 10, + 26, + 18, + 20, + 27, + 9, + 21, + 27, + 28, + 26, + 20, + 13, + 22, + 4, + 3, + 15, + 0, + 2, + 23, + 10, + 9, + 29, + 0, + 14, + 29, + 1, + 0, + 30, + 24, + 23, + 2, + 30, + 2, + 1, + 31, + 7, + 10, + 31, + 10, + 25, + 32, + 17, + 3, + 32, + 3, + 5, + 33, + 6, + 4, + 22, + 33, + 22, + 12, + 34, + 18, + 26, + 34, + 26, + 28, + 35, + 36, + 35, + 28, + 27, + 36, + 27, + 21, + 37, + 11, + 13, + 37, + 13, + 20, + 37, + 20, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09350000321865082 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.4601903259754181, + -0.4601903259754181, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.4601903259754181, + 0.4601903259754181, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.41825786232948303, + 0.5450838804244995, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.4182578921318054, + -0.5450839996337891, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.32540374994277954, + -0.5636156797409058, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.08968012779951096, + 0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.6286317110061646, + -0.1684413105249405, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.6811853051185608, + -0.08968009799718857, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.6811853051185608, + 0.08968008309602737, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.6286317110061646, + 0.1684413105249405, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.5450839996337891, + 0.4182578921318054, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.5450839996337891, + -0.4182579219341278, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6508073210716248, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + -0.08968012779951096, + -0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6508073210716248, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5636156797409058, + 0.32540374994277954, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5636156797409058, + -0.32540372014045715, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 75, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10099998861551285 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.6347638964653015, + -0.2629276216030121, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.5450838804244995, + -0.41825786232948303, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 95, + "num_vertices": 4, + "plane": [ + -0.2629278600215912, + -0.6347639560699463, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.41825786232948303, + -0.5450838804244995, + 0.7265974283218384, + -0.08837242424488068 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.26292768120765686, + -0.6347640752792358, + 0.7265973091125488, + -0.08837241679430008 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + 0.08968015760183334, + -0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.6347638964653015, + 0.2629276216030121, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.5450838804244995, + 0.41825786232948303, + 0.7265974283218384, + -0.08837242424488068 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + -0.2629278004169464, + 0.6347638368606567, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + -0.08968015760183334, + 0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.6347640752792358, + 0.26292768120765686, + 0.7265973091125488, + -0.08837241679430008 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + 0.6811853647232056, + 0.08967979997396469, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 128, + "num_vertices": 4, + "plane": [ + 0.6811853647232056, + -0.08967981487512589, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.6347640156745911, + -0.2629276514053345, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.2629276514053345, + 0.6347640156745911, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.32540372014045715, + 0.5636156797409058, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.4182579219341278, + 0.5450839996337891, + 0.7265973687171936, + -0.08837242424488068 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 19, + 18 + ], + [ + 37, + 18, + 34 + ], + [ + 37, + 34, + 35 + ], + [ + 37, + 35, + 36 + ], + [ + 37, + 36, + 21 + ], + [ + 37, + 21, + 8 + ], + [ + 37, + 8, + 7 + ], + [ + 37, + 7, + 31 + ], + [ + 37, + 31, + 25 + ], + [ + 37, + 25, + 24 + ], + [ + 37, + 24, + 30 + ], + [ + 37, + 30, + 1 + ], + [ + 37, + 1, + 29 + ], + [ + 37, + 29, + 14 + ], + [ + 37, + 14, + 16 + ], + [ + 37, + 16, + 17 + ], + [ + 37, + 17, + 32 + ], + [ + 37, + 32, + 5 + ], + [ + 37, + 5, + 6 + ], + [ + 37, + 6, + 33 + ], + [ + 37, + 33, + 12 + ], + [ + 37, + 12, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 0, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 17, + 15, + 3 + ], + [ + 18, + 19, + 20 + ], + [ + 21, + 9, + 8 + ], + [ + 22, + 13, + 12 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 10 + ], + [ + 26, + 18, + 20 + ], + [ + 27, + 9, + 21 + ], + [ + 27, + 28, + 26 + ], + [ + 27, + 26, + 20 + ], + [ + 27, + 20, + 13 + ], + [ + 27, + 13, + 22 + ], + [ + 27, + 22, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 15 + ], + [ + 27, + 15, + 0 + ], + [ + 27, + 0, + 2 + ], + [ + 27, + 2, + 23 + ], + [ + 27, + 23, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 29, + 0, + 14 + ], + [ + 29, + 1, + 0 + ], + [ + 30, + 24, + 23 + ], + [ + 30, + 23, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 7, + 10 + ], + [ + 31, + 10, + 25 + ], + [ + 32, + 17, + 3 + ], + [ + 32, + 3, + 5 + ], + [ + 33, + 6, + 4 + ], + [ + 33, + 4, + 22 + ], + [ + 33, + 22, + 12 + ], + [ + 34, + 18, + 26 + ], + [ + 34, + 26, + 28 + ], + [ + 34, + 28, + 35 + ], + [ + 36, + 35, + 28 + ], + [ + 36, + 28, + 27 + ], + [ + 36, + 27, + 21 + ], + [ + 37, + 11, + 13 + ], + [ + 37, + 13, + 20 + ], + [ + 37, + 20, + 19 + ] + ], + "raw_bounds": [ + [ + -0.029999999329447746, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.029999999329447746, + 0.10100000351667404 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011471342295408249, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json new file mode 100644 index 0000000000000000000000000000000000000000..f6ec881e54c95b83d8c2e340894a66768a8b12fa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json @@ -0,0 +1,421 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12720548780635, + "parts": [ + { + "vertices_raw": [ + [ + 0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.0, + -0.012000000104308128, + 0.1185000017285347 + ], + [ + 0.004949749913066626, + -0.004949749913066626, + 0.11500000208616257 + ], + [ + 0.007000000216066837, + 0.0, + 0.11500000208616257 + ], + [ + 0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + 0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.004949749913066626, + 0.004949749913066626, + 0.11500000208616257 + ], + [ + 0.0, + 0.012000000104308128, + 0.1185000017285347 + ], + [ + -0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + -0.007000000216066837, + 0.0, + 0.11500000208616257 + ], + [ + -0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.0018117299769073725, + -0.006761480122804642, + 0.11500000208616257 + ], + [ + -0.0018117299769073725, + 0.006761480122804642, + 0.11500000208616257 + ] + ], + "indices_raw": [ + 11, + 9, + 8, + 1, + 0, + 4, + 5, + 7, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 4, + 3, + 6, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 10, + 9, + 12, + 2, + 1, + 12, + 1, + 8, + 12, + 8, + 10, + 13, + 10, + 11, + 13, + 11, + 7, + 13, + 7, + 6, + 3, + 2, + 12, + 10, + 13, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1185000017285347 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.22001852095127106, + -0.5533033609390259, + -0.8033972978591919, + 0.08856294304132462 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.5234160423278809, + -0.22251155972480774, + -0.8225109577178955, + 0.09092485159635544 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.525780975818634, + 0.22686037421226501, + -0.8198102116584778, + 0.09057524800300598 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.22001855075359344, + 0.5533034205436707, + -0.8033972978591919, + 0.08856294304132462 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5230258703231812, + -0.22567163407802582, + -0.8218979239463806, + 0.09085708111524582 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.5230258703231812, + 0.22567163407802582, + -0.8218979239463806, + 0.09085708111524582 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.13843467831611633, + -0.5166460275650024, + -0.8449335694313049, + 0.093924880027771 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.23660553991794586, + -0.5950164198875427, + -0.7680971622467041, + 0.08387931436300278 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.37062010169029236, + -0.28438708186149597, + -0.884174644947052, + 0.0990857481956482 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.37062010169029236, + 0.2843870520591736, + -0.884174644947052, + 0.0990857481956482 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.23660553991794586, + 0.5950164198875427, + -0.7680971622467041, + 0.08387931436300278 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.13843469321727753, + 0.5166460275650024, + -0.8449335694313049, + 0.093924880027771 + ] + }, + { + "index_base": 46, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11500000208616257 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 10, + 9 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 8 + ], + [ + 12, + 8, + 10 + ], + [ + 13, + 10, + 11 + ], + [ + 13, + 11, + 7 + ], + [ + 13, + 7, + 6 + ], + [ + 3, + 2, + 12 + ], + [ + 3, + 12, + 10 + ], + [ + 3, + 10, + 13 + ], + [ + 3, + 13, + 6 + ] + ], + "raw_bounds": [ + [ + -0.012500000186264515, + -0.012000000104308128, + 0.11500000208616257 + ], + [ + 0.012500000186264515, + 0.012000000104308128, + 0.1185000017285347 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006431750953197479, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json new file mode 100644 index 0000000000000000000000000000000000000000..8319a4624cf9a177ba43d4cd6a3ffd7b2976818b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json @@ -0,0 +1,733 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1284364638850093, + "parts": [ + { + "vertices_raw": [ + [ + 0.003235240001231432, + -0.0115911103785038, + 0.1185000017285347 + ], + [ + 0.0, + -0.017500000074505806, + 0.12349999696016312 + ], + [ + -0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.0062500000931322575, + -0.010392299853265285, + 0.1185000017285347 + ], + [ + 0.003235240001231432, + 0.0115911103785038, + 0.1185000017285347 + ], + [ + -0.0062500000931322575, + 0.010392299853265285, + 0.1185000017285347 + ], + [ + 0.0, + 0.017500000074505806, + 0.12349999696016312 + ], + [ + -0.010825320146977901, + -0.006000000052154064, + 0.1185000017285347 + ], + [ + -0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + -0.010825320146977901, + 0.006000000052154064, + 0.1185000017285347 + ], + [ + -0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + 0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + -0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.008999999612569809, + 0.01515544019639492, + 0.12349999696016312 + ], + [ + 0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.01738665997982025, + 0.00452932994812727, + 0.12349999696016312 + ], + [ + 0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + 0.01738665997982025, + -0.00452932994812727, + 0.12349999696016312 + ] + ], + "indices_raw": [ + 25, + 24, + 23, + 21, + 22, + 6, + 18, + 10, + 17, + 15, + 16, + 8, + 2, + 1, + 19, + 20, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 8, + 9, + 10, + 5, + 9, + 5, + 4, + 11, + 12, + 13, + 0, + 3, + 7, + 14, + 15, + 14, + 7, + 16, + 16, + 7, + 8, + 17, + 10, + 9, + 17, + 9, + 14, + 15, + 2, + 8, + 3, + 18, + 6, + 5, + 18, + 5, + 10, + 19, + 1, + 0, + 19, + 0, + 13, + 20, + 21, + 11, + 4, + 22, + 22, + 4, + 6, + 23, + 24, + 12, + 23, + 12, + 11, + 23, + 11, + 21, + 25, + 20, + 13, + 25, + 13, + 12, + 25, + 12, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.12349999696016312 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.07850620150566101, + -0.618563711643219, + -0.7818029522895813, + 0.08572779595851898 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.07819334417581558, + 0.6186820864677429, + -0.7817404866218567, + 0.08571802079677582 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.44703006744384766, + -0.46565714478492737, + -0.7637588381767273, + 0.08287224173545837 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.44703006744384766, + 0.46565714478492737, + -0.7637588381767273, + 0.08287224173545837 + ] + }, + { + "index_base": 29, + "num_vertices": 10, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1185000091791153 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.6597011685371399, + -0.18275822699069977, + -0.728967547416687, + 0.0781446248292923 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.5310513377189636, + -0.4191330671310425, + -0.7364183068275452, + 0.07900197803974152 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.5310513973236084, + 0.41913309693336487, + -0.7364183068275452, + 0.07900197803974152 + ] + }, + { + "index_base": 49, + "num_vertices": 4, + "plane": [ + -0.6597011685371399, + 0.18275822699069977, + -0.728967547416687, + 0.0781446248292923 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.34961745142936707, + -0.6228572726249695, + -0.6998688578605652, + 0.07427643239498138 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.17294712364673615, + 0.6638875007629395, + -0.727559506893158, + 0.07823556661605835 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + -0.4037435054779053, + 0.5412030816078186, + -0.7376248240470886, + 0.07926080375909805 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + 0.08582612127065659, + -0.6705378890037537, + -0.7368940114974976, + 0.07927200198173523 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + 0.33484703302383423, + -0.5996320247650146, + -0.7268553972244263, + 0.07808466255664825 + ] + }, + { + "index_base": 69, + "num_vertices": 4, + "plane": [ + 0.33484703302383423, + 0.5996320247650146, + -0.7268553972244263, + 0.07808466255664825 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.08582613617181778, + 0.6705378890037537, + -0.7368940114974976, + 0.07927200198173523 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.669899046421051, + 0.09071441739797592, + -0.7368895411491394, + 0.07894767820835114 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.5718383193016052, + 0.2467328906059265, + -0.7823835015296936, + 0.08556447178125381 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5882795453071594, + 0.3493470251560211, + -0.7293036580085754, + 0.07825848460197449 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.5882795453071594, + -0.34934699535369873, + -0.7293035984039307, + 0.07825847715139389 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.5718382596969604, + -0.24673286080360413, + -0.7823835611343384, + 0.08556448668241501 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6698991060256958, + -0.09071439504623413, + -0.7368895411491394, + 0.07894767820835114 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 21 + ], + [ + 25, + 21, + 22 + ], + [ + 25, + 22, + 6 + ], + [ + 25, + 6, + 18 + ], + [ + 25, + 18, + 10 + ], + [ + 25, + 10, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 16 + ], + [ + 25, + 16, + 8 + ], + [ + 25, + 8, + 2 + ], + [ + 25, + 2, + 1 + ], + [ + 25, + 1, + 19 + ], + [ + 25, + 19, + 20 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 8 + ], + [ + 9, + 10, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 9, + 12, + 13 + ], + [ + 9, + 13, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 9, + 7, + 14 + ], + [ + 15, + 14, + 7 + ], + [ + 15, + 7, + 16 + ], + [ + 16, + 7, + 8 + ], + [ + 17, + 10, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 17, + 14, + 15 + ], + [ + 2, + 8, + 3 + ], + [ + 18, + 6, + 5 + ], + [ + 18, + 5, + 10 + ], + [ + 19, + 1, + 0 + ], + [ + 19, + 0, + 13 + ], + [ + 19, + 13, + 20 + ], + [ + 21, + 11, + 4 + ], + [ + 21, + 4, + 22 + ], + [ + 22, + 4, + 6 + ], + [ + 23, + 24, + 12 + ], + [ + 23, + 12, + 11 + ], + [ + 23, + 11, + 21 + ], + [ + 25, + 20, + 13 + ], + [ + 25, + 13, + 12 + ], + [ + 25, + 12, + 24 + ] + ], + "raw_bounds": [ + [ + -0.017999999225139618, + -0.017500000074505806, + 0.1185000017285347 + ], + [ + 0.017999999225139618, + 0.017500000074505806, + 0.12349999696016312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008709579706192017, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json new file mode 100644 index 0000000000000000000000000000000000000000..6ba23ca38e27bef12c021eab829ab94c1d16a749 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json @@ -0,0 +1,873 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12991508096456528, + "parts": [ + { + "vertices_raw": [ + [ + 0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.0, + 0.020999999716877937, + 0.13050000369548798 + ], + [ + 0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.0, + -0.020999999716877937, + 0.13050000369548798 + ], + [ + -0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + -0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.010999999940395355, + 0.018186530098319054, + 0.13050000369548798 + ], + [ + 0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + 0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + 0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + 0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + 0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ] + ], + "indices_raw": [ + 26, + 21, + 20, + 2, + 14, + 12, + 11, + 7, + 6, + 10, + 18, + 4, + 15, + 17, + 23, + 25, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 6, + 9, + 10, + 11, + 12, + 13, + 11, + 13, + 8, + 11, + 8, + 7, + 14, + 2, + 1, + 15, + 4, + 3, + 15, + 3, + 16, + 17, + 18, + 10, + 19, + 5, + 18, + 5, + 4, + 20, + 21, + 22, + 0, + 20, + 0, + 2, + 23, + 24, + 25, + 26, + 25, + 24, + 19, + 10, + 9, + 27, + 13, + 12, + 27, + 12, + 14, + 27, + 14, + 1, + 28, + 24, + 23, + 28, + 23, + 17, + 28, + 17, + 16, + 29, + 22, + 21, + 29, + 21, + 26, + 29, + 26, + 24, + 29, + 24, + 28, + 16, + 3, + 5, + 19, + 9, + 8, + 13, + 27, + 1, + 0, + 22 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13049998879432678 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8630825281143188, + -0.505062997341156, + 0.047785986214876175 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8630825281143188, + -0.505062997341156, + 0.047785986214876175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8620842695236206, + -0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.8068468570709229, + -0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.7811633944511414, + -0.4724815785884857, + -0.40809905529022217, + 0.03408888727426529 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.7811633944511414, + 0.4724815785884857, + -0.4080989956855774, + 0.03408887982368469 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.8068468570709229, + 0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8620842695236206, + 0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.2299097329378128, + 0.8988926410675049, + -0.37300586700439453, + 0.029800524935126305 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.11162963509559631, + -0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + 0.43783193826675415, + -0.7800148129463196, + -0.4470794200897217, + 0.03998942673206329 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.431790292263031, + -0.7834960222244263, + -0.44686809182167053, + 0.039964888244867325 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.11162963509559631, + -0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 57, + "num_vertices": 4, + "plane": [ + 0.431790292263031, + 0.7834960222244263, + -0.44686809182167053, + 0.039964888244867325 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.11162963509559631, + 0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.8620842695236206, + -0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.8620842695236206, + 0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.6917893290519714, + -0.545995831489563, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.6917893886566162, + 0.5459957718849182, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.5233991146087646, + 0.7145887017250061, + -0.464129775762558, + 0.041815660893917084 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.41912442445755005, + 0.7466866374015808, + -0.5165207386016846, + 0.049215950071811676 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8068468570709229, + -0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7811633944511414, + -0.4724815785884857, + -0.4080989956855774, + 0.03408887982368469 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.6917893886566162, + -0.5459957718849182, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6917893290519714, + 0.545995831489563, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.7811633944511414, + 0.4724815785884857, + -0.40809905529022217, + 0.03408888727426529 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.8068468570709229, + 0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 100, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.12350000441074371 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 2 + ], + [ + 26, + 2, + 14 + ], + [ + 26, + 14, + 12 + ], + [ + 26, + 12, + 11 + ], + [ + 26, + 11, + 7 + ], + [ + 26, + 7, + 6 + ], + [ + 26, + 6, + 10 + ], + [ + 26, + 10, + 18 + ], + [ + 26, + 18, + 4 + ], + [ + 26, + 4, + 15 + ], + [ + 26, + 15, + 17 + ], + [ + 26, + 17, + 23 + ], + [ + 26, + 23, + 25 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 14, + 2, + 1 + ], + [ + 15, + 4, + 3 + ], + [ + 15, + 3, + 16 + ], + [ + 15, + 16, + 17 + ], + [ + 18, + 10, + 19 + ], + [ + 18, + 19, + 5 + ], + [ + 18, + 5, + 4 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 0 + ], + [ + 20, + 0, + 2 + ], + [ + 23, + 24, + 25 + ], + [ + 26, + 25, + 24 + ], + [ + 19, + 10, + 9 + ], + [ + 27, + 13, + 12 + ], + [ + 27, + 12, + 14 + ], + [ + 27, + 14, + 1 + ], + [ + 28, + 24, + 23 + ], + [ + 28, + 23, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 26 + ], + [ + 29, + 26, + 24 + ], + [ + 29, + 24, + 28 + ], + [ + 29, + 28, + 16 + ], + [ + 29, + 16, + 3 + ], + [ + 29, + 3, + 5 + ], + [ + 29, + 5, + 19 + ], + [ + 29, + 19, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 13 + ], + [ + 29, + 13, + 27 + ], + [ + 29, + 27, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 22 + ] + ], + "raw_bounds": [ + [ + -0.02199999988079071, + -0.020999999716877937, + 0.12349999696016312 + ], + [ + 0.02199999988079071, + 0.020999999716877937, + 0.13050000369548798 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009337570518255234, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf913a8f3b9da570059e42a4cb0265b7fda5f36 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json @@ -0,0 +1,1113 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13145140884444118, + "parts": [ + { + "vertices_raw": [ + [ + 0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.0, + 0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.0, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + -0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + -0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + -0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + 0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + 0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + 0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.01905255950987339, + -0.010499999858438969, + 0.13050000369548798 + ], + [ + -0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.01905255950987339, + 0.010499999858438969, + 0.13050000369548798 + ], + [ + 0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.01905255950987339, + 0.010499999858438969, + 0.13050000369548798 + ], + [ + 0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.01905255950987339, + -0.010499999858438969, + 0.13050000369548798 + ], + [ + -0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + -0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 39, + 22, + 2, + 34, + 18, + 20, + 30, + 6, + 9, + 11, + 27, + 38, + 36, + 21, + 4, + 35, + 23, + 25, + 32, + 16, + 12, + 15, + 29, + 41, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 9, + 8, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 13, + 12, + 18, + 1, + 19, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 0, + 2, + 23, + 3, + 24, + 23, + 24, + 25, + 11, + 10, + 26, + 27, + 15, + 14, + 28, + 29, + 30, + 31, + 7, + 6, + 32, + 33, + 17, + 16, + 34, + 1, + 18, + 34, + 2, + 1, + 35, + 3, + 23, + 35, + 4, + 3, + 36, + 37, + 5, + 36, + 5, + 21, + 36, + 38, + 37, + 39, + 40, + 0, + 39, + 0, + 22, + 39, + 41, + 40, + 26, + 37, + 38, + 27, + 28, + 40, + 41, + 29, + 30, + 20, + 19, + 31, + 32, + 25, + 24, + 33, + 33, + 24, + 3, + 5, + 37, + 26, + 10, + 8, + 7, + 31, + 19, + 1, + 0, + 40, + 28, + 14, + 13, + 17 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000004529953003 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9472106695175171, + -0.320611834526062, + 0.022626206278800964 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9472106695175171, + -0.320611834526062, + 0.022626206278800964 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + -0.9586281180381775, + 0.1318778395652771, + -0.25227057933807373, + 0.011831490322947502 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + -0.9586281180381775, + -0.1318778246641159, + -0.25227057933807373, + 0.011831492185592651 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + 0.9586281180381775, + 0.1318778246641159, + -0.25227057933807373, + 0.011831492185592651 + ] + }, + { + "index_base": 42, + "num_vertices": 4, + "plane": [ + 0.9586281180381775, + -0.1318778395652771, + -0.25227057933807373, + 0.011831490322947502 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.4570726156234741, + 0.8293715119361877, + -0.3212904930114746, + 0.022502493113279343 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.5736663341522217, + 0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.12123076617717743, + -0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12123076617717743, + 0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.4570726156234741, + -0.8293715119361877, + -0.3212904930114746, + 0.022502493113279343 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.5736663341522217, + -0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.8878868818283081, + -0.3843042850494385, + -0.2529168426990509, + 0.01205393671989441 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.8878868818283081, + 0.3843042850494385, + -0.2529168426990509, + 0.01205393671989441 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.8878868818283081, + 0.3843042850494385, + -0.2529168128967285, + 0.01205393485724926 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.8878868818283081, + -0.3843042850494385, + -0.2529168128967285, + 0.01205393485724926 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + -0.3572310507297516, + 0.8991308808326721, + -0.2528826892375946, + 0.012728745117783546 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.12123078107833862, + 0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.3572310507297516, + -0.8991308808326721, + -0.2528826892375946, + 0.012728745117783546 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.12123078107833862, + -0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.45707252621650696, + -0.8293715119361877, + -0.3212904632091522, + 0.022502491250634193 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.3572309911251068, + -0.8991308212280273, + -0.2528826594352722, + 0.012728743255138397 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.5736663341522217, + -0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.45707252621650696, + 0.8293715119361877, + -0.3212904632091522, + 0.022502491250634193 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.3572309911251068, + 0.8991308212280273, + -0.2528826594352722, + 0.012728743255138397 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.5736663341522217, + 0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 110, + "num_vertices": 4, + "plane": [ + -0.7547827959060669, + -0.605194628238678, + -0.2530660331249237, + 0.012296771630644798 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + 0.7547827959060669, + 0.605194628238678, + -0.2530660331249237, + 0.012296771630644798 + ] + }, + { + "index_base": 118, + "num_vertices": 4, + "plane": [ + -0.7547827959060669, + 0.605194628238678, + -0.2530660629272461, + 0.012296775355935097 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.7547827959060669, + -0.605194628238678, + -0.2530660629272461, + 0.012296775355935097 + ] + }, + { + "index_base": 126, + "num_vertices": 18, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13050000369548798 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 39, + 22, + 2 + ], + [ + 39, + 2, + 34 + ], + [ + 39, + 34, + 18 + ], + [ + 39, + 18, + 20 + ], + [ + 39, + 20, + 30 + ], + [ + 39, + 30, + 6 + ], + [ + 39, + 6, + 9 + ], + [ + 39, + 9, + 11 + ], + [ + 39, + 11, + 27 + ], + [ + 39, + 27, + 38 + ], + [ + 39, + 38, + 36 + ], + [ + 39, + 36, + 21 + ], + [ + 39, + 21, + 4 + ], + [ + 39, + 4, + 35 + ], + [ + 39, + 35, + 23 + ], + [ + 39, + 23, + 25 + ], + [ + 39, + 25, + 32 + ], + [ + 39, + 32, + 16 + ], + [ + 39, + 16, + 12 + ], + [ + 39, + 12, + 15 + ], + [ + 39, + 15, + 29 + ], + [ + 39, + 29, + 41 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 9, + 8, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 19 + ], + [ + 18, + 19, + 20 + ], + [ + 21, + 5, + 4 + ], + [ + 22, + 0, + 2 + ], + [ + 23, + 3, + 24 + ], + [ + 23, + 24, + 25 + ], + [ + 11, + 10, + 26 + ], + [ + 11, + 26, + 27 + ], + [ + 15, + 14, + 28 + ], + [ + 15, + 28, + 29 + ], + [ + 30, + 31, + 7 + ], + [ + 30, + 7, + 6 + ], + [ + 32, + 33, + 17 + ], + [ + 32, + 17, + 16 + ], + [ + 34, + 1, + 18 + ], + [ + 34, + 2, + 1 + ], + [ + 35, + 3, + 23 + ], + [ + 35, + 4, + 3 + ], + [ + 36, + 37, + 5 + ], + [ + 36, + 5, + 21 + ], + [ + 36, + 38, + 37 + ], + [ + 39, + 40, + 0 + ], + [ + 39, + 0, + 22 + ], + [ + 39, + 41, + 40 + ], + [ + 26, + 37, + 38 + ], + [ + 26, + 38, + 27 + ], + [ + 28, + 40, + 41 + ], + [ + 28, + 41, + 29 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 31 + ], + [ + 32, + 25, + 24 + ], + [ + 32, + 24, + 33 + ], + [ + 33, + 24, + 3 + ], + [ + 33, + 3, + 5 + ], + [ + 33, + 5, + 37 + ], + [ + 33, + 37, + 26 + ], + [ + 33, + 26, + 10 + ], + [ + 33, + 10, + 8 + ], + [ + 33, + 8, + 7 + ], + [ + 33, + 7, + 31 + ], + [ + 33, + 31, + 19 + ], + [ + 33, + 19, + 1 + ], + [ + 33, + 1, + 0 + ], + [ + 33, + 0, + 40 + ], + [ + 33, + 40, + 28 + ], + [ + 33, + 28, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 33, + 13, + 17 + ] + ], + "raw_bounds": [ + [ + -0.02449999935925007, + -0.023499999195337296, + 0.13050000369548798 + ], + [ + 0.02449999935925007, + 0.023499999195337296, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010859360918402672, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json new file mode 100644 index 0000000000000000000000000000000000000000..a60db8b625fa436e7ddd70ffdcc41c2d596f6501 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1331487400457263, + "parts": [ + { + "vertices_raw": [ + [ + -0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + -0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.0, + 0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.0, + 0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.0, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.0, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + -0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + -0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + 0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + -0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + 0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + -0.023499999195337296, + 0.0, + 0.14949999749660492 + ] + ], + "indices_raw": [ + 42, + 15, + 14, + 33, + 35, + 43, + 17, + 16, + 9, + 8, + 40, + 4, + 7, + 39, + 26, + 29, + 31, + 44, + 21, + 20, + 25, + 36, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 16, + 19, + 10, + 9, + 20, + 21, + 22, + 23, + 20, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 29, + 28, + 30, + 31, + 14, + 13, + 32, + 33, + 33, + 32, + 34, + 35, + 36, + 37, + 1, + 0, + 7, + 6, + 38, + 39, + 40, + 41, + 5, + 4, + 3, + 2, + 45, + 42, + 17, + 43, + 46, + 18, + 21, + 44, + 47, + 22, + 30, + 47, + 44, + 31, + 34, + 46, + 43, + 35, + 36, + 25, + 24, + 37, + 38, + 27, + 26, + 39, + 40, + 8, + 11, + 41, + 45, + 12, + 15, + 42, + 45, + 2, + 1, + 37, + 24, + 23, + 22, + 47, + 30, + 28, + 27, + 38, + 6, + 5, + 41, + 11, + 10, + 19, + 18, + 46, + 34, + 32, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000004529953003 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.1256338655948639, + 0.9893251657485962, + 0.07383667677640915, + -0.033590737730264664 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.1256338655948639, + -0.9893251657485962, + 0.07383668422698975, + -0.03359074145555496 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5927255153656006, + -0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5927255153656006, + 0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.9142151474952698, + -0.3925842344760895, + 0.10044089704751968, + -0.03808458894491196 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.7791285514831543, + -0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9142151474952698, + 0.3925842344760895, + 0.10044089704751968, + -0.03808458894491196 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.7791285514831543, + 0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.7791285514831543, + -0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.914215087890625, + -0.3925842046737671, + 0.10044088214635849, + -0.03808458521962166 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.7791285514831543, + 0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.914215087890625, + 0.3925842046737671, + 0.10044088214635849, + -0.03808458521962166 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.36987918615341187, + 0.9257540106773376, + 0.07854218035936356, + -0.034367501735687256 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.36987918615341187, + -0.9257540106773376, + 0.07854216545820236, + -0.03436749801039696 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.1256338655948639, + -0.9893251657485962, + 0.07383667677640915, + -0.033590737730264664 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.1256338655948639, + 0.9893251657485962, + 0.07383668422698975, + -0.03359074145555496 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9854684472084045, + -0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9854684472084045, + 0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9854684472084045, + -0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9854684472084045, + 0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.5927255153656006, + 0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.5927255153656006, + -0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.36987918615341187, + -0.9257540106773376, + 0.07854218035936356, + -0.034367501735687256 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.36987918615341187, + 0.9257540106773376, + 0.07854216545820236, + -0.03436749801039696 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14949995279312134 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 42, + 15, + 14 + ], + [ + 42, + 14, + 33 + ], + [ + 42, + 33, + 35 + ], + [ + 42, + 35, + 43 + ], + [ + 42, + 43, + 17 + ], + [ + 42, + 17, + 16 + ], + [ + 42, + 16, + 9 + ], + [ + 42, + 9, + 8 + ], + [ + 42, + 8, + 40 + ], + [ + 42, + 40, + 4 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 39 + ], + [ + 42, + 39, + 26 + ], + [ + 42, + 26, + 29 + ], + [ + 42, + 29, + 31 + ], + [ + 42, + 31, + 44 + ], + [ + 42, + 44, + 21 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 25 + ], + [ + 42, + 25, + 36 + ], + [ + 42, + 36, + 0 + ], + [ + 42, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 20, + 23, + 24 + ], + [ + 20, + 24, + 25 + ], + [ + 26, + 27, + 28 + ], + [ + 26, + 28, + 29 + ], + [ + 29, + 28, + 30 + ], + [ + 29, + 30, + 31 + ], + [ + 14, + 13, + 32 + ], + [ + 14, + 32, + 33 + ], + [ + 33, + 32, + 34 + ], + [ + 33, + 34, + 35 + ], + [ + 36, + 37, + 1 + ], + [ + 36, + 1, + 0 + ], + [ + 7, + 6, + 38 + ], + [ + 7, + 38, + 39 + ], + [ + 40, + 41, + 5 + ], + [ + 40, + 5, + 4 + ], + [ + 3, + 2, + 45 + ], + [ + 3, + 45, + 42 + ], + [ + 17, + 43, + 46 + ], + [ + 17, + 46, + 18 + ], + [ + 21, + 44, + 47 + ], + [ + 21, + 47, + 22 + ], + [ + 30, + 47, + 44 + ], + [ + 30, + 44, + 31 + ], + [ + 34, + 46, + 43 + ], + [ + 34, + 43, + 35 + ], + [ + 36, + 25, + 24 + ], + [ + 36, + 24, + 37 + ], + [ + 38, + 27, + 26 + ], + [ + 38, + 26, + 39 + ], + [ + 40, + 8, + 11 + ], + [ + 40, + 11, + 41 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 15, + 42 + ], + [ + 45, + 2, + 1 + ], + [ + 45, + 1, + 37 + ], + [ + 45, + 37, + 24 + ], + [ + 45, + 24, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 45, + 22, + 47 + ], + [ + 45, + 47, + 30 + ], + [ + 45, + 30, + 28 + ], + [ + 45, + 28, + 27 + ], + [ + 45, + 27, + 38 + ], + [ + 45, + 38, + 6 + ], + [ + 45, + 6, + 5 + ], + [ + 45, + 5, + 41 + ], + [ + 45, + 41, + 11 + ], + [ + 45, + 11, + 10 + ], + [ + 45, + 10, + 19 + ], + [ + 45, + 19, + 18 + ], + [ + 45, + 18, + 46 + ], + [ + 45, + 46, + 34 + ], + [ + 45, + 34, + 32 + ], + [ + 45, + 32, + 13 + ], + [ + 45, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.02449999935925007, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.023499999195337296, + 0.14949999749660492 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001007154118269682, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3980fd010fafdb457e2375cc3c002a0ad0af07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13475776370614767, + "parts": [ + { + "vertices_raw": [ + [ + 0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + -0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.0, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.0, + 0.02280000038444996, + 0.14949999749660492 + ], + [ + -0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + -0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + -0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + 0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.009750000201165676, + -0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.009750000201165676, + 0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + -0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + 0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ] + ], + "indices_raw": [ + 37, + 20, + 23, + 35, + 34, + 33, + 16, + 19, + 36, + 14, + 2, + 13, + 30, + 7, + 6, + 32, + 10, + 9, + 29, + 26, + 28, + 31, + 4, + 15, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 9, + 11, + 12, + 13, + 2, + 1, + 14, + 0, + 2, + 15, + 4, + 3, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 8, + 7, + 25, + 26, + 12, + 25, + 12, + 11, + 8, + 24, + 1, + 0, + 18, + 17, + 27, + 22, + 21, + 3, + 5, + 25, + 28, + 26, + 29, + 9, + 12, + 29, + 12, + 26, + 13, + 1, + 24, + 30, + 30, + 24, + 7, + 31, + 28, + 25, + 5, + 31, + 5, + 4, + 32, + 6, + 8, + 32, + 8, + 11, + 32, + 11, + 10, + 33, + 34, + 27, + 33, + 27, + 17, + 33, + 17, + 16, + 35, + 23, + 22, + 35, + 22, + 27, + 35, + 27, + 34, + 36, + 0, + 14, + 36, + 19, + 18, + 36, + 18, + 0, + 37, + 15, + 3, + 37, + 3, + 21, + 37, + 21, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14949995279312134 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8601425290107727, + 0.5100536942481995, + -0.09586428105831146 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8601425290107727, + 0.5100536942481995, + -0.09586428105831146 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.6960474848747253, + -0.5504946708679199, + 0.46094852685928345, + -0.08935312926769257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.8760959506034851, + 0.1188809797167778, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.8195079565048218, + 0.22536465525627136, + 0.526894211769104, + -0.0987028032541275 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.11319141834974289, + -0.8861716985702515, + 0.44931885600090027, + -0.0873778909444809 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.11319144815206528, + -0.8861716985702515, + 0.44931891560554504, + -0.0873778909444809 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.11319141834974289, + 0.8861716985702515, + 0.44931885600090027, + -0.0873778909444809 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6965420842170715, + -0.5498203039169312, + 0.46100613474845886, + -0.08936411142349243 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.6965420842170715, + 0.5498203039169312, + 0.46100613474845886, + -0.08936411142349243 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5965061187744141, + -0.6122043132781982, + 0.5190242528915405, + -0.097376249730587 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + -0.5965061187744141, + 0.6122043132781982, + 0.5190241932868958, + -0.09737624228000641 + ] + }, + { + "index_base": 62, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15700003504753113 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.5317105054855347, + 0.7142121195793152, + 0.4551756680011749, + -0.08839874714612961 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.8145414590835571, + 0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.6960474848747253, + 0.5504946708679199, + 0.46094849705696106, + -0.08935312926769257 + ] + }, + { + "index_base": 85, + "num_vertices": 4, + "plane": [ + -0.3331909775733948, + -0.8274863362312317, + 0.45194029808044434, + -0.08781909942626953 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.5317105054855347, + -0.71421217918396, + 0.4551756680011749, + -0.0883987545967102 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.33319103717803955, + 0.8274863362312317, + 0.4519403576850891, + -0.08781911432743073 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.11319144815206528, + 0.8861716985702515, + 0.44931891560554504, + -0.0873778909444809 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.8145414590835571, + -0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + -0.8195079565048218, + -0.22536462545394897, + 0.5268941521644592, + -0.09870278835296631 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + -0.8760959506034851, + -0.1188809871673584, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + 0.8760959506034851, + -0.1188809797167778, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + 0.8195079565048218, + -0.22536465525627136, + 0.526894211769104, + -0.0987028032541275 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + 0.8145414590835571, + -0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + 0.8145414590835571, + 0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.8195079565048218, + 0.22536462545394897, + 0.5268941521644592, + -0.09870278835296631 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.8760959506034851, + 0.1188809871673584, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.3327776789665222, + -0.8280615210533142, + 0.45119068026542664, + -0.08771353960037231 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.5314143896102905, + -0.713814377784729, + 0.4561444818973541, + -0.08853225409984589 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.4204135537147522, + -0.7473403811454773, + 0.5145238041877747, + -0.096617691218853 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.33277764916419983, + 0.8280615210533142, + 0.45119068026542664, + -0.08771353214979172 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.420413613319397, + 0.7473403811454773, + 0.5145237445831299, + -0.0966176837682724 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.5314144492149353, + 0.713814377784729, + 0.4561445116996765, + -0.08853226155042648 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 20, + 23 + ], + [ + 37, + 23, + 35 + ], + [ + 37, + 35, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 37, + 33, + 16 + ], + [ + 37, + 16, + 19 + ], + [ + 37, + 19, + 36 + ], + [ + 37, + 36, + 14 + ], + [ + 37, + 14, + 2 + ], + [ + 37, + 2, + 13 + ], + [ + 37, + 13, + 30 + ], + [ + 37, + 30, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 32 + ], + [ + 37, + 32, + 10 + ], + [ + 37, + 10, + 9 + ], + [ + 37, + 9, + 29 + ], + [ + 37, + 29, + 26 + ], + [ + 37, + 26, + 28 + ], + [ + 37, + 28, + 31 + ], + [ + 37, + 31, + 4 + ], + [ + 37, + 4, + 15 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 2, + 1 + ], + [ + 14, + 0, + 2 + ], + [ + 15, + 4, + 3 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 8, + 7 + ], + [ + 25, + 26, + 12 + ], + [ + 25, + 12, + 11 + ], + [ + 25, + 11, + 8 + ], + [ + 25, + 8, + 24 + ], + [ + 25, + 24, + 1 + ], + [ + 25, + 1, + 0 + ], + [ + 25, + 0, + 18 + ], + [ + 25, + 18, + 17 + ], + [ + 25, + 17, + 27 + ], + [ + 25, + 27, + 22 + ], + [ + 25, + 22, + 21 + ], + [ + 25, + 21, + 3 + ], + [ + 25, + 3, + 5 + ], + [ + 25, + 28, + 26 + ], + [ + 29, + 9, + 12 + ], + [ + 29, + 12, + 26 + ], + [ + 13, + 1, + 24 + ], + [ + 13, + 24, + 30 + ], + [ + 30, + 24, + 7 + ], + [ + 31, + 28, + 25 + ], + [ + 31, + 25, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 6, + 8 + ], + [ + 32, + 8, + 11 + ], + [ + 32, + 11, + 10 + ], + [ + 33, + 34, + 27 + ], + [ + 33, + 27, + 17 + ], + [ + 33, + 17, + 16 + ], + [ + 35, + 23, + 22 + ], + [ + 35, + 22, + 27 + ], + [ + 35, + 27, + 34 + ], + [ + 36, + 0, + 14 + ], + [ + 36, + 19, + 18 + ], + [ + 36, + 18, + 0 + ], + [ + 37, + 15, + 3 + ], + [ + 37, + 3, + 21 + ], + [ + 37, + 21, + 20 + ] + ], + "raw_bounds": [ + [ + -0.023499999195337296, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.02280000038444996, + 0.15700000524520874 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00106420973315835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6815a0491664e8879d18a2df29c7d1354096f0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json @@ -0,0 +1,733 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1364010227844119, + "parts": [ + { + "vertices_raw": [ + [ + -0.011258330196142197, + -0.006500000134110451, + 0.16200000047683716 + ], + [ + -0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + -0.0033646500669419765, + -0.012557039968669415, + 0.16200000047683716 + ], + [ + -0.011258330196142197, + 0.006500000134110451, + 0.16200000047683716 + ], + [ + -0.0033646500669419765, + 0.012557039968669415, + 0.16200000047683716 + ], + [ + -0.009750000201165676, + 0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.0033646500669419765, + -0.012557039968669415, + 0.16200000047683716 + ], + [ + 0.0, + -0.01899999938905239, + 0.15700000524520874 + ], + [ + 0.0033646500669419765, + 0.012557039968669415, + 0.16200000047683716 + ], + [ + 0.0, + 0.01899999938905239, + 0.15700000524520874 + ], + [ + -0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + -0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.01883555017411709, + -0.0049175601452589035, + 0.15700000524520874 + ], + [ + 0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + 0.01883555017411709, + 0.0049175601452589035, + 0.15700000524520874 + ] + ], + "indices_raw": [ + 25, + 24, + 23, + 17, + 16, + 8, + 15, + 1, + 22, + 21, + 20, + 6, + 5, + 10, + 18, + 19, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 2, + 8, + 9, + 10, + 4, + 9, + 4, + 3, + 11, + 0, + 2, + 7, + 12, + 13, + 14, + 15, + 8, + 2, + 15, + 2, + 1, + 5, + 4, + 10, + 16, + 17, + 12, + 7, + 16, + 7, + 8, + 18, + 10, + 9, + 18, + 9, + 14, + 19, + 20, + 21, + 11, + 3, + 20, + 3, + 6, + 22, + 1, + 0, + 22, + 0, + 11, + 21, + 23, + 12, + 17, + 23, + 24, + 13, + 23, + 13, + 12, + 25, + 19, + 14, + 25, + 14, + 13, + 25, + 13, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15700003504753113 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.35242554545402527, + -0.4592894911766052, + 0.8153830170631409, + -0.13904514908790588 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + -0.35347670316696167, + 0.46065932512283325, + 0.814154326915741, + -0.1388668417930603 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6130849123001099, + 0.7900170087814331, + -0.13568130135536194 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6130849123001099, + 0.7900170087814331, + -0.13568130135536194 + ] + }, + { + "index_base": 29, + "num_vertices": 10, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16199998557567596 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.08175448328256607, + -0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.3177361488342285, + -0.5648177862167358, + 0.7615935206413269, + -0.13153965771198273 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.17189934849739075, + 0.6584193110466003, + 0.7327582836151123, + -0.12755301594734192 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.31655973196029663, + -0.5627265572547913, + 0.7636286616325378, + -0.1318148672580719 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.08175452053546906, + -0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.08175448328256607, + 0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.3176327347755432, + 0.5587521195411682, + 0.7660976052284241, + -0.1321638822555542 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.6026138067245483, + 0.16571876406669617, + 0.7806369066238403, + -0.13431097567081451 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.48941418528556824, + 0.3854241371154785, + 0.7822543978691101, + -0.1347404569387436 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.48941418528556824, + -0.3854241371154785, + 0.7822543978691101, + -0.1347404569387436 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.6014869809150696, + -0.16368603706359863, + 0.7819337844848633, + -0.13449260592460632 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.5444703102111816, + -0.32262226939201355, + 0.7742525339126587, + -0.13339956104755402 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.6076518893241882, + -0.08210466057062149, + 0.7899481654167175, + -0.13587108254432678 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5233803391456604, + -0.2167910784482956, + 0.8240599036216736, + -0.1403016448020935 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.5444703102111816, + 0.32262223958969116, + 0.7742525339126587, + -0.13339956104755402 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.5233803391456604, + 0.2167910486459732, + 0.8240598440170288, + -0.1403016299009323 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6076518893241882, + 0.0821046233177185, + 0.7899481654167175, + -0.13587108254432678 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 17 + ], + [ + 25, + 17, + 16 + ], + [ + 25, + 16, + 8 + ], + [ + 25, + 8, + 15 + ], + [ + 25, + 15, + 1 + ], + [ + 25, + 1, + 22 + ], + [ + 25, + 22, + 21 + ], + [ + 25, + 21, + 20 + ], + [ + 25, + 20, + 6 + ], + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 10 + ], + [ + 25, + 10, + 18 + ], + [ + 25, + 18, + 19 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 2, + 8 + ], + [ + 9, + 10, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 11 + ], + [ + 9, + 11, + 0 + ], + [ + 9, + 0, + 2 + ], + [ + 9, + 2, + 7 + ], + [ + 9, + 7, + 12 + ], + [ + 9, + 12, + 13 + ], + [ + 9, + 13, + 14 + ], + [ + 15, + 8, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 5, + 4, + 10 + ], + [ + 16, + 17, + 12 + ], + [ + 16, + 12, + 7 + ], + [ + 16, + 7, + 8 + ], + [ + 18, + 10, + 9 + ], + [ + 18, + 9, + 14 + ], + [ + 18, + 14, + 19 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 3 + ], + [ + 20, + 3, + 6 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 11 + ], + [ + 22, + 11, + 21 + ], + [ + 23, + 12, + 17 + ], + [ + 23, + 24, + 13 + ], + [ + 23, + 13, + 12 + ], + [ + 25, + 19, + 14 + ], + [ + 25, + 14, + 13 + ], + [ + 25, + 13, + 24 + ] + ], + "raw_bounds": [ + [ + -0.019500000402331352, + -0.01899999938905239, + 0.15700000524520874 + ], + [ + 0.019500000402331352, + 0.01899999938905239, + 0.16200000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007906449027359486, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json new file mode 100644 index 0000000000000000000000000000000000000000..02ef0e7203cfee379f6aa84e4e12381cfdd978ca --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json @@ -0,0 +1,392 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13779993867501616, + "parts": [ + { + "vertices_raw": [ + [ + 0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.004511040169745684, + -0.004285749979317188, + 0.164000004529953 + ], + [ + -0.0015529099619016051, + -0.006278519984334707, + 0.164000004529953 + ], + [ + 0.0, + -0.013000000268220901, + 0.16200000047683716 + ], + [ + -0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + -0.006000000052154064, + 0.0, + 0.164000004529953 + ], + [ + -0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + -0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.004511040169745684, + 0.004285749979317188, + 0.164000004529953 + ], + [ + 0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.0, + 0.013000000268220901, + 0.16200000047683716 + ], + [ + -0.0015529099619016051, + 0.006278519984334707, + 0.164000004529953 + ] + ], + "indices_raw": [ + 10, + 1, + 0, + 4, + 5, + 7, + 8, + 11, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 2, + 1, + 10, + 11, + 12, + 9, + 10, + 9, + 1, + 12, + 11, + 8, + 12, + 8, + 6, + 3, + 2, + 9, + 12, + 6, + 3, + 6, + 5, + 3, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.16199998557567596 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.2835226058959961, + -0.11743880808353424, + 0.9517473578453064, + -0.1578688770532608 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.09980816394090652, + -0.2625185549259186, + 0.9597511887550354, + -0.1588924378156662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.2729600667953491, + -0.11306367069482803, + 0.9553583264350891, + -0.15831653773784637 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.2729600667953491, + 0.11306367069482803, + 0.9553583264350891, + -0.15831653773784637 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.22932197153568268, + 0.0, + 0.9733506441116333, + -0.16066399216651917 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.11153256148099899, + 0.2692636549472809, + 0.9565863609313965, + -0.15846741199493408 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.2835226058959961, + 0.11743880808353424, + 0.9517473578453064, + -0.1578688770532608 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.12839393317699432, + 0.3099706172943115, + 0.9420366883277893, + -0.15663957595825195 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.19983819127082825, + 0.14154581725597382, + 0.9695510864257812, + -0.1602054238319397 + ] + }, + { + "index_base": 37, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1640000194311142 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.19983817636966705, + -0.141545832157135, + 0.9695510864257812, + -0.1602054238319397 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.12839393317699432, + -0.3099706172943115, + 0.9420366883277893, + -0.15663957595825195 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 10, + 4, + 5 + ], + [ + 10, + 5, + 7 + ], + [ + 10, + 7, + 8 + ], + [ + 10, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 12, + 11, + 8 + ], + [ + 12, + 8, + 6 + ], + [ + 3, + 2, + 9 + ], + [ + 3, + 9, + 12 + ], + [ + 3, + 12, + 6 + ], + [ + 3, + 6, + 5 + ], + [ + 3, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.013000000268220901, + -0.013000000268220901, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.013000000268220901, + 0.164000004529953 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005816696211695671, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json new file mode 100644 index 0000000000000000000000000000000000000000..453d116def426c8fcbb693df6f95bc92dd927033 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json @@ -0,0 +1,705 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1390063287690282, + "parts": [ + { + "vertices_raw": [ + [ + 0.002749999985098839, + -0.0012499999720603228, + 0.1771213263273239 + ], + [ + 0.0, + 0.001500000013038516, + 0.17800000309944153 + ], + [ + -0.002749999985098839, + -0.0012499999720603228, + 0.1771213263273239 + ], + [ + -5.766527306218219e-19, + -0.004000000189989805, + 0.17499999701976776 + ], + [ + -0.002749999985098839, + 0.004249999765306711, + 0.1771213263273239 + ], + [ + -0.005499999970197678, + 0.001500000013038516, + 0.17499999701976776 + ], + [ + 0.002749999985098839, + 0.004249999765306711, + 0.1771213263273239 + ], + [ + -9.690300030141104e-20, + 0.00699999975040555, + 0.17499999701976776 + ], + [ + 0.005499999970197678, + 0.001500000013038516, + 0.17499999701976776 + ], + [ + 0.002749999985098839, + 0.004249999765306711, + 0.1728786826133728 + ], + [ + -6.735557503102785e-19, + 0.001500000013038516, + 0.1720000058412552 + ], + [ + -0.002749999985098839, + 0.004249999765306711, + 0.1728786826133728 + ], + [ + 0.002749999985098839, + -0.0012499999720603228, + 0.1728786826133728 + ], + [ + -0.002749999985098839, + -0.0012499999720603228, + 0.1728786826133728 + ], + [ + -0.0038890873547643423, + 0.005389087367802858, + 0.17499999701976776 + ], + [ + 0.0038890873547643423, + 0.005389087367802858, + 0.17499999701976776 + ], + [ + -0.0038890873547643423, + -0.0023890873417258263, + 0.17499999701976776 + ], + [ + 0.0038890873547643423, + -0.0023890873417258263, + 0.17499999701976776 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 2, + 4, + 2, + 1, + 6, + 7, + 4, + 6, + 4, + 1, + 6, + 1, + 0, + 6, + 0, + 8, + 9, + 10, + 11, + 9, + 11, + 7, + 12, + 10, + 9, + 12, + 9, + 8, + 13, + 5, + 11, + 13, + 11, + 10, + 13, + 10, + 12, + 13, + 12, + 3, + 14, + 7, + 11, + 14, + 11, + 5, + 14, + 5, + 4, + 14, + 4, + 7, + 15, + 8, + 9, + 15, + 9, + 7, + 15, + 7, + 6, + 15, + 6, + 8, + 16, + 5, + 13, + 16, + 13, + 3, + 16, + 3, + 2, + 16, + 2, + 5, + 17, + 3, + 12, + 17, + 12, + 8, + 17, + 8, + 0, + 17, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + 0.0, + -0.30435994267463684, + 0.9525570869445801, + -0.1690986156463623 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6107854843139648, + 0.7917961478233337, + -0.1410074681043625 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.6107854843139648, + 0.0, + 0.7917960286140442, + -0.14192362129688263 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.30435994267463684, + 0.0, + 0.9525570869445801, + -0.1695551574230194 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6107854843139648, + 0.7917960286140442, + -0.14283980429172516 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + 0.30435997247695923, + 0.9525571465492249, + -0.1700117141008377 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.30435994267463684, + 0.0, + 0.9525570869445801, + -0.1695551574230194 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6107854843139648, + 0.0, + 0.7917960286140442, + -0.14192362129688263 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + 0.30435997247695923, + -0.9525571465492249, + 0.16338329017162323 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6107828617095947, + -0.7917981743812561, + 0.1342892199754715 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.30435994267463684, + 0.0, + -0.9525570869445801, + 0.16383981704711914 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.6107828617095947, + 0.0, + -0.7917981743812561, + 0.13520538806915283 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.6107828617095947, + 0.0, + -0.7917981743812561, + 0.13520538806915283 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.30435994267463684, + 0.0, + -0.9525570869445801, + 0.16383981704711914 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.0, + -0.30435994267463684, + -0.9525570869445801, + 0.16429635882377625 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.0, + -0.61078280210495, + -0.7917981743812561, + 0.13612157106399536 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.31327247619628906, + 0.7563068270683289, + -0.5743346214294434, + 0.09521441906690598 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.7563068270683289, + 0.31327250599861145, + -0.5743346214294434, + 0.0958789736032486 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.7563085556030273, + 0.31327325105667114, + 0.5743319988250732, + -0.10513769835233688 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.31327322125434875, + 0.7563085556030273, + 0.574332058429718, + -0.1058022677898407 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.7563068270683289, + 0.31327250599861145, + -0.5743346214294434, + 0.0958789736032486 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.3132724463939667, + 0.7563068270683289, + -0.5743346810340881, + 0.09521442651748657 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.31327322125434875, + 0.7563085556030273, + 0.5743319988250732, + -0.1058022528886795 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.7563085556030273, + 0.31327325105667114, + 0.5743319988250732, + -0.10513769835233688 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.7563068270683289, + -0.31327250599861145, + -0.5743346214294434, + 0.09681878983974457 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.31327253580093384, + -0.7563068270683289, + -0.5743346214294434, + 0.09748334437608719 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.3132733106613159, + -0.7563085556030273, + 0.5743319392204285, + -0.1035333201289177 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.7563085556030273, + -0.31327325105667114, + 0.5743319392204285, + -0.10419787466526031 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.31327253580093384, + -0.7563068270683289, + -0.5743346214294434, + 0.09748334437608719 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.7563068270683289, + -0.31327250599861145, + -0.5743346214294434, + 0.09681878983974457 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.7563085556030273, + -0.31327325105667114, + 0.5743319392204285, + -0.10419787466526031 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.3132733106613159, + -0.7563085556030273, + 0.5743319392204285, + -0.1035333201289177 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 7 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 3 + ], + [ + 14, + 7, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 15, + 8, + 9 + ], + [ + 15, + 9, + 7 + ], + [ + 15, + 7, + 6 + ], + [ + 15, + 6, + 8 + ], + [ + 16, + 5, + 13 + ], + [ + 16, + 13, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 5 + ], + [ + 17, + 3, + 12 + ], + [ + 17, + 12, + 8 + ], + [ + 17, + 8, + 0 + ], + [ + 17, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.005499999970197678, + -0.004000000189989805, + 0.1720000058412552 + ], + [ + 0.005499999970197678, + 0.00699999975040555, + 0.17800000309944153 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009476267732679844, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json new file mode 100644 index 0000000000000000000000000000000000000000..65bd8504bc8936d250122c2785f95d93506a6964 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_00", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14063873793929815, + "parts": [ + { + "vertices_raw": [ + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + -0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.05999999865889549, + 0.012910000048577785, + 0.0 + ], + [ + -0.05999999865889549, + -0.012910000048577785, + 0.0 + ], + [ + -0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.051428571343421936, + -0.017093444243073463, + 0.0 + ], + [ + -0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051428571343421936, + 0.017093444243073463, + 0.0 + ] + ], + "indices_raw": [ + 11, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 6, + 5, + 4, + 10, + 11, + 8, + 1, + 0, + 9, + 10, + 3, + 2, + 11, + 10, + 4, + 7, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.999980092048645, + 0.0, + -0.00629875622689724, + 0.04285629093647003 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9999611973762512, + 0.0, + 0.008817899972200394, + -0.059997666627168655 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.4255523979663849, + -0.9037190675735474, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.4255524277687073, + 0.9037191271781921, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.27449628710746765, + -0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.27449628710746765, + 0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 8 + ], + [ + 11, + 8, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 5, + 4, + 10 + ], + [ + 5, + 10, + 11 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 9 + ], + [ + 10, + 9, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05999999865889549, + -0.01963379792869091, + 0.0 + ], + [ + -0.04271017014980316, + 0.01963379792869091, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005770809948444366, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json new file mode 100644 index 0000000000000000000000000000000000000000..cda1d8d8e79573276bc37103832186b875246429 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_04", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14175947476178408, + "parts": [ + { + "vertices_raw": [ + [ + -0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + -0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + -0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + -0.038439154624938965, + 0.019073178991675377, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 2, + 1, + 5, + 8, + 6, + 4, + 8, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.11491377651691437, + -0.9913927912712097, + 0.06272939592599869, + -0.024461545050144196 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.10645311325788498, + 0.9923353791236877, + 0.06275664269924164, + -0.024264434352517128 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999992847442627, + 0.0, + -0.003779254388064146, + 0.025714099407196045 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.17351989448070526, + 0.9832096099853516, + 0.05647779628634453, + -0.026740707457065582 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999980092048645, + 0.0, + 0.00629875622689724, + -0.04285629093647003 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 8, + 6, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04285714402794838, + -0.021693339571356773, + 0.0 + ], + [ + -0.025626102462410927, + 0.021693339571356773, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004914221353828907, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c83a6e67b4471d23fedcc7813758f9cded898a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_08", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1429343200288713, + "parts": [ + { + "vertices_raw": [ + [ + -0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + -0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + -0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.017084067687392235, + 0.020455114543437958, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.017008788883686066, + -0.9978257417678833, + 0.0636753961443901, + -0.022094178944826126 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.020621540024876595, + 0.9978145360946655, + 0.06277655065059662, + -0.022176194936037064 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999991655349731, + 0.0, + -0.0012597593013197184, + 0.008571420796215534 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.006145742256194353, + 0.9979521036148071, + 0.06366977840662003, + -0.022003844380378723 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999992847442627, + 0.0, + 0.003779254388064146, + -0.025714099407196045 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025714285671710968, + -0.021996214985847473, + 0.0 + ], + [ + -0.008542033843696117, + 0.021996214985847473, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004741777665913105, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json new file mode 100644 index 0000000000000000000000000000000000000000..f1dda46c7781a6d9094fbf62bd74cc37ac4c32d6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_12", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14401561301201582, + "parts": [ + { + "vertices_raw": [ + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + -0.02199999988079071, + 0.0 + ], + [ + 0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008563785813748837, + 0.02125963196158409, + 0.011666670441627502 + ], + [ + 0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + 0.0, + 0.02199999988079071, + 0.0 + ], + [ + -0.008563785813748837, + 0.02125963196158409, + 0.011666670441627502 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + 0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + -0.008571428246796131, + -0.021996214985847473, + 0.0 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.00045364521793089807, + 0.99797123670578, + 0.06366433948278427, + -0.021955367177724838 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00014722863852512091, + -0.9979576468467712, + 0.06387817114591599, + -0.02195506915450096 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999993443489075, + 0.0, + 0.0011388205457478762, + -0.008571422658860683 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999989867210388, + 0.0, + 0.0013806979404762387, + -0.008574241772294044 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.00044067532871849835, + -0.9979714155197144, + 0.06366382539272308, + -0.021955374628305435 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0004406911612022668, + 0.9980127811431885, + 0.06301049143075943, + -0.02195628173649311 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00040953943971544504, + 0.9979293942451477, + 0.0643170028924942, + -0.02196948602795601 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008571428246796131, + -0.02199999988079071, + 0.0 + ], + [ + 0.008571428246796131, + 0.02199999988079071, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005377428606152534, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json new file mode 100644 index 0000000000000000000000000000000000000000..94af8250a953410ac603085200a4a8a78577c88f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_16", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14516451302915812, + "parts": [ + { + "vertices_raw": [ + [ + 0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + 0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + 0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.017084067687392235, + 0.020455114543437958, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.017008785158395767, + -0.9978258013725281, + 0.0636754110455513, + -0.022094178944826126 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01381064672023058, + 0.9978751540184021, + 0.06367453187704086, + -0.022067854180932045 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999991655349731, + 0.0, + -0.0012597593013197184, + 0.008571420796215534 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.026623159646987915, + 0.9976715445518494, + 0.06279025226831436, + -0.022327423095703125 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999992847442627, + 0.0, + 0.003779254388064146, + -0.025714099407196045 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008542033843696117, + -0.021996214985847473, + 0.0 + ], + [ + 0.025714285671710968, + 0.021996214985847473, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004742690362036228, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json new file mode 100644 index 0000000000000000000000000000000000000000..74835864954f21dcae85b0312f9e43452ab6d705 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_20", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1462495350278914, + "parts": [ + { + "vertices_raw": [ + [ + 0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + 0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + 0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.038439154624938965, + 0.019073178991675377, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.11491377651691437, + -0.9913927912712097, + 0.06272939592599869, + -0.024461546912789345 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.10645311325788498, + 0.9923352599143982, + 0.06275664269924164, + -0.02426443248987198 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.999992847442627, + 0.0, + -0.003779254388064146, + 0.025714099407196045 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.17351992428302765, + 0.9832095503807068, + 0.05647779628634453, + -0.026740705594420433 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999980092048645, + 0.0, + 0.00629875622689724, + -0.04285629093647003 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.025626102462410927, + -0.021693339571356773, + 0.0 + ], + [ + 0.04285714402794838, + 0.021693339571356773, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046996213495731354, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json new file mode 100644 index 0000000000000000000000000000000000000000..4afc4cc4a0bd580129ca12c6ade24677c2c1d450 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14730869885534048, + "parts": [ + { + "vertices_raw": [ + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + 0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + 0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.05999999865889549, + -0.012910000048577785, + 0.0 + ], + [ + 0.05999999865889549, + 0.012910000048577785, + 0.0 + ], + [ + 0.051428571343421936, + 0.017093444243073463, + 0.0 + ], + [ + 0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ], + [ + 0.051428571343421936, + -0.017093444243073463, + 0.0 + ], + [ + 0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 10, + 3, + 2, + 8, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 6, + 5, + 11, + 10, + 8, + 2, + 1, + 9, + 11, + 0, + 3, + 10, + 11, + 5, + 4, + 9, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.999980092048645, + 0.0, + -0.00629875622689724, + 0.04285629093647003 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9999611973762512, + 0.0, + 0.008817899972200394, + -0.059997666627168655 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.4255523979663849, + 0.9037190675735474, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.4255524277687073, + -0.9037191271781921, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.27449628710746765, + 0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.27449628710746765, + -0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 6, + 5, + 11 + ], + [ + 6, + 11, + 10 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 10 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 9 + ], + [ + 11, + 9, + 1 + ], + [ + 11, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.04271017014980316, + -0.01963379792869091, + 0.0 + ], + [ + 0.05999999865889549, + 0.01963379792869091, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004954468458890915, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json new file mode 100644 index 0000000000000000000000000000000000000000..72c43605db75f63509600c7405d7051f5ed69eec --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_00", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1484290948137641, + "parts": [ + { + "vertices_raw": [ + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 9, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 0, + 3, + 8, + 7, + 6, + 8, + 1, + 0, + 8, + 0, + 7, + 9, + 5, + 4, + 9, + 4, + 3, + 9, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + -0.01687842234969139, + 0.04309791699051857 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9997208118438721, + 0.0, + 0.023626530542969704, + -0.060328830033540726 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.4127448499202728, + -0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.2650867700576782, + -0.9622859954833984, + 0.06111282855272293, + -0.030376385897397995 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.31858009099960327, + -0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.4127448499202728, + 0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.31858009099960327, + 0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.2650867700576782, + 0.9622859954833984, + 0.06111283227801323, + -0.030376385897397995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + -0.059794239699840546, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.018319416791200638, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000534003134816885, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc4ff47fb209881b836642555ff319c64adeaa9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_04", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14955578465014696, + "parts": [ + { + "vertices_raw": [ + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.03808465600013733, + 0.017637168988585472, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.10667157918214798, + -0.9920870065689087, + 0.06621585041284561, + -0.024345725774765015 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.12080502510070801, + 0.9908395409584045, + 0.060357823967933655, + -0.02471955306828022 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999486207962036, + 0.0, + -0.010128009133040905, + 0.0258611049503088 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.08287479728460312, + 0.9943637847900391, + 0.06612429767847061, + -0.023779822513461113 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + 0.01687842234969139, + -0.04309791699051857 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04271017014980316, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + 0.02022716775536537, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045984378084540367, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json new file mode 100644 index 0000000000000000000000000000000000000000..3c167ad2373a8c358ec33e558191f4d42366d5a2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_08", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15065136598423123, + "parts": [ + { + "vertices_raw": [ + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.021158142015337944, + 0.018830060958862305, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.015775084495544434, + -0.9976583123207092, + 0.06655172258615494, + -0.022147322073578835 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.019441919401288033, + 0.997650146484375, + 0.06569758802652359, + -0.022210801020264626 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999942183494568, + 0.0, + -0.003376130247488618, + 0.008620760403573513 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.009618693962693214, + 0.99773770570755, + 0.06653622537851334, + -0.022096000611782074 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999486207962036, + 0.0, + 0.010128009133040905, + -0.0258611049503088 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025626102462410927, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008463256992399693, + 0.02050771936774254, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047775590792298317, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json new file mode 100644 index 0000000000000000000000000000000000000000..1ed123e7585eff2893b275f9cdf35d2f0af55b9a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_12", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15172057785093784, + "parts": [ + { + "vertices_raw": [ + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + -0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008507936261594296, + 0.019739162176847458, + 0.03500000014901161 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + 0.02051122486591339, + 0.02333332970738411 + ], + [ + -0.008507936261594296, + 0.019739162176847458, + 0.03500000014901161 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + 0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0005776305915787816, + 0.9977895021438599, + 0.06645173579454422, + -0.022016426548361778 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00013733595551457256, + -0.997772753238678, + 0.06670580059289932, + -0.022022008895874023 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999945759773254, + 0.0, + 0.0032854315359145403, + -0.00861864723265171 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999939799308777, + 0.0, + 0.003466828726232052, + -0.008624992333352566 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0004094734904356301, + -0.9977858066558838, + 0.06650834530591965, + -0.022017670795321465 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0004094920586794615, + 0.9978370070457458, + 0.06573501229286194, + -0.02200067602097988 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00037900859024375677, + 0.9977338314056396, + 0.06728142499923706, + -0.022052502259612083 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008542033843696117, + -0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02051122486591339, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005234889686107635, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json new file mode 100644 index 0000000000000000000000000000000000000000..9b223b19759631b2b01cdadec44d00eda27f112c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_16", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1528339758515358, + "parts": [ + { + "vertices_raw": [ + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.021158142015337944, + 0.018830060958862305, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.015775086358189583, + -0.9976582527160645, + 0.06655173003673553, + -0.022147320210933685 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01349969208240509, + 0.9976920485496521, + 0.06654628366231918, + -0.022128449752926826 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999942183494568, + 0.0, + -0.003376130247488618, + 0.008620760403573513 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.031780220568180084, + 0.9973264932632446, + 0.06580130755901337, + -0.022522859275341034 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999486207962036, + 0.0, + 0.010128009133040905, + -0.0258611049503088 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008463256992399693, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02050771936774254, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004665069282054901, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json new file mode 100644 index 0000000000000000000000000000000000000000..8a57978a389a86a315250bcf2abe42837f2956ee --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_20", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15391147788614035, + "parts": [ + { + "vertices_raw": [ + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.03808465600013733, + 0.017637168988585472, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.10667157918214798, + -0.9920870065689087, + 0.06621584296226501, + -0.024345725774765015 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.09888622164726257, + 0.9928949475288391, + 0.06619004160165787, + -0.02416195720434189 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999486207962036, + 0.0, + -0.010128009133040905, + 0.0258611049503088 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.16088494658470154, + 0.9851050972938538, + 0.06069689244031906, + -0.026334235444664955 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + 0.01687842234969139, + -0.04309791699051857 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.025389770045876503, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.02022716775536537, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000459388829767704, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json new file mode 100644 index 0000000000000000000000000000000000000000..12c95f8cb8b23351be23874c3675269e91741f4a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_24", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15499306377023458, + "parts": [ + { + "vertices_raw": [ + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + 0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 9, + 7, + 6, + 8, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 1, + 0, + 5, + 8, + 6, + 5, + 8, + 5, + 0, + 8, + 0, + 3, + 9, + 2, + 1, + 9, + 1, + 4, + 9, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + -0.01687842234969139, + 0.04309791699051857 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9997208118438721, + 0.0, + 0.023626530542969704, + -0.060328830033540726 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.4127448499202728, + -0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.31858009099960327, + -0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.2650867700576782, + -0.9622859954833984, + 0.06111283227801323, + -0.030376385897397995 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.2650867700576782, + 0.9622859954833984, + 0.06111282855272293, + -0.030376385897397995 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.31858009099960327, + 0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.4127448499202728, + 0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + 0.04231628403067589, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + 0.018319416791200638, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000515863299369812, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json new file mode 100644 index 0000000000000000000000000000000000000000..3156989913383daddb8eb473ebb930acd24f5077 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_00", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15611080173403025, + "parts": [ + { + "vertices_raw": [ + [ + -0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 0, + 2, + 7, + 2, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9997014999389648, + 0.0, + -0.02443210408091545, + 0.043443817645311356 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.3193064033985138, + -0.9464645385742188, + 0.04741566628217697, + -0.03176344558596611 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2949024736881256, + -0.9532313346862793, + 0.06620077788829803, + -0.03172207251191139 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2949024736881256, + 0.9532313346862793, + 0.06620077043771744, + -0.03172207251191139 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.3193064033985138, + 0.9464645981788635, + 0.047415681183338165, + -0.03176344931125641 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9994151592254639, + 0.0, + 0.03419524431228638, + -0.06080392748117447 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 2 + ], + [ + 7, + 2, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05924279987812042, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.01694606989622116, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004786304198205471, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json new file mode 100644 index 0000000000000000000000000000000000000000..918027de8192f21962203d2af2e2203db436fc5d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_04", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15721766371279955, + "parts": [ + { + "vertices_raw": [ + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.03757143020629883, + 0.016127226874232292, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.09835474193096161, + -0.9926883578300476, + 0.06997258961200714, + -0.024321120232343674 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.11158724129199982, + 0.991685152053833, + 0.0641004890203476, + -0.02451847866177559 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.99989253282547, + 0.0, + -0.014662046916782856, + 0.026071270927786827 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07602018862962723, + 0.9946615099906921, + 0.06978130340576172, + -0.02378201112151146 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997014999389648, + 0.0, + 0.02443210408091545, + -0.043443817645311356 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04231628403067589, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + 0.018695218488574028, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000539747066795826, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json new file mode 100644 index 0000000000000000000000000000000000000000..58158e17400815d26b6b7e4d369162a37a2c4d96 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_08", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1583923427388072, + "parts": [ + { + "vertices_raw": [ + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.020873015746474266, + 0.017206387594342232, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.014533225446939468, + -0.9974426627159119, + 0.06997793167829514, + -0.022292615845799446 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.01792549155652523, + 0.9974471926689148, + 0.06912174075841904, + -0.022328298538923264 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999880194664001, + 0.0, + -0.004887829069048166, + 0.008691254071891308 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.008818411268293858, + 0.9975111484527588, + 0.06995479762554169, + -0.022244466468691826 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.99989253282547, + 0.0, + 0.014662046916782856, + -0.026071270927786827 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025389770045876503, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008349206298589706, + 0.018952446058392525, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047627510502934456, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json new file mode 100644 index 0000000000000000000000000000000000000000..20f26b4085d7d1b76bf609d4c537c57adfba8b9b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_12", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15946255577728152, + "parts": [ + { + "vertices_raw": [ + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + -0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008409759029746056, + 0.018145794048905373, + 0.05833332985639572 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + 0.018955660983920097, + 0.046666670590639114 + ], + [ + -0.008409759029746056, + 0.018145794048905373, + 0.05833332985639572 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + 0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 10, + 9, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0007486121612600982, + 0.9975615739822388, + 0.06978756189346313, + -0.022166192531585693 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0001274568057851866, + -0.9975401759147644, + 0.07009678333997726, + -0.022180216386914253 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.999988317489624, + 0.0, + 0.004827362485229969, + -0.008688435889780521 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.999987781047821, + 0.0, + 0.004948296118527651, + -0.008695485070347786 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0003789389447774738, + -0.997552752494812, + 0.06991646438837051, + -0.02217203937470913 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04666667431592941 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0003789558249991387, + 0.9976180791854858, + 0.0689786970615387, + -0.022129513323307037 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00034759091795422137, + 0.9974866509437561, + 0.07085390388965607, + -0.022236254066228867 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.06999999284744263 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008463256992399693, + -0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018955660983920097, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006189672276377678, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb448dc539bcbde5f248f087180aa657ed3af63 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_16", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16108393296599388, + "parts": [ + { + "vertices_raw": [ + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.020873015746474266, + 0.017206387594342232, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.014534142799675465, + -0.9975054860115051, + 0.0690760388970375, + -0.022241149097681046 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.012462098151445389, + 0.997471272945404, + 0.06996981054544449, + -0.022275250405073166 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999880194664001, + 0.0, + -0.004887829069048166, + 0.008691254071891308 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.029138926416635513, + 0.9971725940704346, + 0.06926721334457397, + -0.02261465974152088 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.99989253282547, + 0.0, + 0.014662046916782856, + -0.026071270927786827 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008349206298589706, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018952446058392525, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007277638651430607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json new file mode 100644 index 0000000000000000000000000000000000000000..ba175f1bdcea6c83ec7f2602c8f0a3ae1593b5b9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_20", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16284565487876534, + "parts": [ + { + "vertices_raw": [ + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.03757143020629883, + 0.016127226874232292, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.09835474193096161, + -0.9926883578300476, + 0.06997258961200714, + -0.024321120232343674 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.09128494560718536, + 0.9933674335479736, + 0.06991580873727798, + -0.024151664227247238 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.99989253282547, + 0.0, + -0.014662046916782856, + 0.026071270927786827 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.14780288934707642, + 0.9868990182876587, + 0.06468937546014786, + -0.02599736861884594 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997014999389648, + 0.0, + 0.02443210408091545, + -0.043443817645311356 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.02504761889576912, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.018695218488574028, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007299459539353848, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json new file mode 100644 index 0000000000000000000000000000000000000000..c2925eec30e3b47653b13a4c0c065ad8bdb93cf4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_24", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16449657268822193, + "parts": [ + { + "vertices_raw": [ + [ + 0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 3, + 4, + 5, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 0, + 2, + 5, + 7, + 1, + 0, + 6, + 7, + 6, + 5, + 7, + 5, + 4, + 7, + 4, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9997014999389648, + 0.0, + -0.02443210408091545, + 0.043443817645311356 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.3193064033985138, + -0.9464645981788635, + 0.047415681183338165, + -0.03176344931125641 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.2949024736881256, + -0.9532313346862793, + 0.06620077043771744, + -0.03172207251191139 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9994151592254639, + 0.0, + 0.03419524431228638, + -0.06080392748117447 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.3193064033985138, + 0.9464645385742188, + 0.04741566628217697, + -0.03176344558596611 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.2949024736881256, + 0.9532313346862793, + 0.06620077788829803, + -0.03172207251191139 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 0, + 2 + ], + [ + 6, + 2, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + 0.04174603149294853, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + 0.01694606989622116, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007438268512487411, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json new file mode 100644 index 0000000000000000000000000000000000000000..ef070d7ffffdb3072205baf7ee72226c1a706c3a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_00", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16594254598021507, + "parts": [ + { + "vertices_raw": [ + [ + -0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.28176426887512207, + -0.9568561911582947, + 0.07095915824174881, + -0.03156288340687752 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995805621147156, + 0.0, + -0.02896241843700409, + 0.04375589266419411 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.28176426887512207, + 0.9568561911582947, + 0.07095915079116821, + -0.03156288340687752 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9991782903671265, + 0.0, + 0.04053110256791115, + -0.06123359873890877 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.058444444090127945, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.015502017922699451, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046289805322885513, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ea629ba03329d69f5475bf6da404f686bb472c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_04", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1670420439913869, + "parts": [ + { + "vertices_raw": [ + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.03696296364068985, + 0.014526070095598698, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.08958486467599869, + -0.9932065010070801, + 0.0742654949426651, + -0.024410808458924294 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.10197293758392334, + 0.992454469203949, + 0.06808596849441528, + -0.02440803125500679 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + -0.01738208346068859, + 0.026260580867528915 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06865190714597702, + 0.9948905110359192, + 0.07402486354112625, + -0.0238984152674675 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9995805621147156, + 0.0, + 0.02896241843700409, + -0.04375589266419411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04174603149294853, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + 0.017084399238228798, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046793557703495026, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json new file mode 100644 index 0000000000000000000000000000000000000000..be8533a08a7126d5dda4ddb735df1c638640640d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_08", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16814660979434848, + "parts": [ + { + "vertices_raw": [ + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.020534979179501534, + 0.015484628267586231, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.013226684182882309, + -0.9971567988395691, + 0.07418530434370041, + -0.022571271285414696 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0163465216755867, + 0.997177243232727, + 0.07328294962644577, + -0.022575421258807182 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999831914901733, + 0.0, + -0.005794792901724577, + 0.008754702284932137 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.007959515787661076, + 0.997214674949646, + 0.07415908575057983, + -0.022526461631059647 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + 0.01738208346068859, + -0.026260580867528915 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.02504761889576912, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008213992230594158, + 0.01731710322201252, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046526873484253883, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json new file mode 100644 index 0000000000000000000000000000000000000000..83ff68761a4b2c0699345d78f2b382e5adb171d9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_12", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16921060904860497, + "parts": [ + { + "vertices_raw": [ + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + -0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008283362723886967, + 0.016463851556181908, + 0.08166667073965073 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + 0.01732001267373562, + 0.07000000029802322 + ], + [ + -0.008283362723886967, + 0.016463851556181908, + 0.08166667073965073 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + 0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0009958917507901788, + 0.9972657561302185, + 0.07389164716005325, + -0.0224450696259737 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00011710215039784089, + -0.9972373843193054, + 0.07428020983934402, + -0.022471778094768524 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999834299087524, + 0.0, + 0.005764563102275133, + -0.00875258818268776 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999830722808838, + 0.0, + 0.005825023632496595, + -0.008757522329688072 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0003475119883660227, + -0.9972494840621948, + 0.07411756366491318, + -0.02246060222387314 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0003475384437479079, + 0.9973360896110535, + 0.07294297218322754, + -0.022379882633686066 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.0003136299201287329, + 0.9971615076065063, + 0.07529164105653763, + -0.022568535059690475 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008349206298589706, + -0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01732001267373562, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005061868578195572, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb10e51c31d11dc07d4c712c9e711a8a27f3254 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_16", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17031730990856886, + "parts": [ + { + "vertices_raw": [ + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.020534979179501534, + 0.015484628267586231, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.013227622956037521, + -0.9972271919250488, + 0.07323238253593445, + -0.022494614124298096 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.011375615373253822, + 0.9971802234649658, + 0.07417631894350052, + -0.02255559153854847 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999831914901733, + 0.0, + -0.005794792901724577, + 0.008754702284932137 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.02630259282886982, + 0.9969527721405029, + 0.0734395980834961, + -0.022831927984952927 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + 0.01738208346068859, + -0.026260580867528915 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008213992230594158, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.01731710322201252, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004711379297077656, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json new file mode 100644 index 0000000000000000000000000000000000000000..54f283fa98a14282843bc829409f70970b8ad315 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_20", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17138761887326837, + "parts": [ + { + "vertices_raw": [ + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.03696296364068985, + 0.014526070095598698, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.08958487212657928, + -0.9932065010070801, + 0.0742654949426651, + -0.024410808458924294 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.08330292999744415, + 0.9937582612037659, + 0.07419668138027191, + -0.024258071556687355 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + -0.01738208346068859, + 0.026260580867528915 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.13368090987205505, + 0.9886365532875061, + 0.06875413656234741, + -0.025719299912452698 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9995805621147156, + 0.0, + 0.02896241843700409, + -0.04375589266419411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.0246419757604599, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.017084399238228798, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047331396490335464, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json new file mode 100644 index 0000000000000000000000000000000000000000..10ce45aea372c3ed4c87705bfce3bcb094bbb095 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_24", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17244054470211267, + "parts": [ + { + "vertices_raw": [ + [ + 0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.28176426887512207, + -0.9568561911582947, + 0.07095915079116821, + -0.03156288340687752 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995805621147156, + 0.0, + -0.02896241843700409, + 0.04375589266419411 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9991782903671265, + 0.0, + 0.04053110256791115, + -0.06123359873890877 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.28176426887512207, + 0.9568561911582947, + 0.07095915824174881, + -0.03156288340687752 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.04106995835900307, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.058444444090127945, + 0.015502017922699451, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004309769719839096, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json new file mode 100644 index 0000000000000000000000000000000000000000..8aaaa9b0bd1b2cfc09b55d30f145faed3ce51018 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_00", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17350205779075623, + "parts": [ + { + "vertices_raw": [ + [ + -0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2533871829509735, + -0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995355606079102, + 0.0, + -0.030472012236714363, + 0.0438949391245842 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.2533871829509735, + 0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9990904331207275, + 0.0, + 0.04264181852340698, + -0.06142554432153702 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.057497940957546234, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.013970732688903809, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004480569623410702, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json new file mode 100644 index 0000000000000000000000000000000000000000..da3e163bfae16b60632ed38b07eae353525586af --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17455776687711477, + "parts": [ + { + "vertices_raw": [ + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.03632275015115738, + 0.012807857245206833, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.0799655020236969, + -0.993620753288269, + 0.07951882481575012, + -0.024670448154211044 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.09152571111917496, + 0.9931430816650391, + 0.07273166626691818, + -0.024422181770205498 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9998327493667603, + 0.0, + -0.01828872226178646, + 0.02634480409324169 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06043737381696701, + 0.995019257068634, + 0.07927148044109344, + -0.024187657982110977 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9995355606079102, + 0.0, + 0.030472012236714363, + -0.0438949391245842 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04106995835900307, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + 0.015376273542642593, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004633301869034767, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json new file mode 100644 index 0000000000000000000000000000000000000000..8de867ecb062a8cc134005eebebd443eaa8f0cbf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_08", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17569102672860026, + "parts": [ + { + "vertices_raw": [ + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.020179307088255882, + 0.013636996038258076, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.011796791106462479, + -0.9967597126960754, + 0.07956680655479431, + -0.023055613040924072 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.014633716084063053, + 0.9968008995056152, + 0.07857361435890198, + -0.02302122488617897 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999814033508301, + 0.0, + -0.006097160279750824, + 0.008782906457781792 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.007003269158303738, + 0.9968070387840271, + 0.07954134792089462, + -0.023014597594738007 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998327493667603, + 0.0, + 0.01828872226178646, + -0.02634480409324169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0246419757604599, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008071722462773323, + 0.015582971274852753, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047260476276278496, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json new file mode 100644 index 0000000000000000000000000000000000000000..aca47f5d66345a6346dbeeafd1baa7db9d58bb02 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_12", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17676026187837124, + "parts": [ + { + "vertices_raw": [ + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + -0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + 0.015585554763674736, + 0.09333332628011703 + ], + [ + -0.008142856881022453, + 0.01467064954340458, + 0.10499999672174454 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + 0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008142856881022453, + 0.01467064954340458, + 0.10499999672174454 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 1, + 0, + 11, + 6, + 5, + 4, + 2, + 1, + 10, + 11, + 5, + 7, + 6, + 11, + 10, + 0, + 12, + 3, + 2, + 4, + 9, + 12, + 9, + 8, + 12, + 8, + 7, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0013776461128145456, + 0.9968628883361816, + 0.0791359543800354, + -0.022922683507204056 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0001057285480783321, + -0.9968231320381165, + 0.07964687794446945, + -0.022969748824834824 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.0003135273000225425, + -0.9968345761299133, + 0.07950276881456375, + -0.022956479340791702 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.00031356498948298395, + 0.9969562292098999, + 0.07796287536621094, + -0.02281465008854866 + ] + }, + { + "index_base": 16, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.09333331882953644 + ] + }, + { + "index_base": 22, + "num_vertices": 5, + "plane": [ + -0.9999814033508301, + 0.0, + 0.0060971686616539955, + -0.008782908320426941 + ] + }, + { + "index_base": 27, + "num_vertices": 5, + "plane": [ + 0.9999814033508301, + 0.0, + 0.0060971686616539955, + -0.008782908320426941 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.0002760032075457275, + 0.9967106580734253, + 0.0810418650507927, + -0.023134037852287292 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 10 + ], + [ + 4, + 10, + 11 + ], + [ + 4, + 11, + 5 + ], + [ + 7, + 6, + 11 + ], + [ + 7, + 11, + 10 + ], + [ + 7, + 10, + 0 + ], + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 4 + ], + [ + 12, + 4, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008213992230594158, + -0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015585554763674736, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005245222710072994, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json new file mode 100644 index 0000000000000000000000000000000000000000..2e3767d3e78bc069c7757eef0170d9e733f6d256 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_16", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17788780387490988, + "parts": [ + { + "vertices_raw": [ + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.020179307088255882, + 0.013636996038258076, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0117977699264884, + -0.9968423247337341, + 0.07852499186992645, + -0.022947438061237335 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01019156165421009, + 0.996778130531311, + 0.07955849170684814, + -0.02304193750023842 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999814033508301, + 0.0, + -0.006097160279750824, + 0.008782906457781792 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.023144857957959175, + 0.9966283440589905, + 0.0787157416343689, + -0.023241568356752396 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998327493667603, + 0.0, + 0.01828872226178646, + -0.02634480409324169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008071722462773323, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015582971274852753, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047330185770988464, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json new file mode 100644 index 0000000000000000000000000000000000000000..854e13aa5f93f1cc4d64c4ed6624b105b6ccbc93 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_20", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17898599384352565, + "parts": [ + { + "vertices_raw": [ + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.03632275015115738, + 0.012807857245206833, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0799655020236969, + -0.993620753288269, + 0.07951882481575012, + -0.024670450016856194 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.07458075881004333, + 0.9940446615219116, + 0.07945362478494644, + -0.02453819289803505 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998327493667603, + 0.0, + -0.01828872226178646, + 0.02634480409324169 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.11787004768848419, + 0.9903174042701721, + 0.07333580404520035, + -0.0255210530012846 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9995355606079102, + 0.0, + 0.030472012236714363, + -0.0438949391245842 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.02421516738831997, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.015376273542642593, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004489971324801445, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json new file mode 100644 index 0000000000000000000000000000000000000000..9836f6365a08c37b9c0429d71c45282db2b2ee64 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_24", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18005940970033407, + "parts": [ + { + "vertices_raw": [ + [ + 0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2533871829509735, + -0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995355606079102, + 0.0, + -0.030472012236714363, + 0.0438949391245842 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9990904331207275, + 0.0, + 0.04264181852340698, + -0.06142554432153702 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.2533871829509735, + 0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.040358614176511765, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.057497940957546234, + 0.013970732688903809, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004435279406607151, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json new file mode 100644 index 0000000000000000000000000000000000000000..aefaffd0e2c0ef41aab2d20efcaa5c579ec7f8e6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18112219171598554, + "parts": [ + { + "vertices_raw": [ + [ + -0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.22045263648033142, + -0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995805025100708, + 0.0, + -0.028962410986423492, + 0.04372062906622887 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.22045263648033142, + 0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9991782903671265, + 0.0, + 0.040531087666749954, + -0.06118425354361534 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05650205910205841, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + 0.012327498756349087, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004459810443222523, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff5b6b102cffdbd47aeace14ab36fc44ac87af7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18217782489955425, + "parts": [ + { + "vertices_raw": [ + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.06904344260692596, + -0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + -0.017382077872753143, + 0.026239417493343353 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.06904344260692596, + 0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9995805025100708, + 0.0, + 0.028962410986423492, + -0.04372062906622887 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.040358614176511765, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.013543270528316498, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044152606278657913, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json new file mode 100644 index 0000000000000000000000000000000000000000..e752537cc48b2e75951bdc913a9750a9c1c56c27 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1832323377020657, + "parts": [ + { + "vertices_raw": [ + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.01984127052128315, + 0.01161818765103817, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.0101770656183362, + -0.9961678981781006, + 0.08686713874340057, + -0.023886121809482574 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012707267887890339, + 0.9962371587753296, + 0.08573319762945175, + -0.023802224546670914 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999832510948181, + 0.0, + -0.005794791504740715, + 0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.005904294550418854, + 0.9962042570114136, + 0.08684553951025009, + -0.02384961023926735 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + 0.017382077872753143, + -0.026239417493343353 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.02421516738831997, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + 0.01372206024825573, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004660557024180889, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json new file mode 100644 index 0000000000000000000000000000000000000000..2123ff2b6afc01784beb9a1d780f24388d347f9d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1843018876388669, + "parts": [ + { + "vertices_raw": [ + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + -0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + 0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + 0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 2, + 1, + 4, + 5, + 6, + 7, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 8, + 9, + 6, + 5, + 8, + 5, + 4, + 0, + 10, + 3, + 2, + 7, + 10, + 7, + 6, + 9, + 10, + 9, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 9.299373778048903e-05, + -0.9962136149406433, + 0.08693920075893402, + -0.02381523698568344 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.00027586863143369555, + -0.9962244033813477, + 0.08681468665599823, + -0.023800857365131378 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0002544356684666127, + 0.9962231516838074, + 0.0868292823433876, + -0.02380254492163658 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999832510948181, + 0.0, + 0.005794791504740715, + -0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9999832510948181, + 0.0, + 0.005794791504740715, + -0.008747645653784275 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.00025443595950491726, + 0.9962244033813477, + 0.08681455999612808, + -0.023800669237971306 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13999998569488525 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 9, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 7 + ], + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008071722462773323, + -0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.013724295422434807, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005016610957682133, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json new file mode 100644 index 0000000000000000000000000000000000000000..d9261ff40fb13c6977b67f38e61b06527aacfc7b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1854212610051036, + "parts": [ + { + "vertices_raw": [ + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.01984127052128315, + 0.01161818765103817, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.010178105905652046, + -0.996269702911377, + 0.08569203317165375, + -0.0237366184592247 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.008855986408889294, + 0.9961811304092407, + 0.08686062693595886, + -0.023874878883361816 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999832510948181, + 0.0, + -0.005794791504740715, + 0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.019514495506882668, + 0.9961177110671997, + 0.08584129810333252, + -0.023978056386113167 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + 0.017382077872753143, + -0.026239417493343353 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.007936508394777775, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.01372206024825573, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047799618914723396, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce8ef8bc75280729145e1ad3e3b7e7a90b1bd07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1864986657164991, + "parts": [ + { + "vertices_raw": [ + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 7, + 1, + 0, + 4, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.06904344260692596, + -0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + -0.017382077872753143, + 0.026239417493343353 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9995805025100708, + 0.0, + 0.028962410986423492, + -0.04372062906622887 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.06904344260692596, + 0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.02380952425301075, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.013543270528316498, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004356270655989647, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json new file mode 100644 index 0000000000000000000000000000000000000000..82ff26f300fc17910b06325996f438a643b50273 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18761466164141893, + "parts": [ + { + "vertices_raw": [ + [ + 0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.22045263648033142, + -0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995805025100708, + 0.0, + -0.028962410986423492, + 0.04372062906622887 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9991782903671265, + 0.0, + 0.040531087666749954, + -0.06118425354361534 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.22045263648033142, + 0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.0396825410425663, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.05650205910205841, + 0.012327498756349087, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044967280700802803, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json new file mode 100644 index 0000000000000000000000000000000000000000..227cc3972218a3c2a56ba0d26978a3a85c8767ba --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18866919167339802, + "parts": [ + { + "vertices_raw": [ + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 6, + 4, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9997015595436096, + 0.0, + -0.0244321059435606, + 0.043091192841529846 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2027236372232437, + -0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.15897104144096375, + -0.9832512736320496, + 0.08913552016019821, + -0.02914297953248024 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.15897104144096375, + 0.9832512736320496, + 0.08913551270961761, + -0.02914297766983509 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2027236372232437, + 0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9994151592254639, + 0.0, + 0.034195248037576675, + -0.060310401022434235 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0555555559694767, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + 0.010532026179134846, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047329487279057503, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfab039af872203e6998f6835ce40fce2b26fd8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1897498588077724, + "parts": [ + { + "vertices_raw": [ + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 0, + 3, + 1, + 0, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.05622124299407005, + -0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998924732208252, + 0.0, + -0.014662127941846848, + 0.025859661400318146 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.05622124299407005, + 0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9997015595436096, + 0.0, + 0.0244321059435606, + -0.043091192841529846 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 1, + 0, + 5 + ], + [ + 1, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0396825410425663, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + 0.011540447361767292, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004438520409166813, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json new file mode 100644 index 0000000000000000000000000000000000000000..d48cc7ac04e5511afc18000f53d9fba9649be695 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19079807261005044, + "parts": [ + { + "vertices_raw": [ + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.00828012079000473, + -0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13999998569488525 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999880790710449, + 0.0, + -0.004887829534709454, + 0.00862070918083191 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.008280114270746708, + 0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9998924732208252, + 0.0, + 0.014662127941846848, + -0.025859661400318146 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.02380952425301075, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + 0.011688744649291039, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004372391849756241, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf34eb126b0bb96caa5fa0e97a9fe9e309efa3c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1918827285990119, + "parts": [ + { + "vertices_raw": [ + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0, + -0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + 0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0, + 0.009399118833243847, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 2, + 1, + 4, + 5, + 6, + 7, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 8, + 3, + 2, + 7, + 7, + 6, + 9, + 8, + 9, + 6, + 5, + 10, + 10, + 5, + 4, + 0, + 10, + 0, + 3, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 7.821640610927716e-05, + -0.9952038526535034, + 0.09782222658395767, + -0.02532964199781418 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.0002324021770618856, + -0.9952139854431152, + 0.09771908074617386, + -0.025315318256616592 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9999880790710449, + 0.0, + 0.004887829534709454, + -0.00862070918083191 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0002069678157567978, + 0.9952123761177063, + 0.09773610532283783, + -0.025317683815956116 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.0002069681795546785, + 0.99521404504776, + 0.0977189689874649, + -0.02531510218977928 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + -0.9999880790710449, + 0.0, + 0.004887829534709454, + -0.00862070918083191 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 7, + 6, + 9 + ], + [ + 7, + 9, + 8 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.007936508394777775, + -0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011690597981214523, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000484309159219265, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json new file mode 100644 index 0000000000000000000000000000000000000000..984aa6dab2d8db89b5a5f4371ce4b4dd293dfdb4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19300377974286675, + "parts": [ + { + "vertices_raw": [ + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 7, + 1, + 0, + 4, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.008280114270746708, + -0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13999998569488525 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999880790710449, + 0.0, + -0.004887829534709454, + 0.00862070918083191 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9998924732208252, + 0.0, + 0.014662127941846848, + -0.025859661400318146 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.00828012079000473, + 0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.007822457700967789, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011688744649291039, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004365718923509121, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b0d332a4b1804e7b7b048f6974ca000c001b25 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19404071988537908, + "parts": [ + { + "vertices_raw": [ + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.0352010577917099, + 0.008815091103315353, + 0.16333332657814026 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 2, + 1, + 5, + 7, + 8, + 6, + 4, + 0, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05317671597003937, + 0.9938722252845764, + 0.09690253436565399, + -0.026302197948098183 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.05622124299407005, + -0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998924732208252, + 0.0, + -0.014662127941846848, + 0.025859661400318146 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9997015595436096, + 0.0, + 0.0244321059435606, + -0.043091192841529846 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.07772630453109741, + 0.993083119392395, + 0.08800238370895386, + -0.0258638896048069 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 7 + ], + [ + 8, + 6, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023467371240258217, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.011540447361767292, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045907124876976013, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json new file mode 100644 index 0000000000000000000000000000000000000000..590a6335319ce5b150113be3a3b73a5e2536f667 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19511073594912887, + "parts": [ + { + "vertices_raw": [ + [ + 0.05084597319364548, + 0.006856759078800678, + 0.16333332657814026 + ], + [ + 0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 1, + 0, + 7, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 0, + 3, + 7, + 3, + 6, + 5, + 8, + 4, + 6, + 8, + 6, + 3, + 2, + 1, + 4, + 8, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.2058468610048294, + 0.9767553806304932, + 0.05980103835463524, + -0.026879625394940376 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.15897104144096375, + -0.9832512736320496, + 0.08913551270961761, + -0.02914297766983509 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.1388813555240631, + 0.986309826374054, + 0.08890972286462784, + -0.028346367180347443 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -0.9997015595436096, + 0.0, + -0.0244321059435606, + 0.043091192841529846 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.2027236372232437, + -0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.9994151592254639, + 0.0, + 0.034195248037576675, + -0.060310401022434235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 1, + 0, + 7 + ], + [ + 1, + 7, + 5 + ], + [ + 1, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 1, + 4, + 8 + ], + [ + 1, + 8, + 2 + ] + ], + "raw_bounds": [ + [ + 0.039112288504838943, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.0555555559694767, + 0.010532026179134846, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048474082723259926, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json new file mode 100644 index 0000000000000000000000000000000000000000..89d9475bd9cb92a5c670c793a449e9c5e9d42555 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19620182365179062, + "parts": [ + { + "vertices_raw": [ + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 6, + 4, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + -0.01687842234969139, + 0.041863519698381424 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.15923957526683807, + -0.9849122166633606, + 0.06775414943695068, + -0.025675322860479355 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.10295261442661285, + -0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.10295261442661285, + 0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.15923957526683807, + 0.9849121570587158, + 0.06775414198637009, + -0.025675320997834206 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9997208714485168, + 0.0, + 0.023626530542969704, + -0.05860091745853424 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05475720018148422, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + 0.00850896816700697, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047113141044974327, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json new file mode 100644 index 0000000000000000000000000000000000000000..0064e5e468b69044cbd0c3a54b36f2d6e5edd1f8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19727269560098648, + "parts": [ + { + "vertices_raw": [ + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 0, + 3, + 1, + 0, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.040438901633024216, + -0.9924412965774536, + 0.11586611717939377, + -0.0290873721241951 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999486804008484, + 0.0, + -0.010127929039299488, + 0.02512039616703987 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.040438901633024216, + 0.9924412965774536, + 0.11586611717939377, + -0.029087375849485397 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + 0.01687842234969139, + -0.041863519698381424 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 1, + 0, + 5 + ], + [ + 1, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.039112288504838943, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.009283754974603653, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004300680011510849, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json new file mode 100644 index 0000000000000000000000000000000000000000..c458fa86bb5d3b7b8458cb73623974fbcdfc95b9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1983301700092852, + "parts": [ + { + "vertices_raw": [ + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.0077989050187170506, + -0.008766057901084423, + 0.1691666692495346 + ], + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 7, + 5, + 6, + 8, + 7, + 8, + 0, + 4, + 3, + 5, + 7, + 4, + 1, + 6, + 2, + 1, + 0, + 8, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + -0.01081851590424776, + -0.9926514029502869, + 0.12052483856678009, + -0.029174797236919403 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.9999945759773254, + 0.00024397540255449712, + -0.0032778880558907986, + 0.008355510421097279 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.005950722843408585, + 0.9930775165557861, + 0.11730962246656418, + -0.028539760038256645 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.9999486804008484, + 0.0, + 0.010127929039299488, + -0.02512039616703987 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.9999918341636658, + 0.0, + -0.004037563223391771, + 0.008481862023472786 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 6 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 8 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 3, + 5, + 7 + ], + [ + 3, + 7, + 4 + ], + [ + 1, + 6, + 2 + ], + [ + 1, + 0, + 8 + ], + [ + 1, + 8, + 6 + ] + ], + "raw_bounds": [ + [ + -0.023467371240258217, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.0077436803840100765, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047016097232699394, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json new file mode 100644 index 0000000000000000000000000000000000000000..8454c80112669dcc5f391f8e333f6a18805801a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19939976977184415, + "parts": [ + { + "vertices_raw": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0077989050187170506, + -0.008766057901084423, + 0.1691666692495346 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 1, + 0, + 8, + 5, + 4, + 0, + 8, + 0, + 3, + 2, + 6, + 5, + 8, + 2, + 8, + 3, + 2, + 1, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0018218476325273514, + -0.9930950999259949, + 0.11729776114225388, + -0.028505690395832062 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9930976033210754, + 0.1172918975353241, + -0.028490502387285233 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999943375587463, + 0.0, + 0.003376150503754616, + -0.008373850956559181 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9927135109901428, + 0.12049823254346848, + -0.02908647060394287 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999943375587463, + 0.0, + 0.003376150503754616, + -0.008373850956559181 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9976787567138672, + -0.06715301424264908, + 0.011299580335617065, + -0.010280981659889221 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 8 + ], + [ + 2, + 8, + 3 + ], + [ + 2, + 1, + 7 + ], + [ + 2, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004908228293061256, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json new file mode 100644 index 0000000000000000000000000000000000000000..d1403fab29318200b567d6a10ffd41bbca11188d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20047881873324513, + "parts": [ + { + "vertices_raw": [ + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.02339671552181244, + -0.00866159051656723, + 0.1691666692495346 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 7, + 6, + 5, + 8, + 8, + 5, + 0, + 4, + 2, + 7, + 8, + 4, + 2, + 4, + 3, + 2, + 1, + 6, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.00512088555842638, + -0.9930824041366577, + 0.1173073947429657, + -0.028532950207591057 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.004655175376683474, + -0.992912232875824, + 0.11875896900892258, + -0.02879917621612549 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.9999943375587463, + 0.0, + -0.003376150503754616, + 0.008373850956559181 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.005950721446424723, + 0.9930775165557861, + 0.11730962246656418, + -0.028539758175611496 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999486804008484, + 0.0, + 0.010127929039299488, + -0.025120394304394722 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9790915250778198, + -0.20068195462226868, + 0.033263180404901505, + -0.030272772535681725 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 6, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 4 + ], + [ + 2, + 7, + 8 + ], + [ + 2, + 8, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ] + ], + "raw_bounds": [ + [ + 0.0077436803840100765, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004746406339108944, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json new file mode 100644 index 0000000000000000000000000000000000000000..4054b319ec2b03fea706f2e18df913e88a41275d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json @@ -0,0 +1,293 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20159125700592995, + "parts": [ + { + "vertices_raw": [ + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.034846559166908264, + 0.006270579528063536, + 0.18666666746139526 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03879648074507713, + -0.006742853205651045, + 0.18083332479000092 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 9, + 3, + 2, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 1, + 0, + 2, + 1, + 6, + 7, + 8, + 5, + 4, + 7, + 6, + 5, + 8, + 9, + 8, + 4, + 0, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.039082370698451996, + 0.9924964904785156, + 0.11585881561040878, + -0.029054857790470123 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.04920884221792221, + -0.9936516284942627, + 0.1011682078242302, + -0.02690376155078411 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999486804008484, + 0.0, + -0.010127929039299488, + 0.02512039616703987 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9439366459846497, + -0.3263230621814728, + 0.04996723681688309, + -0.047857511788606644 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.031991805881261826, + -0.9927552342414856, + 0.11581708490848541, + -0.028884049504995346 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + 0.01687842234969139, + -0.041863519698381424 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.05004690960049629, + 0.9932717084884644, + 0.10443487763404846, + -0.02746686339378357 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 7 + ], + [ + 9, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 8, + 5, + 4 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 0 + ], + [ + 9, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023231040686368942, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.009283754974603653, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005084038712084293, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json new file mode 100644 index 0000000000000000000000000000000000000000..137419a00c552d0b2e9162b4d20de98f91159942 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2027008947916329, + "parts": [ + { + "vertices_raw": [ + [ + 0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 3, + 2, + 4, + 5, + 0, + 1, + 2, + 3, + 0, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + -0.01687842234969139, + 0.041863519698381424 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.15923957526683807, + 0.9849122166633606, + 0.06775414943695068, + -0.025675322860479355 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.10295261442661285, + 0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10295261442661285, + -0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.15923957526683807, + -0.9849121570587158, + 0.06775414198637009, + -0.025675320997834206 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9997208714485168, + 0.0, + 0.023626530542969704, + -0.05860091745853424 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + 0.03871840238571167, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.05475720018148422, + 0.00850896816700697, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048711011186242104, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json new file mode 100644 index 0000000000000000000000000000000000000000..dc4cd5340000ed608eb493accbf0f36351507cca --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20376770105212927, + "parts": [ + { + "vertices_raw": [ + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05400000140070915, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05400000140070915, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 1, + 7, + 0, + 4, + 6, + 7, + 6, + 5, + 1, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.10285229980945587, + -0.9881759881973267, + 0.11370828002691269, + -0.031211480498313904 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.10285230726003647, + 0.9881759881973267, + 0.1137082576751709, + -0.031211474910378456 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.9999610781669617, + 0.0, + 0.008817900903522968, + -0.05584966018795967 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999802112579346, + 0.0, + -0.006298758555203676, + 0.03989340737462044 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0542057603597641, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.03857142850756645, + 0.006075493060052395, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047380803152918816, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json new file mode 100644 index 0000000000000000000000000000000000000000..6e73231ad3b068e9e07ca66d317df59ee75b6fce --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json @@ -0,0 +1,281 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20485619362443686, + "parts": [ + { + "vertices_raw": [ + [ + -0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023165784776210785, + -0.0048393490724265575, + 0.19833332300186157 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 9, + 8, + 7, + 3, + 2, + 5, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 8, + 6, + 0, + 7, + 0, + 3, + 9, + 5, + 4, + 6, + 9, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999916553497314, + 0.0029921375680714846, + -0.0027446781750768423, + 0.023724433034658432 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.04427662491798401, + -0.9826094508171082, + 0.18032781779766083, + -0.041345350444316864 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999802112579346, + 0.0, + 0.006298758555203676, + -0.03989340737462044 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9677008986473083, + 0.2521011233329773, + -0.05468309670686722 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + -0.043241310864686966, + 0.9826552867889404, + 0.18032969534397125, + -0.041305892169475555 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9490499496459961, + 0.3151256740093231, + -0.06788468360900879 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + -0.03871840238571167, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0231428574770689, + 0.006569250021129847, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004819640889763832, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json new file mode 100644 index 0000000000000000000000000000000000000000..b042ca0012c05ca8ba25184a1bd947d1e1789f46 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2059377320110798, + "parts": [ + { + "vertices_raw": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ], + [ + -0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + -0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 4, + 7, + 8, + 7, + 6, + 10, + 11, + 5, + 4, + 9, + 11, + 9, + 8, + 10, + 0, + 3, + 5, + 11, + 3, + 2, + 1, + 0, + 10, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999862909317017, + 0.0016494225710630417, + 0.004972145427018404, + -0.024169692769646645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.0018121162429451942, + -0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.0018121162429451942, + 0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 22, + "num_vertices": 6, + "plane": [ + 0.9999986886978149, + -0.0014184084720909595, + -0.0008119826670736074, + 0.007887344807386398 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.003258385928347707, + 0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.0032583782449364662, + -0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 10 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 5, + 11, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 1, + 0, + 10 + ], + [ + 1, + 10, + 6 + ] + ], + "raw_bounds": [ + [ + -0.023231040686368942, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077142855152487755, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004899250343441963, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json new file mode 100644 index 0000000000000000000000000000000000000000..322c5c62161d57decc249ae70b79b2dc65836999 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20712192868813872, + "parts": [ + { + "vertices_raw": [ + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 0, + 3, + 10, + 11, + 8, + 11, + 4, + 7, + 6, + 1, + 0, + 9, + 6, + 9, + 8, + 7, + 10, + 3, + 2, + 5, + 10, + 5, + 4, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999985098838806, + 0.0005449182935990393, + 0.0016579612856730819, + -0.008056774735450745 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.9999985098838806, + -0.0005449182935990393, + 0.0016579612856730819, + -0.008056774735450745 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9867681860923767, + 0.16213755309581757, + -0.03681965172290802 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9476074576377869, + 0.3194371461868286, + -0.06878749281167984 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9867681860923767, + 0.16213755309581757, + -0.03681965172290802 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9476074576377869, + 0.3194371461868286, + -0.06878749281167984 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 9 + ], + [ + 6, + 9, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004833159036934376, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json new file mode 100644 index 0000000000000000000000000000000000000000..11fcdf06b3bb13b89e148cc3a65b5e0de4713966 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20821736380457878, + "parts": [ + { + "vertices_raw": [ + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 6, + 1, + 0, + 5, + 7, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 8, + 9, + 10, + 9, + 8, + 7, + 11, + 2, + 1, + 6, + 10, + 2, + 10, + 9, + 11, + 4, + 3, + 5, + 4, + 11, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999862909317017, + -0.0016494225710630417, + 0.004972145427018404, + -0.024169692769646645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.003258385928347707, + -0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.0018121162429451942, + 0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0018121162429451942, + -0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 26, + "num_vertices": 6, + "plane": [ + -0.9999986886978149, + 0.0014184084720909595, + -0.0008119826670736074, + 0.007887344807386398 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0032583782449364662, + 0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 11 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 10 + ], + [ + 2, + 10, + 9 + ], + [ + 2, + 9, + 11 + ], + [ + 2, + 11, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 7 + ] + ], + "raw_bounds": [ + [ + 0.0077142855152487755, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00049251364544034, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json new file mode 100644 index 0000000000000000000000000000000000000000..59fa105123121bdc05de9651f70fd6ff30574f2c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2093071979470551, + "parts": [ + { + "vertices_raw": [ + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03858116641640663, + -0.003536389907822013, + 0.20416666567325592 + ], + [ + 0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 4, + 3, + 2, + 9, + 8, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 1, + 0, + 5, + 7, + 6, + 7, + 8, + 9, + 2, + 1, + 6, + 9, + 10, + 8, + 7, + 7, + 5, + 4, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999863505363464, + 0.001649422338232398, + -0.004972145427018404, + 0.024169694632291794 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.022160092368721962, + -0.9868956804275513, + 0.1598309576511383, + -0.03683307766914368 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 5, + "plane": [ + 0.9999560117721558, + -0.004107663407921791, + 0.008437697775661945, + -0.04031669348478317 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.012393035925924778, + -0.9537602066993713, + 0.30031293630599976, + -0.06516489386558533 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9490499496459961, + 0.3151256740093231, + -0.06788468360900879 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + 0.04324130341410637, + 0.9826552867889404, + 0.18032969534397125, + -0.041305892169475555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 9 + ], + [ + 4, + 9, + 8 + ], + [ + 4, + 8, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 9 + ], + [ + 10, + 8, + 7 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 10 + ] + ], + "raw_bounds": [ + [ + 0.0231428574770689, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006569250021129847, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004935306496918201, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json new file mode 100644 index 0000000000000000000000000000000000000000..ace0de75d0e9bc97440b5512e5e8800a473812c6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21039402578026056, + "parts": [ + { + "vertices_raw": [ + [ + 0.05400000140070915, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.05400000140070915, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 3, + 2, + 4, + 5, + 0, + 1, + 2, + 3, + 0, + 2, + 6, + 0, + 3, + 5, + 6, + 5, + 4, + 7, + 1, + 0, + 6, + 7, + 6, + 4, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.10285230726003647, + -0.9881759881973267, + 0.1137082576751709, + -0.031211474910378456 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9999610781669617, + 0.0, + 0.008817900903522968, + -0.05584966018795967 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10285229980945587, + 0.9881759881973267, + 0.11370828002691269, + -0.031211480498313904 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999802112579346, + 0.0, + -0.006298758555203676, + 0.03989340737462044 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.03857142850756645, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + 0.006075493060052395, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047814613208174706, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json new file mode 100644 index 0000000000000000000000000000000000000000..089e75d9f98cc65a86e77af6559fea9b274a4a8d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json @@ -0,0 +1,465 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_00", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21155472891405225, + "parts": [ + { + "vertices_raw": [ + [ + -0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07138393074274063, + -0.023613978177309036, + 0.0 + ], + [ + -0.07138393074274063, + 0.023613978177309036, + 0.0 + ], + [ + -0.10129431635141373, + 0.0017999999690800905, + 0.014999999664723873 + ], + [ + -0.09405902028083801, + 0.019793465733528137, + 0.014999999664723873 + ], + [ + -0.092799112200737, + 0.01995484158396721, + 0.0 + ], + [ + -0.09993749856948853, + 0.0017999999690800905, + 0.0 + ], + [ + -0.09993749856948853, + -0.0017999999690800905, + 0.0 + ], + [ + -0.092799112200737, + -0.01995484158396721, + 0.0 + ], + [ + -0.09405902028083801, + -0.019793465733528137, + 0.014999999664723873 + ], + [ + -0.10129431635141373, + -0.0017999999690800905, + 0.014999999664723873 + ], + [ + -0.08566071093082428, + -0.022168535739183426, + 0.0 + ], + [ + -0.08600682765245438, + -0.022123273462057114, + 0.0037499999161809683 + ], + [ + -0.0868237093091011, + 0.02198748290538788, + 0.014999999664723873 + ], + [ + -0.08600682765245438, + 0.022123273462057114, + 0.0037499999161809683 + ], + [ + -0.0868237093091011, + -0.02198748290538788, + 0.014999999664723873 + ], + [ + -0.08566071093082428, + 0.022168535739183426, + 0.0 + ] + ], + "indices_raw": [ + 14, + 5, + 4, + 11, + 10, + 16, + 1, + 0, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 11, + 4, + 7, + 10, + 9, + 12, + 13, + 6, + 5, + 14, + 15, + 16, + 10, + 13, + 13, + 12, + 2, + 1, + 16, + 0, + 3, + 17, + 15, + 14, + 17, + 6, + 15, + 17, + 3, + 2, + 12, + 9, + 8, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9979192018508911, + 0.0, + 0.06447599828243256, + 0.07123539596796036 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9277389645576477, + 0.3647819757461548, + -0.07895905524492264, + -0.09337252378463745 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9277389645576477, + -0.3647819757461548, + -0.07895904034376144, + -0.09337251633405685 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9959339499473572, + 0.0, + -0.09008673578500748, + -0.0995311439037323 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.29645323753356934, + -0.9549353122711182, + -0.014626690186560154, + -0.046566177159547806 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.2934279441833496, + 0.9558733105659485, + -0.014362495392560959, + -0.04630415141582489 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -0.29017579555511475, + -0.9569260478019714, + -0.009519795887172222, + -0.04609173908829689 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + -0.09967212378978729, + -0.9949995279312134, + 0.00642238138243556, + -0.030610885471105576 + ] + }, + { + "index_base": 40, + "num_vertices": 5, + "plane": [ + -0.09967212378978729, + 0.9949995279312134, + 0.006422382313758135, + -0.030610885471105576 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.29615816473960876, + 0.9550080895423889, + -0.01580783724784851, + -0.04654025286436081 + ] + }, + { + "index_base": 48, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 16 + ], + [ + 14, + 16, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 9, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 6, + 5, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 16, + 10, + 13 + ], + [ + 13, + 12, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 16 + ], + [ + 0, + 3, + 17 + ], + [ + 0, + 17, + 15 + ], + [ + 0, + 15, + 14 + ], + [ + 17, + 6, + 15 + ], + [ + 17, + 3, + 2 + ], + [ + 17, + 2, + 12 + ], + [ + 17, + 12, + 9 + ], + [ + 17, + 9, + 8 + ], + [ + 17, + 8, + 7 + ], + [ + 17, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.10129431635141373, + -0.023613978177309036, + 0.0 + ], + [ + -0.07138393074274063, + 0.023613978177309036, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006576529704034328, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json new file mode 100644 index 0000000000000000000000000000000000000000..5c663cafe8912dd2e00f6fbe94ed24bd82838df1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_04", + "index": 167, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2128023006953299, + "parts": [ + { + "vertices_raw": [ + [ + -0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07138393074274063, + -0.023613978177309036, + 0.0 + ], + [ + -0.04283035919070244, + -0.023993680253624916, + 0.0 + ], + [ + -0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.04283035919070244, + 0.023993680253624916, + 0.0 + ], + [ + -0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07138393074274063, + 0.023613978177309036, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 4, + 4, + 5, + 7, + 6, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.013001112267374992, + -0.9998390674591064, + 0.012365220114588737, + -0.02454245463013649 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9992495179176331, + 0.0, + 0.03873702511191368, + 0.04279821738600731 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013295694254338741, + 0.9998353123664856, + 0.012349946424365044, + -0.02455918677151203 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9979192018508911, + 0.0, + -0.06447599828243256, + -0.07123539596796036 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 4 + ], + [ + 4, + 5, + 7 + ], + [ + 4, + 7, + 6 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.07235308736562729, + -0.023993680253624916, + 0.0 + ], + [ + -0.04283035919070244, + 0.023993680253624916, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044787582010030746, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json new file mode 100644 index 0000000000000000000000000000000000000000..f17700501ae1402a2bf1cc4b38498630c0d887fd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_08", + "index": 168, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21385798091068864, + "parts": [ + { + "vertices_raw": [ + [ + -0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.01427679043263197, + -0.023999998345971107, + 0.0 + ], + [ + -0.01427679043263197, + 0.023999998345971107, + 0.0 + ], + [ + -0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.04283035919070244, + -0.023993680253624916, + 0.0 + ], + [ + -0.04283035919070244, + 0.023993680253624916, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999164342880249, + 0.0, + 0.012920896522700787, + 0.014275596477091312 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.00021635816665366292, + -0.9999135136604309, + 0.013146898709237576, + -0.02400093898177147 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9992495179176331, + 0.0, + -0.03873702511191368, + -0.04279821738600731 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.00021635816665366292, + 0.9999135136604309, + 0.013146898709237576, + -0.02400093898177147 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.043411850929260254, + -0.023999998345971107, + 0.0 + ], + [ + -0.01427679043263197, + 0.023999998345971107, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004429500550031662, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json new file mode 100644 index 0000000000000000000000000000000000000000..04cfa45b7cf3429797780c01ebc9412f9c2a290f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_12", + "index": 169, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21489668963477015, + "parts": [ + { + "vertices_raw": [ + [ + -0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.01427679043263197, + 0.023999998345971107, + 0.0 + ], + [ + 0.01427679043263197, + -0.023999998345971107, + 0.0 + ], + [ + -0.01427679043263197, + -0.023999998345971107, + 0.0 + ], + [ + -0.01427679043263197, + 0.023999998345971107, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 5, + 2, + 1, + 7, + 4, + 5, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999164938926697, + 0.0, + -0.012920898385345936, + -0.014275598339736462 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999135136604309, + 0.013154353015124798, + -0.023997921496629715 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999164342880249, + 0.0, + -0.012920896522700787, + -0.014275596477091312 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999135136604309, + 0.013154353015124798, + -0.023997921496629715 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 6, + 5, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 4 + ] + ], + "raw_bounds": [ + [ + -0.014470620080828667, + -0.023999998345971107, + 0.0 + ], + [ + 0.014470620080828667, + 0.023999998345971107, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044925976544618607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json new file mode 100644 index 0000000000000000000000000000000000000000..eee4ae111fe28f7e51347552e8952600c86a11b5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_16", + "index": 170, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2163242008537054, + "parts": [ + { + "vertices_raw": [ + [ + 0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.01427679043263197, + 0.023999998345971107, + 0.0 + ], + [ + 0.01427679043263197, + -0.023999998345971107, + 0.0 + ], + [ + 0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.04283035919070244, + -0.023993680253624916, + 0.0 + ], + [ + 0.04283035919070244, + 0.023993680253624916, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9999164342880249, + 0.0, + 0.012920896522700787, + 0.014275596477091312 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.00021635816665366292, + -0.9999135136604309, + 0.013146898709237576, + -0.02400093898177147 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9992494583129883, + 0.0, + -0.03873702138662338, + -0.04279821366071701 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.00021635816665366292, + 0.9999135136604309, + 0.013146898709237576, + -0.02400093898177147 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.01427679043263197, + -0.023999998345971107, + 0.0 + ], + [ + 0.043411850929260254, + 0.023999998345971107, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004819468595087528, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json new file mode 100644 index 0000000000000000000000000000000000000000..fadf5e34dfa00ac9954d883d0e930445aae0e34e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_20", + "index": 171, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21743472199887037, + "parts": [ + { + "vertices_raw": [ + [ + 0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.04283035919070244, + -0.023993680253624916, + 0.0 + ], + [ + 0.07138393074274063, + -0.023613978177309036, + 0.0 + ], + [ + 0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.04283035919070244, + 0.023993680253624916, + 0.0 + ], + [ + 0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.07138393074274063, + 0.023613978177309036, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 6, + 4, + 0, + 3, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.013295694254338741, + -0.9998353123664856, + 0.012349946424365044, + -0.02455918677151203 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9992495179176331, + 0.0, + 0.03873702511191368, + 0.04279821738600731 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.013295694254338741, + 0.9998353123664856, + 0.01234994363039732, + -0.02455918677151203 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9979192614555359, + 0.0, + -0.06447600573301315, + -0.07123539596796036 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.04283035919070244, + -0.023993680253624916, + 0.0 + ], + [ + 0.07235308736562729, + 0.023993680253624916, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046227313578128815, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json new file mode 100644 index 0000000000000000000000000000000000000000..05191c3e971661bee5360bc4535d9ceec6432a11 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json @@ -0,0 +1,465 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_24", + "index": 172, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21851193392649293, + "parts": [ + { + "vertices_raw": [ + [ + 0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.07138393074274063, + 0.023613978177309036, + 0.0 + ], + [ + 0.07138393074274063, + -0.023613978177309036, + 0.0 + ], + [ + 0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.09993749856948853, + 0.0017999999690800905, + 0.0 + ], + [ + 0.092799112200737, + 0.01995484158396721, + 0.0 + ], + [ + 0.09405902028083801, + 0.019793465733528137, + 0.014999999664723873 + ], + [ + 0.10129431635141373, + 0.0017999999690800905, + 0.014999999664723873 + ], + [ + 0.09993749856948853, + -0.0017999999690800905, + 0.0 + ], + [ + 0.10129431635141373, + -0.0017999999690800905, + 0.014999999664723873 + ], + [ + 0.09405902028083801, + -0.019793465733528137, + 0.014999999664723873 + ], + [ + 0.092799112200737, + -0.01995484158396721, + 0.0 + ], + [ + 0.0868237093091011, + -0.02198748290538788, + 0.014999999664723873 + ], + [ + 0.08600682765245438, + -0.022123273462057114, + 0.0037499999161809683 + ], + [ + 0.08566071093082428, + 0.022168535739183426, + 0.0 + ], + [ + 0.08600682765245438, + 0.022123273462057114, + 0.0037499999161809683 + ], + [ + 0.08566071093082428, + -0.022168535739183426, + 0.0 + ], + [ + 0.0868237093091011, + 0.02198748290538788, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 17, + 0, + 3, + 12, + 10, + 9, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 4, + 7, + 9, + 11, + 10, + 12, + 13, + 6, + 5, + 14, + 15, + 3, + 2, + 16, + 13, + 12, + 17, + 6, + 15, + 15, + 14, + 1, + 0, + 17, + 16, + 11, + 13, + 14, + 5, + 4, + 8, + 11, + 16, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9979192018508911, + 0.0, + 0.06447599828243256, + 0.07123539596796036 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9277389645576477, + 0.3647819757461548, + -0.07895904034376144, + -0.09337251633405685 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9249252676963806, + -0.37191879749298096, + -0.07867525517940521, + -0.09317899495363235 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9959339499473572, + 0.0, + -0.09008673578500748, + -0.0995311439037323 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.2934279441833496, + -0.9558733105659485, + -0.014362495392560959, + -0.04630415141582489 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.29645323753356934, + 0.9549353122711182, + -0.014626690186560154, + -0.046566177159547806 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.09967212378978729, + -0.9949995279312134, + 0.006422382313758135, + -0.030610885471105576 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.29017579555511475, + 0.9569260478019714, + -0.009519795887172222, + -0.04609173908829689 + ] + }, + { + "index_base": 40, + "num_vertices": 5, + "plane": [ + 0.09967212378978729, + 0.9949995279312134, + 0.00642238138243556, + -0.030610885471105576 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.29615816473960876, + -0.9550080895423889, + -0.01580783724784851, + -0.04654025286436081 + ] + }, + { + "index_base": 48, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 17, + 0, + 3 + ], + [ + 17, + 3, + 12 + ], + [ + 17, + 12, + 10 + ], + [ + 17, + 10, + 9 + ], + [ + 17, + 9, + 7 + ], + [ + 17, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 9 + ], + [ + 11, + 10, + 12 + ], + [ + 11, + 12, + 13 + ], + [ + 6, + 5, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 3, + 2, + 16 + ], + [ + 3, + 16, + 13 + ], + [ + 3, + 13, + 12 + ], + [ + 17, + 6, + 15 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 17 + ], + [ + 16, + 11, + 13 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 16 + ], + [ + 14, + 16, + 2 + ], + [ + 14, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.07138393074274063, + -0.023613978177309036, + 0.0 + ], + [ + 0.10129431635141373, + 0.023613978177309036, + 0.014999999664723873 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006107003428041935, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json new file mode 100644 index 0000000000000000000000000000000000000000..50bf315c9e36da8c68eabccb5cd1d920d298ce24 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_00", + "index": 173, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21972252195701003, + "parts": [ + { + "vertices_raw": [ + [ + -0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.10206060856580734, + 0.0017999999690800905, + 0.029999999329447746 + ], + [ + -0.09477057307958603, + 0.019632089883089066, + 0.029999999329447746 + ], + [ + -0.09405902028083801, + 0.019793465733528137, + 0.014999999664723873 + ], + [ + -0.10129431635141373, + 0.0017999999690800905, + 0.014999999664723873 + ], + [ + -0.10129431635141373, + -0.0017999999690800905, + 0.014999999664723873 + ], + [ + -0.09405902028083801, + -0.019793465733528137, + 0.014999999664723873 + ], + [ + -0.09477057307958603, + -0.019632089883089066, + 0.029999999329447746 + ], + [ + -0.10206060856580734, + -0.0017999999690800905, + 0.029999999329447746 + ], + [ + -0.0868237093091011, + 0.02198748290538788, + 0.014999999664723873 + ], + [ + -0.0868237093091011, + -0.02198748290538788, + 0.014999999664723873 + ], + [ + -0.08748053014278412, + -0.02180643007159233, + 0.029999999329447746 + ], + [ + -0.08748053014278412, + 0.02180643007159233, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 12, + 3, + 2, + 13, + 9, + 8, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 11, + 4, + 7, + 14, + 10, + 9, + 13, + 14, + 13, + 2, + 1, + 0, + 3, + 12, + 15, + 15, + 12, + 6, + 5, + 15, + 5, + 4, + 11, + 10, + 14, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9993349313735962, + 0.0, + 0.03646569699048996, + 0.0717579796910286 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9269165396690369, + 0.37271952629089355, + -0.04365638643503189, + -0.093907430768013 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9269165396690369, + -0.37271952629089355, + -0.0436563566327095, + -0.093907430768013 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9986976385116577, + 0.0, + -0.051019616425037384, + -0.10039710253477097 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.28799647092819214, + -0.9576256275177002, + -0.003359137335792184, + -0.045993007719516754 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.09771190583705902, + -0.9951847195625305, + 0.007733453530818224, + -0.03048131987452507 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.09771190583705902, + 0.9951847195625305, + 0.007733452599495649, + -0.03048131987452507 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.2879965007305145, + 0.9576256275177002, + -0.003359137801453471, + -0.04599301144480705 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.029999997466802597 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 13 + ], + [ + 12, + 13, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 14, + 10, + 9 + ], + [ + 14, + 9, + 13 + ], + [ + 14, + 13, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 0, + 3, + 12 + ], + [ + 0, + 12, + 15 + ], + [ + 15, + 12, + 6 + ], + [ + 15, + 6, + 5 + ], + [ + 15, + 5, + 4 + ], + [ + 15, + 4, + 11 + ], + [ + 15, + 11, + 10 + ], + [ + 15, + 10, + 14 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.10206060856580734, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.07235308736562729, + 0.023420074954628944, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000539722852408886, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d27cfbffee689ec4e52f906a679894d4e29f2e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_04", + "index": 174, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2208828697912395, + "parts": [ + { + "vertices_raw": [ + [ + -0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + -0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 4, + 4, + 5, + 7, + 6, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.01278775930404663, + -0.9998379945755005, + 0.01266384869813919, + -0.0245345588773489 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9997603893280029, + 0.0, + 0.02188878320157528, + 0.04307311400771141 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013001063838601112, + 0.9998353719711304, + 0.012657588347792625, + -0.024546751752495766 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9993349313735962, + 0.0, + -0.03646569699048996, + -0.0717579796910286 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 4 + ], + [ + 4, + 5, + 7 + ], + [ + 4, + 7, + 6 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0729004368185997, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.043411850929260254, + 0.023796403780579567, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00152623001486063, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json new file mode 100644 index 0000000000000000000000000000000000000000..20259b86cee8c2efa65e990464a1a3189369bcd5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_08", + "index": 175, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2230144846253097, + "parts": [ + { + "vertices_raw": [ + [ + -0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + -0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999733567237854, + 0.0, + 0.0072977738454937935, + 0.014360767789185047 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.00021275370090734214, + -0.9999135136604309, + 0.013149445876479149, + -0.024000875651836395 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9997603893280029, + 0.0, + -0.02188878320157528, + -0.04307311400771141 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.00021275370090734214, + 0.9999135136604309, + 0.013149445876479149, + -0.024000875651836395 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04374026134610176, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.014470620080828667, + 0.02380266599357128, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043947622179985046, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json new file mode 100644 index 0000000000000000000000000000000000000000..9db24692c22a10957a68f08d23c77493cc75e41f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_12", + "index": 176, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2240044386126101, + "parts": [ + { + "vertices_raw": [ + [ + 0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + -0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 4, + 6, + 3, + 2, + 7, + 5, + 1, + 0, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999135732650757, + 0.013154476881027222, + -0.023997927084565163 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999733567237854, + 0.0, + -0.0072977738454937935, + -0.014360767789185047 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9999733567237854, + 0.0, + -0.007297773379832506, + -0.014360768720507622 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999135732650757, + 0.013154476881027222, + -0.023997927084565163 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 6, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ] + ], + "raw_bounds": [ + [ + -0.01458008959889412, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.01458008959889412, + 0.02380266599357128, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004545440897345543, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json new file mode 100644 index 0000000000000000000000000000000000000000..63ee8739c7608b91825af2f9bbb31ea996861ff5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_16", + "index": 177, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22508721193298697, + "parts": [ + { + "vertices_raw": [ + [ + 0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.014470620080828667, + 0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9999733567237854, + 0.0, + 0.0072977738454937935, + 0.014360767789185047 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.00021275370090734214, + -0.9999135136604309, + 0.013149445876479149, + -0.024000875651836395 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9997603297233582, + 0.0, + -0.02188878133893013, + -0.04307311028242111 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.00021275370090734214, + 0.9999135136604309, + 0.013149445876479149, + -0.024000875651836395 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.014470620080828667, + -0.02380266599357128, + 0.014999999664723873 + ], + [ + 0.04374026134610176, + 0.02380266599357128, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004426618106663227, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json new file mode 100644 index 0000000000000000000000000000000000000000..d3713eff60339720aa2a779f0debde00e1b7403b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_20", + "index": 178, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2261310569010675, + "parts": [ + { + "vertices_raw": [ + [ + 0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.043411850929260254, + 0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 6, + 4, + 0, + 3, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.013001063838601112, + -0.9998353719711304, + 0.012657588347792625, + -0.024546751752495766 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9997603893280029, + 0.0, + 0.02188878320157528, + 0.04307311400771141 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.013001063838601112, + 0.9998353719711304, + 0.012657588347792625, + -0.024546751752495766 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9993348717689514, + 0.0, + -0.03646569326519966, + -0.071757972240448 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.043411850929260254, + -0.023796403780579567, + 0.014999999664723873 + ], + [ + 0.0729004368185997, + 0.023796403780579567, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043341610580682755, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json new file mode 100644 index 0000000000000000000000000000000000000000..20f04d4a65b26a0d04827d68fa2250c40979a8da --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_24", + "index": 179, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2271662037819624, + "parts": [ + { + "vertices_raw": [ + [ + 0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.07235308736562729, + 0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.10129431635141373, + 0.0017999999690800905, + 0.014999999664723873 + ], + [ + 0.09405902028083801, + 0.019793465733528137, + 0.014999999664723873 + ], + [ + 0.09477057307958603, + 0.019632089883089066, + 0.029999999329447746 + ], + [ + 0.10206060856580734, + 0.0017999999690800905, + 0.029999999329447746 + ], + [ + 0.10129431635141373, + -0.0017999999690800905, + 0.014999999664723873 + ], + [ + 0.10206060856580734, + -0.0017999999690800905, + 0.029999999329447746 + ], + [ + 0.09477057307958603, + -0.019632089883089066, + 0.029999999329447746 + ], + [ + 0.09405902028083801, + -0.019793465733528137, + 0.014999999664723873 + ], + [ + 0.0868237093091011, + 0.02198748290538788, + 0.014999999664723873 + ], + [ + 0.0868237093091011, + -0.02198748290538788, + 0.014999999664723873 + ], + [ + 0.08748053014278412, + -0.02180643007159233, + 0.029999999329447746 + ], + [ + 0.08748053014278412, + 0.02180643007159233, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 12, + 5, + 4, + 8, + 11, + 13, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 4, + 7, + 9, + 3, + 2, + 13, + 14, + 14, + 13, + 11, + 10, + 15, + 6, + 5, + 12, + 15, + 12, + 1, + 0, + 15, + 0, + 3, + 14, + 10, + 9, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014999999664723873 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9993349313735962, + 0.0, + 0.03646569699048996, + 0.0717579796910286 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9269165396690369, + 0.37271952629089355, + -0.0436563566327095, + -0.093907430768013 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9247592091560364, + -0.3780559301376343, + -0.04352138191461563, + -0.09375635534524918 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9986976385116577, + 0.0, + -0.051019616425037384, + -0.10039710253477097 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.09771190583705902, + -0.9951847195625305, + 0.007733452599495649, + -0.03048131987452507 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.2879965007305145, + -0.9576256275177002, + -0.003359137801453471, + -0.04599301144480705 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.28799647092819214, + 0.9576256275177002, + -0.003359137335792184, + -0.045993007719516754 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.09771190583705902, + 0.9951847195625305, + 0.007733453530818224, + -0.03048131987452507 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029999999329447746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 11, + 13 + ], + [ + 12, + 13, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 9 + ], + [ + 3, + 2, + 13 + ], + [ + 3, + 13, + 14 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 15, + 6, + 5 + ], + [ + 15, + 5, + 12 + ], + [ + 15, + 12, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 14 + ], + [ + 15, + 14, + 10 + ], + [ + 15, + 10, + 9 + ], + [ + 15, + 9, + 7 + ], + [ + 15, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + 0.07235308736562729, + -0.023420074954628944, + 0.014999999664723873 + ], + [ + 0.10206060856580734, + 0.023420074954628944, + 0.029999999329447746 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005384166724979877, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd5f6b3050f5d430ffc939ac40ed8dcc4795c91 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_00", + "index": 180, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22828576574102044, + "parts": [ + { + "vertices_raw": [ + [ + -0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.10240509361028671, + 0.0017999999690800905, + 0.04500000178813934 + ], + [ + -0.09509044140577316, + 0.019470714032649994, + 0.04500000178813934 + ], + [ + -0.09477057307958603, + 0.019632089883089066, + 0.029999999329447746 + ], + [ + -0.10206060856580734, + 0.0017999999690800905, + 0.029999999329447746 + ], + [ + -0.10206060856580734, + -0.0017999999690800905, + 0.029999999329447746 + ], + [ + -0.09477057307958603, + -0.019632089883089066, + 0.029999999329447746 + ], + [ + -0.09509044140577316, + -0.019470714032649994, + 0.04500000178813934 + ], + [ + -0.10240509361028671, + -0.0017999999690800905, + 0.04500000178813934 + ], + [ + -0.08748053014278412, + -0.02180643007159233, + 0.029999999329447746 + ], + [ + -0.08748053014278412, + 0.02180643007159233, + 0.029999999329447746 + ], + [ + -0.08777578920125961, + 0.021625375375151634, + 0.04500000178813934 + ], + [ + -0.08777578920125961, + -0.021625375375151634, + 0.04500000178813934 + ] + ], + "indices_raw": [ + 12, + 9, + 8, + 7, + 6, + 13, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 11, + 4, + 7, + 0, + 3, + 13, + 14, + 14, + 13, + 6, + 5, + 15, + 10, + 9, + 12, + 15, + 12, + 2, + 1, + 15, + 1, + 0, + 14, + 5, + 4, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.029999997466802597 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998655319213867, + 0.0, + 0.016401486471295357, + 0.0723985955119133 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9254785776138306, + 0.37835004925727844, + -0.018459603190422058, + -0.09458215534687042 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9254785776138306, + -0.37835004925727844, + -0.01845962181687355, + -0.09458215534687042 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9997364282608032, + 0.0, + -0.02295961230993271, + -0.10134491324424744 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.09631672501564026, + 0.9952992796897888, + 0.01011768076568842, + -0.0304332934319973 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.2841874063014984, + 0.9587593674659729, + 0.004254535771906376, + -0.0458826869726181 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.2841874063014984, + -0.9587593674659729, + 0.004254535771906376, + -0.0458826906979084 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.09631673246622086, + -0.9952992796897888, + 0.01011768076568842, + -0.0304332934319973 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 12, + 13, + 3 + ], + [ + 12, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 3, + 13 + ], + [ + 0, + 13, + 14 + ], + [ + 14, + 13, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 10, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 4 + ], + [ + 15, + 4, + 11 + ], + [ + 15, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.10240509361028671, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.0729004368185997, + 0.023226173594594002, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005462677218019962, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json new file mode 100644 index 0000000000000000000000000000000000000000..d31a4964d775d79dca29e3cbbbd14ce8340a8b28 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_04", + "index": 181, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2294618426822126, + "parts": [ + { + "vertices_raw": [ + [ + -0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + -0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 4, + 4, + 5, + 7, + 6, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.012629336677491665, + -0.999837338924408, + 0.01287146471440792, + -0.0245315320789814 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999516010284424, + 0.0, + 0.009841986931860447, + 0.04344288632273674 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.01278772670775652, + 0.9998354911804199, + 0.012869361788034439, + -0.02454066462814808 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.029999999329447746 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9998655319213867, + 0.0, + -0.016401486471295357, + -0.0723985955119133 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 4 + ], + [ + 4, + 5, + 7 + ], + [ + 4, + 7, + 6 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.07314649224281311, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.04374026134610176, + 0.023599127307534218, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004580039530992508, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json new file mode 100644 index 0000000000000000000000000000000000000000..76566654cd62111f17407d61fb281d0af0f4727b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_08", + "index": 182, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2304689916782081, + "parts": [ + { + "vertices_raw": [ + [ + -0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + -0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999945759773254, + 0.0, + 0.0032806587405502796, + 0.014481591060757637 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.00021019195264670998, + -0.9999134540557861, + 0.013151169754564762, + -0.024000851437449455 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.029999999329447746 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999516010284424, + 0.0, + -0.009841986931860447, + -0.04344288632273674 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.00021019195264670998, + 0.9999134540557861, + 0.013151169754564762, + -0.024000851437449455 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.043887898325920105, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + 0.023605331778526306, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045181578025221825, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json new file mode 100644 index 0000000000000000000000000000000000000000..c5e53d4966d06d141984eeeb150de36deddcd799 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_12", + "index": 183, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23145795799791813, + "parts": [ + { + "vertices_raw": [ + [ + -0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + -0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 5, + 2, + 1, + 7, + 4, + 5, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999946355819702, + 0.0, + -0.003280658507719636, + -0.014481591060757637 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999133944511414, + 0.0131543492898345, + -0.023997917771339417 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.029999999329447746 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999945759773254, + 0.0, + -0.0032806587405502796, + -0.014481591060757637 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999133944511414, + 0.0131543492898345, + -0.023997917771339417 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 6, + 5, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 4 + ] + ], + "raw_bounds": [ + [ + -0.014629299752414227, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.014629299752414227, + 0.023605331778526306, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004444611258804798, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json new file mode 100644 index 0000000000000000000000000000000000000000..d250cdf617238c5913b3e5ac8fb5aa2833082566 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_16", + "index": 184, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.232540896628052, + "parts": [ + { + "vertices_raw": [ + [ + 0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.01458008959889412, + 0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9999945759773254, + 0.0, + 0.0032806587405502796, + 0.014481591060757637 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.00021019195264670998, + -0.9999134540557861, + 0.013151169754564762, + -0.024000851437449455 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9999516010284424, + 0.0, + -0.009841986931860447, + -0.04344288259744644 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.029999999329447746 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.00021019195264670998, + 0.9999134540557861, + 0.013151169754564762, + -0.024000851437449455 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.01458008959889412, + -0.023605331778526306, + 0.029999999329447746 + ], + [ + 0.043887898325920105, + 0.023605331778526306, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004432080313563347, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json new file mode 100644 index 0000000000000000000000000000000000000000..f88ab218f261f1c218c55f0d93870503264ad254 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_20", + "index": 185, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23359970469027758, + "parts": [ + { + "vertices_raw": [ + [ + 0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.04374026134610176, + 0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 6, + 4, + 0, + 3, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.01278772670775652, + -0.9998354911804199, + 0.012869361788034439, + -0.02454066462814808 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9999516010284424, + 0.0, + 0.009841986931860447, + 0.04344288632273674 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.01278772670775652, + 0.9998354911804199, + 0.012869361788034439, + -0.02454066276550293 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9998654723167419, + 0.0, + -0.016401484608650208, + -0.0723985880613327 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.029999999329447746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.04374026134610176, + -0.023599127307534218, + 0.029999999329447746 + ], + [ + 0.07314649224281311, + 0.023599127307534218, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004449780099093914, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json new file mode 100644 index 0000000000000000000000000000000000000000..2d6bfb83b7c2ee10be21dfeb9ceb38b3babfd875 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_24", + "index": 186, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2346924999728799, + "parts": [ + { + "vertices_raw": [ + [ + 0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.0729004368185997, + 0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.10206060856580734, + 0.0017999999690800905, + 0.029999999329447746 + ], + [ + 0.09477057307958603, + 0.019632089883089066, + 0.029999999329447746 + ], + [ + 0.09509044140577316, + 0.019470714032649994, + 0.04500000178813934 + ], + [ + 0.10240509361028671, + 0.0017999999690800905, + 0.04500000178813934 + ], + [ + 0.10206060856580734, + -0.0017999999690800905, + 0.029999999329447746 + ], + [ + 0.10240509361028671, + -0.0017999999690800905, + 0.04500000178813934 + ], + [ + 0.09509044140577316, + -0.019470714032649994, + 0.04500000178813934 + ], + [ + 0.09477057307958603, + -0.019632089883089066, + 0.029999999329447746 + ], + [ + 0.08748053014278412, + 0.02180643007159233, + 0.029999999329447746 + ], + [ + 0.08748053014278412, + -0.02180643007159233, + 0.029999999329447746 + ], + [ + 0.08777578920125961, + -0.021625375375151634, + 0.04500000178813934 + ], + [ + 0.08777578920125961, + 0.021625375375151634, + 0.04500000178813934 + ] + ], + "indices_raw": [ + 12, + 5, + 4, + 8, + 11, + 13, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 4, + 7, + 9, + 3, + 2, + 13, + 14, + 14, + 13, + 11, + 10, + 15, + 6, + 5, + 12, + 15, + 12, + 1, + 0, + 15, + 0, + 3, + 14, + 10, + 9, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.029999997466802597 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9998655319213867, + 0.0, + 0.016401486471295357, + 0.0723985955119133 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9254785776138306, + 0.37835004925727844, + -0.01845962181687355, + -0.09458215534687042 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9238117933273315, + -0.3824045956134796, + -0.018400905653834343, + -0.09446331858634949 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9997364282608032, + 0.0, + -0.02295961230993271, + -0.10134491324424744 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.09631672501564026, + -0.9952992796897888, + 0.01011768076568842, + -0.0304332934319973 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.2841874063014984, + -0.9587593674659729, + 0.004254535771906376, + -0.0458826869726181 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.2841874063014984, + 0.9587593674659729, + 0.004254535771906376, + -0.0458826906979084 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.09631673246622086, + 0.9952992796897888, + 0.01011768076568842, + -0.0304332934319973 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04500000178813934 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 11, + 13 + ], + [ + 12, + 13, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 9 + ], + [ + 3, + 2, + 13 + ], + [ + 3, + 13, + 14 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 15, + 6, + 5 + ], + [ + 15, + 5, + 12 + ], + [ + 15, + 12, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 14 + ], + [ + 15, + 14, + 10 + ], + [ + 15, + 10, + 9 + ], + [ + 15, + 9, + 7 + ], + [ + 15, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + 0.0729004368185997, + -0.023226173594594002, + 0.029999999329447746 + ], + [ + 0.10240509361028671, + 0.023226173594594002, + 0.04500000178813934 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005610641092061996, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json new file mode 100644 index 0000000000000000000000000000000000000000..4afc493058ac866a001ecf9d86f46e0006018cbf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_00", + "index": 187, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2358827507123351, + "parts": [ + { + "vertices_raw": [ + [ + -0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.10249648243188858, + 0.0017999999690800905, + 0.05999999865889549 + ], + [ + -0.09517531096935272, + 0.019309336319565773, + 0.05999999865889549 + ], + [ + -0.09509044140577316, + 0.019470714032649994, + 0.04500000178813934 + ], + [ + -0.10240509361028671, + 0.0017999999690800905, + 0.04500000178813934 + ], + [ + -0.10240509361028671, + -0.0017999999690800905, + 0.04500000178813934 + ], + [ + -0.09509044140577316, + -0.019470714032649994, + 0.04500000178813934 + ], + [ + -0.09517531096935272, + -0.019309336319565773, + 0.05999999865889549 + ], + [ + -0.10249648243188858, + -0.0017999999690800905, + 0.05999999865889549 + ], + [ + -0.08777578920125961, + -0.021625375375151634, + 0.04500000178813934 + ], + [ + -0.08777578920125961, + 0.021625375375151634, + 0.04500000178813934 + ], + [ + -0.08785413205623627, + 0.021444322541356087, + 0.05999999865889549 + ], + [ + -0.08785413205623627, + -0.021444322541356087, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 12, + 9, + 8, + 7, + 6, + 13, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 11, + 4, + 7, + 0, + 3, + 13, + 14, + 14, + 13, + 6, + 5, + 15, + 10, + 9, + 12, + 15, + 12, + 2, + 1, + 15, + 1, + 0, + 14, + 5, + 4, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999905228614807, + 0.0, + 0.004351595416665077, + 0.07294997572898865 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9239629507064819, + 0.3824671804904938, + -0.00337116583250463, + -0.0951552540063858 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9239629507064819, + -0.3824671804904938, + -0.0033711513970047235, + -0.0951552465558052 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9999815225601196, + 0.0, + -0.006092476658523083, + -0.10212904214859009 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.09524542093276978, + 0.9953759908676147, + 0.01245263684540987, + -0.03045300766825676 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.2812460958957672, + 0.9595823884010315, + 0.010113434866070747, + -0.04589303210377693 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.2812497615814209, + -0.9595949053764343, + 0.008732515387237072, + -0.04582112282514572 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.09524541348218918, + -0.99537593126297, + 0.012452634982764721, + -0.03045300580561161 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05999999865889549 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 12, + 13, + 3 + ], + [ + 12, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 3, + 13 + ], + [ + 0, + 13, + 14 + ], + [ + 14, + 13, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 10, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 4 + ], + [ + 15, + 4, + 11 + ], + [ + 15, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.10249648243188858, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.07314649224281311, + 0.02303227223455906, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000553725752979517, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json new file mode 100644 index 0000000000000000000000000000000000000000..a9369eb46a217be03b8371f70b8e0126ca65dc9a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_04", + "index": 188, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23711619060486555, + "parts": [ + { + "vertices_raw": [ + [ + -0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + -0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07320580631494522, + 0.022886844351887703, + 0.05624999850988388 + ], + [ + -0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ] + ], + "indices_raw": [ + 1, + 6, + 7, + 8, + 2, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 8, + 5, + 3, + 2, + 8, + 7, + 5, + 4, + 5, + 7, + 6, + 6, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + -0.9999918341636658, + 0.0, + -0.004044694826006889, + -0.072968490421772 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.012502905912697315, + -0.9998374581336975, + 0.012993683107197285, + -0.02452963776886463 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9999966025352478, + 0.0, + 0.002610674826428294, + 0.04377026855945587 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.012629340402781963, + 0.9998375773429871, + 0.012858239933848381, + -0.024530945345759392 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.012546353042125702, + 0.9998357892036438, + 0.01307442132383585, + -0.024536987766623497 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05999999865889549 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 1, + 6, + 7 + ], + [ + 1, + 7, + 8 + ], + [ + 1, + 8, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 8, + 5, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 7, + 5 + ], + [ + 4, + 5, + 7 + ], + [ + 4, + 7, + 6 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.07321176677942276, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.043887898325920105, + 0.02340184897184372, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046966318041086197, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json new file mode 100644 index 0000000000000000000000000000000000000000..3de94a32befab1ec88a086d9f7da4f5dafcb17be --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_08", + "index": 189, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23819459369406104, + "parts": [ + { + "vertices_raw": [ + [ + -0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + -0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999995827674866, + 0.0, + 0.0008700413745827973, + 0.014590142294764519 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.059999994933605194 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.0002080329868476838, + -0.9999135136604309, + 0.013152191415429115, + -0.02400083653628826 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999966025352478, + 0.0, + -0.002610674826428294, + -0.04377026855945587 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.0002080329868476838, + 0.9999135136604309, + 0.013152191415429115, + -0.024000834673643112 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04392705857753754, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.014629299752414227, + 0.02340799942612648, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004582465626299381, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json new file mode 100644 index 0000000000000000000000000000000000000000..867200fccad28953aac3ef7f529ac585ddf08893 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_12", + "index": 190, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23918577888980508, + "parts": [ + { + "vertices_raw": [ + [ + 0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + -0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 0, + 3, + 6, + 7, + 2, + 1, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999134540557861, + 0.013154477812349796, + -0.023997923359274864 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999996423721313, + 0.0, + -0.0008700413745827973, + -0.014590143226087093 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05999999865889549 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999134540557861, + 0.013154477812349796, + -0.023997923359274864 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9999995827674866, + 0.0, + -0.0008700413745827973, + -0.014590142294764519 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 6 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + -0.014642350375652313, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014642350375652313, + 0.02340799942612648, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00042601535096764565, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json new file mode 100644 index 0000000000000000000000000000000000000000..8be0821ccbee349e6466331ecb7aa3abb16d2ee0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_16", + "index": 191, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24019302101805806, + "parts": [ + { + "vertices_raw": [ + [ + 0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.014629299752414227, + 0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9999995827674866, + 0.0, + 0.0008700413745827973, + 0.014590142294764519 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.059999994933605194 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0002080329868476838, + -0.9999135136604309, + 0.013152191415429115, + -0.024000834673643112 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9999966025352478, + 0.0, + -0.002610675059258938, + -0.04377026855945587 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0002080329868476838, + 0.9999135136604309, + 0.013152191415429115, + -0.02400083653628826 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.014629299752414227, + -0.02340799942612648, + 0.04500000178813934 + ], + [ + 0.04392705857753754, + 0.02340799942612648, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043628038838505745, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c840b226a0acc4126e780fb2adbfdb57cd8cd5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_20", + "index": 192, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24126954562962055, + "parts": [ + { + "vertices_raw": [ + [ + 0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.043887898325920105, + 0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.07320580631494522, + 0.022886844351887703, + 0.05624999850988388 + ], + [ + 0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 2, + 6, + 7, + 8, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 6, + 5, + 7, + 7, + 5, + 4, + 8, + 8, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.9999893307685852, + 0.0, + -0.004602694883942604, + -0.07293858379125595 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.012629317119717598, + -0.9998357892036438, + 0.012993218377232552, + -0.024536974728107452 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.9999966025352478, + 0.0, + 0.002610674826428294, + 0.04377026855945587 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.012629340402781963, + 0.9998375773429871, + 0.012858239933848381, + -0.024530945345759392 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.012546353042125702, + 0.999835729598999, + 0.0130744194611907, + -0.024536985903978348 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05999999865889549 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 6, + 7 + ], + [ + 2, + 7, + 8 + ], + [ + 2, + 8, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.043887898325920105, + -0.02340184897184372, + 0.04500000178813934 + ], + [ + 0.07321176677942276, + 0.02340184897184372, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004573059268295765, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json new file mode 100644 index 0000000000000000000000000000000000000000..e54a6dd7c1821a6f6639f7adc86406b2d5d84f8a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_24", + "index": 193, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2423406350426376, + "parts": [ + { + "vertices_raw": [ + [ + 0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.07314649224281311, + 0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.10240509361028671, + 0.0017999999690800905, + 0.04500000178813934 + ], + [ + 0.09509044140577316, + 0.019470714032649994, + 0.04500000178813934 + ], + [ + 0.09517531096935272, + 0.019309336319565773, + 0.05999999865889549 + ], + [ + 0.10249648243188858, + 0.0017999999690800905, + 0.05999999865889549 + ], + [ + 0.10240509361028671, + -0.0017999999690800905, + 0.04500000178813934 + ], + [ + 0.10249648243188858, + -0.0017999999690800905, + 0.05999999865889549 + ], + [ + 0.09517531096935272, + -0.019309336319565773, + 0.05999999865889549 + ], + [ + 0.09509044140577316, + -0.019470714032649994, + 0.04500000178813934 + ], + [ + 0.08777578920125961, + -0.021625375375151634, + 0.04500000178813934 + ], + [ + 0.08777578920125961, + 0.021625375375151634, + 0.04500000178813934 + ], + [ + 0.08785413205623627, + 0.021444322541356087, + 0.05999999865889549 + ], + [ + 0.08785413205623627, + -0.021444322541356087, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 12, + 2, + 1, + 13, + 5, + 4, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 4, + 7, + 9, + 14, + 6, + 5, + 13, + 14, + 13, + 1, + 0, + 3, + 2, + 12, + 15, + 15, + 12, + 11, + 10, + 15, + 10, + 9, + 7, + 6, + 14, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04500000178813934 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999905228614807, + 0.0, + 0.004351595416665077, + 0.07294997572898865 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9239629507064819, + 0.3824671804904938, + -0.0033711513970047235, + -0.0951552465558052 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9225918650627136, + -0.3857629597187042, + -0.0033453539945185184, + -0.09505607932806015 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9999815225601196, + 0.0, + -0.006092476658523083, + -0.10212904214859009 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.2812497615814209, + 0.9595949053764343, + 0.008732515387237072, + -0.04582112282514572 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.09524541348218918, + 0.99537593126297, + 0.012452634982764721, + -0.03045300580561161 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.09524542093276978, + -0.9953759908676147, + 0.01245263684540987, + -0.03045300766825676 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.2812460958957672, + -0.9595823884010315, + 0.010113434866070747, + -0.04589303210377693 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05999999865889549 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 13 + ], + [ + 12, + 13, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 9 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 13 + ], + [ + 14, + 13, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 3, + 2, + 12 + ], + [ + 3, + 12, + 15 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 10 + ], + [ + 15, + 10, + 9 + ], + [ + 15, + 9, + 7 + ], + [ + 15, + 7, + 6 + ], + [ + 15, + 6, + 14 + ], + [ + 15, + 14, + 0 + ], + [ + 15, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.07314649224281311, + -0.02303227223455906, + 0.04500000178813934 + ], + [ + 0.10249648243188858, + 0.02303227223455906, + 0.05999999865889549 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005438430234789848, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6e605fe944e050104a3c34a5c6619d74d58dc1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_00", + "index": 194, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.243506932631135, + "parts": [ + { + "vertices_raw": [ + [ + -0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.09517531096935272, + -0.019309336319565773, + 0.05999999865889549 + ], + [ + -0.09517531096935272, + -0.0191479604691267, + 0.07500000298023224 + ], + [ + -0.10249648243188858, + -0.0017999999690800905, + 0.07500000298023224 + ], + [ + -0.10249648243188858, + -0.0017999999690800905, + 0.05999999865889549 + ], + [ + -0.10249648243188858, + 0.0017999999690800905, + 0.05999999865889549 + ], + [ + -0.10249648243188858, + 0.0017999999690800905, + 0.07500000298023224 + ], + [ + -0.09517531096935272, + 0.0191479604691267, + 0.07500000298023224 + ], + [ + -0.09517531096935272, + 0.019309336319565773, + 0.05999999865889549 + ], + [ + -0.08785413205623627, + 0.02126326784491539, + 0.07500000298023224 + ], + [ + -0.08785413205623627, + 0.021444322541356087, + 0.05999999865889549 + ], + [ + -0.08785413205623627, + -0.021444322541356087, + 0.05999999865889549 + ], + [ + -0.08785413205623627, + -0.02126326784491539, + 0.07500000298023224 + ] + ], + "indices_raw": [ + 14, + 4, + 7, + 8, + 11, + 13, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 8, + 9, + 10, + 11, + 11, + 10, + 12, + 13, + 14, + 15, + 5, + 4, + 14, + 1, + 0, + 15, + 12, + 3, + 2, + 13, + 12, + 10, + 9, + 6, + 5, + 15, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05999999865889549 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.07321176677942276 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.921314537525177, + -0.388812392950058, + 0.0020914969500154257, + -0.0952882245182991 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.10249648243188858 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.921314537525177, + 0.388812392950058, + 0.002091514179483056, + -0.0952882170677185 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.2787483036518097, + 0.960294246673584, + 0.011591048911213875, + -0.045777514576911926 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.2787483334541321, + -0.960294246673584, + 0.011591048911213875, + -0.045777518302202225 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.09433717280626297, + -0.9954571723937988, + 0.012868029065430164, + -0.030413290485739708 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.09433717280626297, + 0.9954571723937988, + 0.012868029065430164, + -0.030413290485739708 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07499999552965164 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 13 + ], + [ + 14, + 13, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 11, + 10, + 12 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 15, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 15 + ], + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 13 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 12, + 5, + 15 + ], + [ + 12, + 15, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.10249648243188858, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + 0.022838369011878967, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005531241185963154, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab3f51fe123131ed595910d2b09b8b8ab1e4dd2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_04", + "index": 195, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24466017773374915, + "parts": [ + { + "vertices_raw": [ + [ + -0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07321397215127945, + 0.02269294299185276, + 0.07124999910593033 + ], + [ + -0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 1, + 6, + 7, + 8, + 2, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 8, + 5, + 3, + 2, + 8, + 7, + 5, + 4, + 5, + 7, + 6, + 6, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + -1.0, + 0.0, + 6.53443275950849e-05, + -0.07321666926145554 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.012502898462116718, + -0.9998368620872498, + 0.013037191703915596, + -0.02453223429620266 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.04392705857753754 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05999999865889549 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.012502916157245636, + 0.9998382925987244, + 0.012922214344143867, + -0.024525370448827744 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.012432222254574299, + 0.9998367428779602, + 0.013106180354952812, + -0.024533266201615334 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07500000298023224 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 1, + 6, + 7 + ], + [ + 1, + 7, + 8 + ], + [ + 1, + 8, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 8, + 5, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 7, + 5 + ], + [ + 4, + 5, + 7 + ], + [ + 4, + 7, + 6 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.07321397215127945, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + 0.02320457249879837, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004659160040318966, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json new file mode 100644 index 0000000000000000000000000000000000000000..0eca13cbeaa33caf5e838a851cc961c9beac4cfa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_08", + "index": 196, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24569946387782693, + "parts": [ + { + "vertices_raw": [ + [ + -0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + -0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.03660589084029198, + 0.023011930286884308, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07500000298023224 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.059999994933605194 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.00020803326333407313, + 0.999914824962616, + 0.013047008775174618, + -0.023994555696845055 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.00020618860435206443, + -0.9999135136604309, + 0.013152547180652618, + -0.024000803008675575 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.014642349444329739 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -6.385310553014278e-05, + 0.9999133944511414, + 0.013154346495866776, + -0.02399885095655918 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.04392705857753754 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.04392705857753754, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + 0.023210665211081505, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004695402458310127, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json new file mode 100644 index 0000000000000000000000000000000000000000..803c27bae173728d632b7181e21de3b8d269e615 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_12", + "index": 197, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24670742079615593, + "parts": [ + { + "vertices_raw": [ + [ + -0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + -0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 5, + 2, + 1, + 7, + 4, + 5, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07500000298023224 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.014642350375652313 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999134540557861, + 0.013154348358511925, + -0.023997917771339417 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05999999865889549 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.014642349444329739 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999134540557861, + 0.013154348358511925, + -0.023997917771339417 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 6, + 5, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 4 + ] + ], + "raw_bounds": [ + [ + -0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.014642350375652313, + 0.023210665211081505, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004373542033135891, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json new file mode 100644 index 0000000000000000000000000000000000000000..40cf0c119ac77e8ccd40401a6ee7a1621dc1f1ad --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_16", + "index": 198, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2477091127075255, + "parts": [ + { + "vertices_raw": [ + [ + 0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.014642350375652313, + 0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.03660589084029198, + 0.023011930286884308, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07500000298023224 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.059999994933605194 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.00020803326333407313, + 0.999914824962616, + 0.013048809953033924, + -0.02399466186761856 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0002080329868476838, + -0.9999135136604309, + 0.013152548111975193, + -0.024000857025384903 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + 0.014642349444329739 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0006331934710033238, + 0.9999133348464966, + 0.013150746002793312, + -0.024019422009587288 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.04392705857753754 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.014642350375652313, + -0.023210665211081505, + 0.05999999865889549 + ], + [ + 0.04392705857753754, + 0.023210665211081505, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004542302340269089, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json new file mode 100644 index 0000000000000000000000000000000000000000..726ea02b13ec157bd04b0befd3cad5ae51a39a50 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_20", + "index": 199, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24876457871869206, + "parts": [ + { + "vertices_raw": [ + [ + 0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + 0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.07321397215127945, + 0.02269294299185276, + 0.07124999910593033 + ], + [ + 0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ] + ], + "indices_raw": [ + 2, + 6, + 7, + 8, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 2, + 1, + 5, + 6, + 5, + 7, + 7, + 5, + 4, + 8, + 8, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + -5.3463547374121845e-05, + -0.07320855557918549 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.012502898462116718, + -0.9998368620872498, + 0.013037193566560745, + -0.02453223429620266 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.04392705857753754 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05999999865889549 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.01250291708856821, + 0.9998382925987244, + 0.012922217138111591, + -0.024525370448827744 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.012432224117219448, + 0.9998367428779602, + 0.013106179423630238, + -0.024533266201615334 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07500000298023224 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 6, + 7 + ], + [ + 2, + 7, + 8 + ], + [ + 2, + 8, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.04392705857753754, + -0.02320457249879837, + 0.05999999865889549 + ], + [ + 0.07321397215127945, + 0.02320457249879837, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000450965017080307, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json new file mode 100644 index 0000000000000000000000000000000000000000..ca62f236cc1def7f2b7b70ad45f672e3c17b7e61 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_24", + "index": 200, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24983540177345276, + "parts": [ + { + "vertices_raw": [ + [ + 0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.07321176677942276, + 0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + 0.0017999999690800905, + 0.05999999865889549 + ], + [ + 0.09517531096935272, + 0.019309336319565773, + 0.05999999865889549 + ], + [ + 0.09517531096935272, + 0.0191479604691267, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + 0.0017999999690800905, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + -0.0017999999690800905, + 0.05999999865889549 + ], + [ + 0.10249648243188858, + -0.0017999999690800905, + 0.07500000298023224 + ], + [ + 0.09517531096935272, + -0.0191479604691267, + 0.07500000298023224 + ], + [ + 0.09517531096935272, + -0.019309336319565773, + 0.05999999865889549 + ], + [ + 0.08785413205623627, + 0.021444322541356087, + 0.05999999865889549 + ], + [ + 0.08785413205623627, + 0.02126326784491539, + 0.07500000298023224 + ], + [ + 0.08785413205623627, + -0.02126326784491539, + 0.07500000298023224 + ], + [ + 0.08785413205623627, + -0.021444322541356087, + 0.05999999865889549 + ] + ], + "indices_raw": [ + 15, + 2, + 1, + 12, + 5, + 4, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 8, + 4, + 7, + 9, + 12, + 13, + 6, + 5, + 11, + 10, + 14, + 15, + 12, + 1, + 0, + 13, + 14, + 3, + 2, + 15, + 14, + 10, + 9, + 7, + 6, + 13, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05999999865889549 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.07321176677942276 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9225950241088867, + 0.38576433062553406, + 0.002075118012726307, + -0.09538162499666214 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.921314537525177, + -0.388812392950058, + 0.002091514179483056, + -0.0952882170677185 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.10249648243188858 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.2787483334541321, + 0.960294246673584, + 0.011591048911213875, + -0.045777518302202225 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.2787483036518097, + -0.960294246673584, + 0.011591048911213875, + -0.045777514576911926 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.09433717280626297, + 0.9954571723937988, + 0.012868029065430164, + -0.030413290485739708 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.09433717280626297, + -0.9954571723937988, + 0.012868029065430164, + -0.030413290485739708 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07499999552965164 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 2, + 1 + ], + [ + 15, + 1, + 12 + ], + [ + 15, + 12, + 5 + ], + [ + 15, + 5, + 4 + ], + [ + 15, + 4, + 8 + ], + [ + 15, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 9 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 11, + 10, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 15 + ], + [ + 14, + 10, + 9 + ], + [ + 14, + 9, + 7 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 13 + ], + [ + 14, + 13, + 0 + ], + [ + 14, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.07321176677942276, + -0.022838369011878967, + 0.05999999865889549 + ], + [ + 0.10249648243188858, + 0.022838369011878967, + 0.07500000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005312967114150524, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json new file mode 100644 index 0000000000000000000000000000000000000000..93ecf9598d80f169276b8931ff05108b3673cede --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json @@ -0,0 +1,436 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_00", + "index": 201, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2510084696114063, + "parts": [ + { + "vertices_raw": [ + [ + -0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.09517531096935272, + -0.0191479604691267, + 0.07500000298023224 + ], + [ + -0.09509044140577316, + -0.01898658461868763, + 0.09000000357627869 + ], + [ + -0.10240509361028671, + -0.0017999999690800905, + 0.09000000357627869 + ], + [ + -0.10249648243188858, + -0.0017999999690800905, + 0.07500000298023224 + ], + [ + -0.10240509361028671, + 0.0017999999690800905, + 0.09000000357627869 + ], + [ + -0.10247188061475754, + 0.0017999999690800905, + 0.08250000327825546 + ], + [ + -0.10249648243188858, + 0.0017999999690800905, + 0.07500000298023224 + ], + [ + -0.09509044140577316, + 0.01898658461868763, + 0.09000000357627869 + ], + [ + -0.09517531096935272, + 0.0191479604691267, + 0.07500000298023224 + ], + [ + -0.08777578920125961, + 0.021082215011119843, + 0.09000000357627869 + ], + [ + -0.08785413205623627, + 0.02126326784491539, + 0.07500000298023224 + ], + [ + -0.08785413205623627, + -0.02126326784491539, + 0.07500000298023224 + ], + [ + -0.08777578920125961, + -0.021082215011119843, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 15, + 4, + 7, + 10, + 12, + 14, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 8, + 9, + 10, + 7, + 11, + 12, + 9, + 8, + 10, + 9, + 12, + 12, + 11, + 13, + 14, + 15, + 16, + 5, + 4, + 13, + 3, + 2, + 14, + 15, + 1, + 0, + 16, + 16, + 0, + 3, + 13, + 11, + 8, + 6, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07499999552965164 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999905824661255, + 0.0, + -0.00435159495100379, + 0.0735374465584755 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9201052188873291, + -0.39159905910491943, + 0.007512362208217382, + -0.09560445696115494 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + -0.9998917579650879, + -0.011716839857399464, + 0.008903970010578632, + -0.10317428410053253 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9203490614891052, + 0.3909940719604492, + 0.00900771003216505, + -0.09575682878494263 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.9213123917579651, + 0.38881146907806396, + 0.003022127551957965, + -0.09535779803991318 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.27647411823272705, + 0.9609328508377075, + 0.013042625039815903, + -0.04570016637444496 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.27647414803504944, + -0.9609328508377075, + 0.013042625971138477, + -0.04570016637444496 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.09351226687431335, + 0.9955295324325562, + 0.01327589899301529, + -0.030385125428438187 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.09351226687431335, + -0.9955295324325562, + 0.01327589899301529, + -0.030385127291083336 + ] + }, + { + "index_base": 44, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09000000357627869 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 4, + 7 + ], + [ + 15, + 7, + 10 + ], + [ + 15, + 10, + 12 + ], + [ + 15, + 12, + 14 + ], + [ + 15, + 14, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 6, + 10, + 7 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 10, + 9, + 12 + ], + [ + 12, + 11, + 13 + ], + [ + 12, + 13, + 14 + ], + [ + 15, + 16, + 5 + ], + [ + 15, + 5, + 4 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 14 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 16 + ], + [ + 16, + 0, + 3 + ], + [ + 16, + 3, + 13 + ], + [ + 16, + 13, + 11 + ], + [ + 16, + 11, + 8 + ], + [ + 16, + 8, + 6 + ], + [ + 16, + 6, + 5 + ] + ], + "raw_bounds": [ + [ + -0.10249648243188858, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.07314649224281311, + 0.022644467651844025, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006798058748245239, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json new file mode 100644 index 0000000000000000000000000000000000000000..017ce672ad4f87ad45624c1c28f14b644a65ebb3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_04", + "index": 202, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2523023788817227, + "parts": [ + { + "vertices_raw": [ + [ + -0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + -0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.058517199009656906, + 0.02275601401925087, + 0.09000000357627869 + ], + [ + -0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08999999612569809 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.012387612834572792, + -0.9998376369476318, + 0.013080268166959286, + -0.024528730660676956 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07500000298023224 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012388189323246479, + 0.9998841881752014, + 0.008839772082865238, + -0.024211790412664413 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999966621398926, + 0.0, + -0.0026106745935976505, + 0.044122714549303055 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.0036911284551024437, + 0.999906599521637, + 0.01316017284989357, + -0.0241542998701334 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999905824661255, + 0.0, + 0.00435159495100379, + -0.0735374465584755 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07321176677942276, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.043887898325920105, + 0.023007294163107872, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047424808144569397, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json new file mode 100644 index 0000000000000000000000000000000000000000..9860de59f3b39a4ff7050f13f3413a40acdf4b7f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_08", + "index": 203, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25332955876365304, + "parts": [ + { + "vertices_raw": [ + [ + -0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + -0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.036573249846696854, + 0.022814609110355377, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09000000357627869 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07500000298023224 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.00020618886628653854, + 0.9999147653579712, + 0.01304842159152031, + -0.023993024602532387 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.00020618860435206443, + -0.9999134540557861, + 0.013152910396456718, + -0.024000829085707664 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999995827674866, + 0.0, + -0.0008700411417521536, + 0.014707596972584724 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -6.331680924631655e-05, + 0.9999133944511414, + 0.013154529966413975, + -0.02399885654449463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999966621398926, + 0.0, + 0.0026106745935976505, + -0.044122714549303055 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.04392705857753754, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014629299752414227, + 0.02301333285868168, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045489100739359856, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json new file mode 100644 index 0000000000000000000000000000000000000000..a76abc9fd5f7ca127c723d56c93f5cb70b7a9c30 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_12", + "index": 204, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2543479106388986, + "parts": [ + { + "vertices_raw": [ + [ + 0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + -0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07500000298023224 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999134540557861, + 0.013154475018382072, + -0.023997927084565163 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999995827674866, + 0.0, + 0.0008700411417521536, + -0.014707596972584724 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999134540557861, + 0.013154475018382072, + -0.023997927084565163 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09000000357627869 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9999995827674866, + 0.0, + 0.0008700411417521536, + -0.014707596972584724 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + 0.02301333285868168, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004573957994580269, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json new file mode 100644 index 0000000000000000000000000000000000000000..8e90aa0eadccf36b299c5d3a8a83ac4aed13f5ac --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_16", + "index": 205, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2553677000105381, + "parts": [ + { + "vertices_raw": [ + [ + 0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014642350375652313, + 0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.036573249846696854, + 0.022814609110355377, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09000000357627869 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07500000298023224 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.00020618886628653854, + 0.9999147653579712, + 0.013050165958702564, + -0.023993154987692833 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.00020618860435206443, + -0.9999134540557861, + 0.013152910396456718, + -0.024000827223062515 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999995827674866, + 0.0, + -0.0008700411417521536, + 0.014707596972584724 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0006276472704485059, + 0.9999132752418518, + 0.013152262195944786, + -0.02401929348707199 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999966621398926, + 0.0, + 0.0026106745935976505, + -0.044122714549303055 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.014629299752414227, + -0.02301333285868168, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + 0.02301333285868168, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047679478302598, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json new file mode 100644 index 0000000000000000000000000000000000000000..7d93f4092491a361109da8dc2bec115fa760dda8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_20", + "index": 206, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2564428308978677, + "parts": [ + { + "vertices_raw": [ + [ + 0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.04392705857753754, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.04392705857753754, + 0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.058517199009656906, + 0.02275601401925087, + 0.09000000357627869 + ], + [ + 0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08999999612569809 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.01228334940969944, + -0.9998390674591064, + 0.013079922646284103, + -0.024522630497813225 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07500000298023224 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.012388177216053009, + 0.999883234500885, + 0.008941471576690674, + -0.024219395592808723 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999966621398926, + 0.0, + -0.0026106745935976505, + 0.044122714549303055 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.020872866734862328, + 0.9996973872184753, + 0.013013675808906555, + -0.02514178305864334 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999905824661255, + 0.0, + 0.00435159495100379, + -0.0735374465584755 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.043887898325920105, + -0.023007294163107872, + 0.07500000298023224 + ], + [ + 0.07321176677942276, + 0.023007294163107872, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000464435201138258, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json new file mode 100644 index 0000000000000000000000000000000000000000..be7c061e584094f26f3a21060a1e2efa0fbbd7df --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json @@ -0,0 +1,436 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_24", + "index": 207, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2575220647267997, + "parts": [ + { + "vertices_raw": [ + [ + 0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.07321176677942276, + 0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.07321176677942276, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + -0.0017999999690800905, + 0.07500000298023224 + ], + [ + 0.10240509361028671, + -0.0017999999690800905, + 0.09000000357627869 + ], + [ + 0.09509044140577316, + -0.01898658461868763, + 0.09000000357627869 + ], + [ + 0.09517531096935272, + -0.0191479604691267, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + 0.0017999999690800905, + 0.07500000298023224 + ], + [ + 0.10247188061475754, + 0.0017999999690800905, + 0.08250000327825546 + ], + [ + 0.10240509361028671, + 0.0017999999690800905, + 0.09000000357627869 + ], + [ + 0.09517531096935272, + 0.0191479604691267, + 0.07500000298023224 + ], + [ + 0.09509044140577316, + 0.01898658461868763, + 0.09000000357627869 + ], + [ + 0.08785413205623627, + 0.02126326784491539, + 0.07500000298023224 + ], + [ + 0.08777578920125961, + 0.021082215011119843, + 0.09000000357627869 + ], + [ + 0.08777578920125961, + -0.021082215011119843, + 0.09000000357627869 + ], + [ + 0.08785413205623627, + -0.02126326784491539, + 0.07500000298023224 + ] + ], + "indices_raw": [ + 16, + 3, + 2, + 13, + 11, + 8, + 4, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 8, + 9, + 10, + 5, + 10, + 9, + 11, + 12, + 8, + 11, + 9, + 13, + 14, + 12, + 11, + 7, + 6, + 15, + 16, + 13, + 2, + 1, + 14, + 15, + 0, + 3, + 16, + 15, + 6, + 5, + 10, + 12, + 14, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07499999552965164 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999905824661255, + 0.0, + -0.00435159495100379, + 0.0735374465584755 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9201052188873291, + -0.39159905910491943, + 0.0075123505666852, + -0.09560444951057434 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + 0.9998917579650879, + -0.011716839857399464, + 0.008903970010578632, + -0.10317428410053253 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9203490614891052, + 0.3909940719604492, + 0.009007726795971394, + -0.09575682878494263 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.9213123917579651, + 0.38881146907806396, + 0.003022140124812722, + -0.09535779803991318 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.27647414803504944, + 0.9609328508377075, + 0.013042625971138477, + -0.04570016637444496 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.27647411823272705, + -0.9609328508377075, + 0.013042625039815903, + -0.04570016637444496 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.09351226687431335, + 0.9955295324325562, + 0.01327589899301529, + -0.030385127291083336 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.09351226687431335, + -0.9955295324325562, + 0.01327589899301529, + -0.030385125428438187 + ] + }, + { + "index_base": 44, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09000000357627869 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 13 + ], + [ + 16, + 13, + 11 + ], + [ + 16, + 11, + 8 + ], + [ + 16, + 8, + 4 + ], + [ + 16, + 4, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 8, + 9 + ], + [ + 4, + 9, + 10 + ], + [ + 4, + 10, + 5 + ], + [ + 10, + 9, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 8, + 11, + 9 + ], + [ + 13, + 14, + 12 + ], + [ + 13, + 12, + 11 + ], + [ + 7, + 6, + 15 + ], + [ + 7, + 15, + 16 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 14 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 16 + ], + [ + 15, + 6, + 5 + ], + [ + 15, + 5, + 10 + ], + [ + 15, + 10, + 12 + ], + [ + 15, + 12, + 14 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.07314649224281311, + -0.022644467651844025, + 0.07500000298023224 + ], + [ + 0.10249648243188858, + 0.022644467651844025, + 0.09000000357627869 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006085550412535667, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json new file mode 100644 index 0000000000000000000000000000000000000000..dc2aaa716cc38ae02539823d86ec3b62d3e413d8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json @@ -0,0 +1,494 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_00", + "index": 208, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2587226266041398, + "parts": [ + { + "vertices_raw": [ + [ + -0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.09509044140577316, + -0.01898658461868763, + 0.09000000357627869 + ], + [ + -0.09477057307958603, + -0.01882520690560341, + 0.10499999672174454 + ], + [ + -0.10206060856580734, + -0.0017999999690800905, + 0.10499999672174454 + ], + [ + -0.10240509361028671, + -0.0017999999690800905, + 0.09000000357627869 + ], + [ + -0.09509044140577316, + 0.01898658461868763, + 0.09000000357627869 + ], + [ + -0.10240509361028671, + 0.0017999999690800905, + 0.09000000357627869 + ], + [ + -0.10227502882480621, + 0.0017999999690800905, + 0.09749999642372131 + ], + [ + -0.10206060856580734, + 0.0017999999690800905, + 0.10499999672174454 + ], + [ + -0.09477057307958603, + 0.01882520690560341, + 0.10499999672174454 + ], + [ + -0.08748053014278412, + 0.020901160314679146, + 0.10499999672174454 + ], + [ + -0.08772795647382736, + 0.02103695087134838, + 0.09375 + ], + [ + -0.08777578920125961, + -0.021082215011119843, + 0.09000000357627869 + ], + [ + -0.08772795647382736, + -0.02103695087134838, + 0.09375 + ], + [ + -0.08777578920125961, + 0.021082215011119843, + 0.09000000357627869 + ], + [ + -0.08748053014278412, + -0.020901160314679146, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 18, + 0, + 3, + 13, + 12, + 11, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 11, + 10, + 9, + 7, + 10, + 8, + 12, + 13, + 14, + 5, + 4, + 15, + 16, + 3, + 2, + 17, + 14, + 13, + 18, + 5, + 16, + 16, + 15, + 1, + 0, + 18, + 17, + 8, + 14, + 15, + 4, + 7, + 9, + 8, + 17, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.10499999672174454 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998654723167419, + 0.0, + -0.016401495784521103, + 0.07461278885602951 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9190396666526794, + -0.39352428913116455, + 0.022469118237495422, + -0.09686534851789474 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + -0.9199250340461731, + 0.3915223181247711, + 0.021173017099499702, + -0.096815325319767 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9997192621231079, + -0.0058563631027936935, + 0.022959232330322266, + -0.10445321351289749 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.9998496770858765, + 0.0, + 0.017339380457997322, + -0.10395024716854095 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.27487266063690186, + 0.9613441228866577, + 0.01620417833328247, + -0.0458487831056118 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.27564185857772827, + -0.9611235857009888, + 0.016218209639191628, + -0.04591900110244751 + ] + }, + { + "index_base": 36, + "num_vertices": 5, + "plane": [ + -0.09283218532800674, + 0.9955777525901794, + 0.01439251285046339, + -0.030436960980296135 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.2738349139690399, + -0.9616151452064514, + 0.017629528418183327, + -0.04590519517660141 + ] + }, + { + "index_base": 44, + "num_vertices": 5, + "plane": [ + -0.09283218532800674, + -0.9955777525901794, + 0.01439251285046339, + -0.030436960980296135 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.2753857672214508, + 0.9612149000167847, + 0.01511493232101202, + -0.045797087252140045 + ] + }, + { + "index_base": 52, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 13 + ], + [ + 18, + 13, + 12 + ], + [ + 18, + 12, + 11 + ], + [ + 18, + 11, + 6 + ], + [ + 18, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 7, + 6, + 11 + ], + [ + 7, + 11, + 10 + ], + [ + 9, + 7, + 10 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 14 + ], + [ + 5, + 4, + 15 + ], + [ + 5, + 15, + 16 + ], + [ + 3, + 2, + 17 + ], + [ + 3, + 17, + 14 + ], + [ + 3, + 14, + 13 + ], + [ + 18, + 5, + 16 + ], + [ + 16, + 15, + 1 + ], + [ + 16, + 1, + 0 + ], + [ + 16, + 0, + 18 + ], + [ + 17, + 8, + 14 + ], + [ + 15, + 4, + 7 + ], + [ + 15, + 7, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 17 + ], + [ + 15, + 17, + 2 + ], + [ + 15, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.10240509361028671, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.0729004368185997, + 0.022450566291809082, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006158286705613136, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json new file mode 100644 index 0000000000000000000000000000000000000000..e510820bf59f61d1622ae9ad72ed332157eb186e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_04", + "index": 209, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25996072590351105, + "parts": [ + { + "vertices_raw": [ + [ + -0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + -0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.05832035094499588, + 0.02255924418568611, + 0.10499999672174454 + ], + [ + -0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10499999672174454 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.012283328920602798, + -0.9998373985290527, + 0.01319840457290411, + -0.024533255025744438 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012283899821341038, + 0.9998838901519775, + 0.009012032300233841, + -0.02415756694972515 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999516606330872, + 0.0, + -0.009841994382441044, + 0.044771552085876465 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.0036688395775854588, + 0.9999063611030579, + 0.013186650350689888, + -0.02415570057928562 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998654723167419, + 0.0, + 0.016401495784521103, + -0.07461278885602951 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07314649224281311, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.04374026134610176, + 0.022810017690062523, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045486027374863625, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json new file mode 100644 index 0000000000000000000000000000000000000000..f42cfc18d00f74d780ff6243b9d843c7dbaa44a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_08", + "index": 210, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26099175261333585, + "parts": [ + { + "vertices_raw": [ + [ + -0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + -0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.03645021840929985, + 0.022617289796471596, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10499999672174454 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.0002043995336862281, + 0.9999147653579712, + 0.013050724752247334, + -0.02399160899221897 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.00020439927175175399, + -0.9999135136604309, + 0.01315383706241846, + -0.024000858888030052 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999946355819702, + 0.0, + -0.0032806608360260725, + 0.014924480579793453 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -6.293385376920924e-05, + 0.9999135136604309, + 0.013154564425349236, + -0.02399885654449463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999516606330872, + 0.0, + 0.009841994382441044, + -0.044771552085876465 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.043887898325920105, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.01458008959889412, + 0.022815998643636703, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044794008135795593, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json new file mode 100644 index 0000000000000000000000000000000000000000..8753078e1fc0bcf17ebc75d7ae80006abe3de24b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_12", + "index": 211, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2619762737303972, + "parts": [ + { + "vertices_raw": [ + [ + -0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + -0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 5, + 2, + 1, + 7, + 4, + 5, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10499999672174454 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999945759773254, + 0.0, + 0.003280660370364785, + -0.014924480579793453 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999135136604309, + 0.013154358603060246, + -0.023997917771339417 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999946355819702, + 0.0, + 0.0032806608360260725, + -0.014924480579793453 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999135136604309, + 0.013154357671737671, + -0.023997919633984566 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 6, + 5, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 4 + ] + ], + "raw_bounds": [ + [ + -0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + 0.022815998643636703, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004209456965327263, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json new file mode 100644 index 0000000000000000000000000000000000000000..cf7dd2000e059c3b45d42315a4daecc802932c84 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_16", + "index": 212, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26302002975717187, + "parts": [ + { + "vertices_raw": [ + [ + 0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.014629299752414227, + 0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.03645021840929985, + 0.022617289796471596, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10499999672174454 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0002043995336862281, + 0.9999147653579712, + 0.013051915913820267, + -0.023991715162992477 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.00020439927175175399, + -0.9999135136604309, + 0.013153836131095886, + -0.024000858888030052 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999946355819702, + 0.0, + -0.0032806608360260725, + 0.014924480579793453 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.000623890373390168, + 0.999913215637207, + 0.0131567707285285, + -0.024019530043005943 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999516606330872, + 0.0, + 0.009841994382441044, + -0.044771552085876465 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.01458008959889412, + -0.022815998643636703, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + 0.022815998643636703, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046072714030742645, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb3d40c1cd7a26c81b52ecdc6344d002e9e3239 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_20", + "index": 213, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26407145289704204, + "parts": [ + { + "vertices_raw": [ + [ + 0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.043887898325920105, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.043887898325920105, + 0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.05832035094499588, + 0.02255924418568611, + 0.10499999672174454 + ], + [ + 0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10499999672174454 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.012209138832986355, + -0.9998384118080139, + 0.013197443448007107, + -0.024528848007321358 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01228389237076044, + 0.9998832941055298, + 0.009084155783057213, + -0.024164041504263878 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999516606330872, + 0.0, + -0.009841994382441044, + 0.044771552085876465 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.02074674889445305, + 0.9996967911720276, + 0.01326329167932272, + -0.02515500783920288 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998654723167419, + 0.0, + 0.016401495784521103, + -0.07461278885602951 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.04374026134610176, + -0.022810017690062523, + 0.09000000357627869 + ], + [ + 0.07314649224281311, + 0.022810017690062523, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004362519830465317, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json new file mode 100644 index 0000000000000000000000000000000000000000..c5fcacdebbc932a84180824dcc60bc634cebaa2b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json @@ -0,0 +1,494 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_24", + "index": 214, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26521011674776673, + "parts": [ + { + "vertices_raw": [ + [ + 0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.07314649224281311, + 0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.07314649224281311, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.10240509361028671, + -0.0017999999690800905, + 0.09000000357627869 + ], + [ + 0.10206060856580734, + -0.0017999999690800905, + 0.10499999672174454 + ], + [ + 0.09477057307958603, + -0.01882520690560341, + 0.10499999672174454 + ], + [ + 0.09509044140577316, + -0.01898658461868763, + 0.09000000357627869 + ], + [ + 0.09477057307958603, + 0.01882520690560341, + 0.10499999672174454 + ], + [ + 0.10206060856580734, + 0.0017999999690800905, + 0.10499999672174454 + ], + [ + 0.10227502882480621, + 0.0017999999690800905, + 0.09749999642372131 + ], + [ + 0.10240509361028671, + 0.0017999999690800905, + 0.09000000357627869 + ], + [ + 0.09509044140577316, + 0.01898658461868763, + 0.09000000357627869 + ], + [ + 0.08777578920125961, + 0.021082215011119843, + 0.09000000357627869 + ], + [ + 0.08772795647382736, + 0.02103695087134838, + 0.09375 + ], + [ + 0.08748053014278412, + -0.020901160314679146, + 0.10499999672174454 + ], + [ + 0.08772795647382736, + -0.02103695087134838, + 0.09375 + ], + [ + 0.08748053014278412, + 0.020901160314679146, + 0.10499999672174454 + ], + [ + 0.08777578920125961, + -0.021082215011119843, + 0.09000000357627869 + ] + ], + "indices_raw": [ + 15, + 6, + 5, + 9, + 8, + 17, + 1, + 0, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 5, + 4, + 11, + 10, + 9, + 5, + 10, + 8, + 12, + 13, + 14, + 7, + 6, + 15, + 16, + 17, + 8, + 14, + 14, + 13, + 2, + 1, + 17, + 0, + 3, + 18, + 16, + 15, + 18, + 7, + 16, + 18, + 3, + 2, + 13, + 12, + 11, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10500000417232513 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9998654723167419, + 0.0, + -0.016401495784521103, + 0.07461278885602951 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9190396666526794, + -0.39352428913116455, + 0.02246912568807602, + -0.09686534851789474 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + 0.9190236330032349, + 0.393517404794693, + 0.023229846730828285, + -0.09694357961416245 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9997192621231079, + -0.0058563631027936935, + 0.022959232330322266, + -0.10445322096347809 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.999591588973999, + 0.0, + 0.028577690944075584, + -0.10501958429813385 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.27564185857772827, + 0.9611235857009888, + 0.016218209639191628, + -0.04591900110244751 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.27487266063690186, + -0.9613441228866577, + 0.01620417833328247, + -0.0458487831056118 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.2738349139690399, + 0.9616151452064514, + 0.017629528418183327, + -0.04590519517660141 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + 0.09283218532800674, + 0.9955777525901794, + 0.01439251285046339, + -0.030436960980296135 + ] + }, + { + "index_base": 44, + "num_vertices": 5, + "plane": [ + 0.09283218532800674, + -0.9955777525901794, + 0.01439251285046339, + -0.030436960980296135 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.2753857672214508, + -0.9612149000167847, + 0.01511493232101202, + -0.045797087252140045 + ] + }, + { + "index_base": 52, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09000000357627869 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 6, + 5 + ], + [ + 15, + 5, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 17 + ], + [ + 15, + 17, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 9, + 5, + 10 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 14 + ], + [ + 7, + 6, + 15 + ], + [ + 7, + 15, + 16 + ], + [ + 17, + 8, + 14 + ], + [ + 14, + 13, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 17 + ], + [ + 0, + 3, + 18 + ], + [ + 0, + 18, + 16 + ], + [ + 0, + 16, + 15 + ], + [ + 18, + 7, + 16 + ], + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 12 + ], + [ + 18, + 12, + 11 + ], + [ + 18, + 11, + 4 + ], + [ + 18, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + 0.0729004368185997, + -0.022450566291809082, + 0.09000000357627869 + ], + [ + 0.10240509361028671, + 0.022450566291809082, + 0.10499999672174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006069769151508808, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec23a66868c4ebeeea4292fd1d88a3e5e8ab414 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json @@ -0,0 +1,523 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_00", + "index": 215, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26645165774971247, + "parts": [ + { + "vertices_raw": [ + [ + -0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.09477057307958603, + -0.01882520690560341, + 0.10499999672174454 + ], + [ + -0.09405902028083801, + -0.018663831055164337, + 0.11999999731779099 + ], + [ + -0.10129431635141373, + -0.0017999999690800905, + 0.11999999731779099 + ], + [ + -0.10206060856580734, + -0.0017999999690800905, + 0.10499999672174454 + ], + [ + -0.09463551640510559, + 0.018784863874316216, + 0.10875000059604645 + ], + [ + -0.10206060856580734, + 0.0017999999690800905, + 0.10499999672174454 + ], + [ + -0.10174074023962021, + 0.0017999999690800905, + 0.11249999701976776 + ], + [ + -0.10129431635141373, + 0.0017999999690800905, + 0.11999999731779099 + ], + [ + -0.09405902028083801, + 0.018663831055164337, + 0.11999999731779099 + ], + [ + -0.09477057307958603, + 0.01882520690560341, + 0.10499999672174454 + ], + [ + -0.0868237093091011, + -0.0207201074808836, + 0.11999999731779099 + ], + [ + -0.08735586702823639, + -0.020855898037552834, + 0.10875000059604645 + ], + [ + -0.08748053014278412, + -0.020901160314679146, + 0.10499999672174454 + ], + [ + -0.0868237093091011, + 0.0207201074808836, + 0.11999999731779099 + ], + [ + -0.08720634877681732, + 0.020810633897781372, + 0.11249999701976776 + ], + [ + -0.08748053014278412, + 0.020901160314679146, + 0.10499999672174454 + ] + ], + "indices_raw": [ + 17, + 12, + 11, + 6, + 5, + 14, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 11, + 10, + 9, + 7, + 10, + 9, + 8, + 13, + 0, + 14, + 15, + 16, + 1, + 5, + 4, + 16, + 15, + 8, + 12, + 17, + 18, + 2, + 19, + 18, + 17, + 3, + 19, + 13, + 8, + 18, + 14, + 5, + 15, + 16, + 4, + 7, + 9, + 13, + 19, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.11999998986721039 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9993349313735962, + 0.0, + -0.03646569326519966, + 0.07668085396289825 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9179580807685852, + -0.39384281635284424, + 0.047338541597127914, + -0.0993734821677208 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + -0.9190146923065186, + 0.39145004749298096, + 0.04667804762721062, + -0.09940100461244583 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9986592531204224, + -0.008776798844337463, + 0.051017649471759796, + -0.107296422123909 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.9990917444229126, + 0.0, + 0.042610373347997665, + -0.10644199699163437 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.9186314940452576, + 0.39334946870803833, + 0.03731630742549896, + -0.09838233888149261 + ] + }, + { + "index_base": 31, + "num_vertices": 5, + "plane": [ + -0.09237585961818695, + -0.9955921769142151, + 0.016215473413467407, + -0.030595051124691963 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.2744293808937073, + -0.9613234996795654, + 0.0233603585511446, + -0.04655778035521507 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.273868203163147, + 0.9614582657814026, + 0.024377960711717606, + -0.04662962257862091 + ] + }, + { + "index_base": 44, + "num_vertices": 5, + "plane": [ + -0.0925583615899086, + 0.9955786466598511, + 0.0160068366676569, + -0.030586523935198784 + ] + }, + { + "index_base": 49, + "num_vertices": 4, + "plane": [ + -0.27292177081108093, + 0.9618044495582581, + 0.02111649513244629, + -0.046191878616809845 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.27329203486442566, + -0.961618185043335, + 0.024534517899155617, + -0.0465972013771534 + ] + }, + { + "index_base": 56, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10500000417232513 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 17, + 12, + 11 + ], + [ + 17, + 11, + 6 + ], + [ + 17, + 6, + 5 + ], + [ + 17, + 5, + 14 + ], + [ + 17, + 14, + 0 + ], + [ + 17, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 7, + 6, + 11 + ], + [ + 7, + 11, + 10 + ], + [ + 9, + 7, + 10 + ], + [ + 9, + 8, + 13 + ], + [ + 0, + 14, + 15 + ], + [ + 0, + 15, + 16 + ], + [ + 0, + 16, + 1 + ], + [ + 5, + 4, + 16 + ], + [ + 5, + 16, + 15 + ], + [ + 8, + 12, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 2, + 19, + 18 + ], + [ + 2, + 18, + 17 + ], + [ + 2, + 17, + 3 + ], + [ + 19, + 13, + 8 + ], + [ + 19, + 8, + 18 + ], + [ + 14, + 5, + 15 + ], + [ + 16, + 4, + 7 + ], + [ + 16, + 7, + 9 + ], + [ + 16, + 9, + 13 + ], + [ + 16, + 13, + 19 + ], + [ + 16, + 19, + 2 + ], + [ + 16, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.10206060856580734, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.07235308736562729, + 0.02225666306912899, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006461278535425663, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json new file mode 100644 index 0000000000000000000000000000000000000000..76155a32e4816009c1afdeedb93fc70f6aeef2a5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_04", + "index": 216, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.267683336045593, + "parts": [ + { + "vertices_raw": [ + [ + -0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + -0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.05788246914744377, + 0.022362474352121353, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.11999998986721039 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10499999672174454 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.012209676206111908, + 0.9998825192451477, + 0.009270905517041683, + -0.02411758527159691 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012209104374051094, + -0.999835729598999, + 0.013393588364124298, + -0.02454938367009163 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9997604489326477, + 0.0, + -0.02188878133893013, + 0.046028103679418564 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.0036614558193832636, + 0.9999057054519653, + 0.01323081273585558, + -0.024159997701644897 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9993349313735962, + 0.0, + 0.03646569326519966, + -0.07668085396289825 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.0729004368185997, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.043411850929260254, + 0.022612741217017174, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045817065984010696, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json new file mode 100644 index 0000000000000000000000000000000000000000..af24f68e60ff520013089abe4a25f9089dbc6694 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_08", + "index": 217, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26873620273545384, + "parts": [ + { + "vertices_raw": [ + [ + -0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + -0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.036176539957523346, + 0.022419968619942665, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11999999731779099 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10499999672174454 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.00020317331654950976, + 0.9999147653579712, + 0.013054038397967815, + -0.02399037778377533 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.00020317305461503565, + -0.9999134540557861, + 0.013155578635632992, + -0.02400100789964199 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999733567237854, + 0.0, + -0.007297773379832506, + 0.015345968306064606 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -6.28101042821072e-05, + 0.9999135136604309, + 0.013154934160411358, + -0.023998893797397614 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997604489326477, + 0.0, + 0.02188878133893013, + -0.046028103679418564 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.04374026134610176, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.014470620080828667, + 0.022618666291236877, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004686363972723484, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json new file mode 100644 index 0000000000000000000000000000000000000000..ef3d81b14343562ae65d239bd38afc14a50a792f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_12", + "index": 218, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2697477419860661, + "parts": [ + { + "vertices_raw": [ + [ + 0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + -0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10499999672174454 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999135136604309, + 0.013154475949704647, + -0.023997928947210312 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999733567237854, + 0.0, + 0.007297773379832506, + -0.015345968306064606 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999135136604309, + 0.013154475949704647, + -0.023997928947210312 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11999999731779099 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9999733567237854, + 0.0, + 0.007297773379832506, + -0.015345968306064606 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + 0.022618666291236877, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004295031540095806, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json new file mode 100644 index 0000000000000000000000000000000000000000..b69cd5dae8cce6555eb104624fe09ec15a067102 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_16", + "index": 219, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2707540630362928, + "parts": [ + { + "vertices_raw": [ + [ + 0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.01458008959889412, + 0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.036176539957523346, + 0.022419968619942665, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11999999731779099 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10499999672174454 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.00020317331654950976, + 0.9999147653579712, + 0.013054417446255684, + -0.023990413174033165 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.00020317305461503565, + -0.9999134540557861, + 0.013155578635632992, + -0.02400100789964199 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999733567237854, + 0.0, + -0.007297773379832506, + 0.015345968306064606 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0006226893747225404, + 0.9999130964279175, + 0.013164378702640533, + -0.024020271375775337 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997604489326477, + 0.0, + 0.02188878133893013, + -0.046028103679418564 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.014470620080828667, + -0.022618666291236877, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + 0.022618666291236877, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046106288209557533, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json new file mode 100644 index 0000000000000000000000000000000000000000..0e2b62d1f0c8fcfaac9a7270695c6e250bb83afc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_20", + "index": 220, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2718292437493801, + "parts": [ + { + "vertices_raw": [ + [ + 0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.04374026134610176, + 0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.05788246914744377, + 0.022362474352121353, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.11999998986721039 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10499999672174454 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.012209673412144184, + 0.9998822808265686, + 0.009294350631535053, + -0.024120040237903595 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.012209104374051094, + -0.999835729598999, + 0.013393587432801723, + -0.02454938367009163 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9997604489326477, + 0.0, + -0.02188878133893013, + 0.046028103679418564 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.02070542983710766, + 0.9996920228004456, + 0.013678316958248615, + -0.025195466354489326 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9993349313735962, + 0.0, + 0.03646569326519966, + -0.07668085396289825 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.043411850929260254, + -0.022612741217017174, + 0.10499999672174454 + ], + [ + 0.0729004368185997, + 0.022612741217017174, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046295905485749245, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json new file mode 100644 index 0000000000000000000000000000000000000000..1283df29e32d7c9fd28ffd45d015ac1a5a728320 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json @@ -0,0 +1,523 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_24", + "index": 221, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2729079108685255, + "parts": [ + { + "vertices_raw": [ + [ + 0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.0729004368185997, + 0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.0729004368185997, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.10206060856580734, + -0.0017999999690800905, + 0.10499999672174454 + ], + [ + 0.10129431635141373, + -0.0017999999690800905, + 0.11999999731779099 + ], + [ + 0.09405902028083801, + -0.018663831055164337, + 0.11999999731779099 + ], + [ + 0.09477057307958603, + -0.01882520690560341, + 0.10499999672174454 + ], + [ + 0.09405902028083801, + 0.018663831055164337, + 0.11999999731779099 + ], + [ + 0.10129431635141373, + 0.0017999999690800905, + 0.11999999731779099 + ], + [ + 0.10174074023962021, + 0.0017999999690800905, + 0.11249999701976776 + ], + [ + 0.10206060856580734, + 0.0017999999690800905, + 0.10499999672174454 + ], + [ + 0.09463551640510559, + 0.018784863874316216, + 0.10875000059604645 + ], + [ + 0.09477057307958603, + 0.01882520690560341, + 0.10499999672174454 + ], + [ + 0.0868237093091011, + -0.0207201074808836, + 0.11999999731779099 + ], + [ + 0.08735586702823639, + -0.020855898037552834, + 0.10875000059604645 + ], + [ + 0.08748053014278412, + -0.020901160314679146, + 0.10499999672174454 + ], + [ + 0.08748053014278412, + 0.020901160314679146, + 0.10499999672174454 + ], + [ + 0.08720634877681732, + 0.020810633897781372, + 0.11249999701976776 + ], + [ + 0.0868237093091011, + 0.0207201074808836, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 19, + 1, + 0, + 14, + 6, + 5, + 9, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 5, + 4, + 11, + 10, + 11, + 13, + 12, + 9, + 5, + 10, + 7, + 6, + 14, + 15, + 3, + 16, + 15, + 14, + 0, + 8, + 12, + 13, + 17, + 18, + 1, + 19, + 18, + 17, + 2, + 19, + 8, + 18, + 16, + 7, + 15, + 16, + 3, + 2, + 17, + 13, + 11, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.11999998986721039 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9993349313735962, + 0.0, + -0.03646569326519966, + 0.07668085396289825 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9179580807685852, + -0.39384281635284424, + 0.04733855649828911, + -0.0993734821677208 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + 0.9178356528282166, + 0.39379027485847473, + 0.05007003992795944, + -0.09968876093626022 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9986592531204224, + -0.00877679418772459, + 0.051017649471759796, + -0.1072964295744896 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.9186314940452576, + 0.39334946870803833, + 0.03731628507375717, + -0.09838233888149261 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.9982331395149231, + 0.0, + 0.05941801518201828, + -0.10824550688266754 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.27418053150177, + -0.961394727230072, + 0.023349318653345108, + -0.046534378081560135 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.09255830943584442, + -0.9955781102180481, + 0.01604008674621582, + -0.0305899977684021 + ] + }, + { + "index_base": 40, + "num_vertices": 5, + "plane": [ + 0.27213937044143677, + 0.9619511365890503, + 0.024294668808579445, + -0.046466220170259476 + ] + }, + { + "index_base": 45, + "num_vertices": 5, + "plane": [ + 0.09237577766180038, + 0.995591402053833, + 0.016266966238617897, + -0.030601205304265022 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + 0.2732850909233093, + 0.961593747138977, + 0.02554921992123127, + -0.04671785980463028 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + 0.2738187611103058, + -0.9615584015846252, + 0.020708652213215828, + -0.046225905418395996 + ] + }, + { + "index_base": 56, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.10499999672174454 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 19, + 1, + 0 + ], + [ + 19, + 0, + 14 + ], + [ + 19, + 14, + 6 + ], + [ + 19, + 6, + 5 + ], + [ + 19, + 5, + 9 + ], + [ + 19, + 9, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 11, + 13, + 12 + ], + [ + 9, + 5, + 10 + ], + [ + 7, + 6, + 14 + ], + [ + 7, + 14, + 15 + ], + [ + 3, + 16, + 15 + ], + [ + 3, + 15, + 14 + ], + [ + 3, + 14, + 0 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 1, + 19, + 18 + ], + [ + 1, + 18, + 17 + ], + [ + 1, + 17, + 2 + ], + [ + 19, + 8, + 18 + ], + [ + 16, + 7, + 15 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 17 + ], + [ + 16, + 17, + 13 + ], + [ + 16, + 13, + 11 + ], + [ + 16, + 11, + 4 + ], + [ + 16, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + 0.07235308736562729, + -0.02225666306912899, + 0.10499999672174454 + ], + [ + 0.10206060856580734, + 0.02225666306912899, + 0.11999999731779099 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006343661807477474, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json new file mode 100644 index 0000000000000000000000000000000000000000..7fe4b2625f75db64ebec01d4b85d7e14c05cb918 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json @@ -0,0 +1,494 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_00", + "index": 222, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2741398657672107, + "parts": [ + { + "vertices_raw": [ + [ + -0.07138393074274063, + -0.021868860349059105, + 0.13500000536441803 + ], + [ + -0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.07138393074274063, + 0.021868860349059105, + 0.13500000536441803 + ], + [ + -0.092799112200737, + -0.018502455204725266, + 0.13500000536441803 + ], + [ + -0.09993749856948853, + -0.0017999999690800905, + 0.13500000536441803 + ], + [ + -0.10129431635141373, + -0.0017999999690800905, + 0.11999999731779099 + ], + [ + -0.09405902028083801, + -0.018663831055164337, + 0.11999999731779099 + ], + [ + -0.09405902028083801, + 0.018663831055164337, + 0.11999999731779099 + ], + [ + -0.10129431635141373, + 0.0017999999690800905, + 0.11999999731779099 + ], + [ + -0.1007002666592598, + 0.0017999999690800905, + 0.1274999976158142 + ], + [ + -0.09993749856948853, + 0.0017999999690800905, + 0.13500000536441803 + ], + [ + -0.092799112200737, + 0.018502455204725266, + 0.13500000536441803 + ], + [ + -0.08566071093082428, + 0.0205390527844429, + 0.13500000536441803 + ], + [ + -0.08631452172994614, + 0.020629581063985825, + 0.1274999976158142 + ], + [ + -0.0868237093091011, + 0.0207201074808836, + 0.11999999731779099 + ], + [ + -0.0868237093091011, + -0.0207201074808836, + 0.11999999731779099 + ], + [ + -0.08631452172994614, + -0.020629581063985825, + 0.1274999976158142 + ], + [ + -0.08566071093082428, + -0.0205390527844429, + 0.13500000536441803 + ] + ], + "indices_raw": [ + 16, + 7, + 6, + 9, + 8, + 15, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 6, + 5, + 11, + 10, + 9, + 6, + 10, + 8, + 12, + 13, + 14, + 2, + 15, + 14, + 13, + 3, + 4, + 7, + 16, + 17, + 0, + 18, + 17, + 16, + 1, + 15, + 8, + 14, + 18, + 4, + 17, + 18, + 0, + 3, + 13, + 12, + 11, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.11999998986721039 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9979193210601807, + 0.0, + -0.06447597593069077, + 0.07993966341018677 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.9158932566642761, + -0.3929569125175476, + 0.08200180530548096, + -0.10332231968641281 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + -0.9160337448120117, + 0.3930171728134155, + 0.0801226794719696, + -0.1031111627817154 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9958661198616028, + -0.011668073944747448, + 0.09008054435253143, + -0.11170624196529388 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.9968778491020203, + 0.0, + 0.07895933091640472, + -0.11045318096876144 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.27523818612098694, + 0.9607937932014465, + 0.03345489874482155, + -0.04783531278371811 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + -0.09237154573202133, + 0.9955459237098694, + 0.01886383444070816, + -0.0309115182608366 + ] + }, + { + "index_base": 37, + "num_vertices": 4, + "plane": [ + -0.2747383117675781, + -0.9609381556510925, + 0.03341446444392204, + -0.04778613895177841 + ] + }, + { + "index_base": 41, + "num_vertices": 5, + "plane": [ + -0.09272616356611252, + -0.995505690574646, + 0.019245967268943787, + -0.030987940728664398 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.273250013589859, + 0.9614702463150024, + 0.030156532302498817, + -0.04726513475179672 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.2741813063621521, + -0.9610224962234497, + 0.03550161048769951, + -0.04801777005195618 + ] + }, + { + "index_base": 52, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13500000536441803 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 9 + ], + [ + 16, + 9, + 8 + ], + [ + 16, + 8, + 15 + ], + [ + 16, + 15, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 6, + 5, + 11 + ], + [ + 6, + 11, + 10 + ], + [ + 9, + 6, + 10 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 14 + ], + [ + 2, + 15, + 14 + ], + [ + 2, + 14, + 13 + ], + [ + 2, + 13, + 3 + ], + [ + 4, + 7, + 16 + ], + [ + 4, + 16, + 17 + ], + [ + 0, + 18, + 17 + ], + [ + 0, + 17, + 16 + ], + [ + 0, + 16, + 1 + ], + [ + 15, + 8, + 14 + ], + [ + 18, + 4, + 17 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 13 + ], + [ + 18, + 13, + 12 + ], + [ + 18, + 12, + 11 + ], + [ + 18, + 11, + 5 + ], + [ + 18, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.10129431635141373, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.07138393074274063, + 0.022062761709094048, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005871164612472057, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json new file mode 100644 index 0000000000000000000000000000000000000000..098ac3cf07a8db9cfe6df7f5fd2e9adcb480ca30 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_04", + "index": 223, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2753603127785027, + "parts": [ + { + "vertices_raw": [ + [ + -0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + -0.07138393074274063, + 0.021868860349059105, + 0.13500000536441803 + ], + [ + -0.05710713937878609, + 0.022165704518556595, + 0.13500000536441803 + ], + [ + -0.04283035919070244, + -0.022218186408281326, + 0.13500000536441803 + ], + [ + -0.07138393074274063, + -0.021868860349059105, + 0.13500000536441803 + ], + [ + -0.04283035919070244, + 0.022218186408281326, + 0.13500000536441803 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13499999046325684 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.11999998986721039 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.012185334227979183, + 0.9998794198036194, + 0.009617796167731285, + -0.024095885455608368 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.01218476053327322, + -0.9998323917388916, + 0.013666876591742039, + -0.0245806947350502 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9992493987083435, + 0.0, + -0.03873699530959129, + 0.04802770912647247 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.003675681073218584, + 0.9999048709869385, + 0.013292999006807804, + -0.02416806109249592 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9979193210601807, + 0.0, + 0.06447597593069077, + -0.07993966341018677 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.07235308736562729, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.04283035919070244, + 0.022415462881326675, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004722699522972107, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json new file mode 100644 index 0000000000000000000000000000000000000000..2390a6b5c6a9df0f5f7241faad92ca967118ca42 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_08", + "index": 224, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2764094239100814, + "parts": [ + { + "vertices_raw": [ + [ + -0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + -0.04283035919070244, + 0.022218186408281326, + 0.13500000536441803 + ], + [ + -0.03569196164608002, + 0.022222647443413734, + 0.13500000536441803 + ], + [ + -0.01427679043263197, + -0.022223999723792076, + 0.13500000536441803 + ], + [ + -0.04283035919070244, + -0.022218186408281326, + 0.13500000536441803 + ], + [ + -0.01427679043263197, + 0.022223999723792076, + 0.13500000536441803 + ] + ], + "indices_raw": [ + 4, + 7, + 6, + 8, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 5, + 6, + 7, + 3, + 2, + 8, + 6, + 2, + 1, + 8, + 1, + 5, + 4, + 0, + 3, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13500000536441803 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11999999731779099 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.0002027797163464129, + 0.9999147653579712, + 0.01305806078016758, + -0.023989323526620865 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0002027794544119388, + -0.9999134540557861, + 0.013157723471522331, + -0.02400125376880169 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999164938926697, + 0.0, + -0.012920890934765339, + 0.016019918024539948 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -6.314049096545205e-05, + 0.9999134540557861, + 0.013155162334442139, + -0.02399892359972 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9992493987083435, + 0.0, + 0.03873699530959129, + -0.04802770912647247 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 7, + 6 + ], + [ + 4, + 6, + 8 + ], + [ + 4, + 8, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 1, + 0, + 4 + ], + [ + 1, + 4, + 5 + ], + [ + 6, + 7, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 7 + ] + ], + "raw_bounds": [ + [ + -0.043411850929260254, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.01427679043263197, + 0.022421332076191902, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045283278450369835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0faef1e453bf7d5fbcb2f124549f8aaf18c20e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_12", + "index": 225, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2774778939783573, + "parts": [ + { + "vertices_raw": [ + [ + -0.01427679043263197, + 0.022223999723792076, + 0.13500000536441803 + ], + [ + -0.01427679043263197, + -0.022223999723792076, + 0.13500000536441803 + ], + [ + 0.01427679043263197, + -0.022223999723792076, + 0.13500000536441803 + ], + [ + 0.01427679043263197, + 0.022223999723792076, + 0.13500000536441803 + ], + [ + 0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + -0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 5, + 2, + 1, + 7, + 4, + 5, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13500000536441803 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9999165534973145, + 0.0, + 0.012920892797410488, + -0.016019919887185097 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999135136604309, + 0.013154344633221626, + -0.023997915908694267 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11999999731779099 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999164938926697, + 0.0, + 0.012920890934765339, + -0.016019918024539948 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999134540557861, + 0.013154345564544201, + -0.023997914046049118 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 6, + 5, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 4 + ] + ], + "raw_bounds": [ + [ + -0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + 0.022421332076191902, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004526199772953987, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json new file mode 100644 index 0000000000000000000000000000000000000000..16bbf80dfebd14f2f1bf1dfcb82dcb09c429ecde --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_16", + "index": 226, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.27852141577750444, + "parts": [ + { + "vertices_raw": [ + [ + 0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.014470620080828667, + 0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.01427679043263197, + 0.022223999723792076, + 0.13500000536441803 + ], + [ + 0.03569196164608002, + 0.022222647443413734, + 0.13500000536441803 + ], + [ + 0.01427679043263197, + -0.022223999723792076, + 0.13500000536441803 + ], + [ + 0.04283035919070244, + -0.022218186408281326, + 0.13500000536441803 + ], + [ + 0.04283035919070244, + 0.022218186408281326, + 0.13500000536441803 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 6, + 7, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 4, + 3, + 2, + 6, + 8, + 0, + 5, + 8, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13500000536441803 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11999999731779099 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0002027797163464129, + 0.9999147653579712, + 0.013057301752269268, + -0.023989232257008553 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0002027794544119388, + -0.9999134540557861, + 0.013157723471522331, + -0.02400125563144684 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999164938926697, + 0.0, + -0.012920890934765339, + 0.016019918024539948 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0006248812424018979, + 0.9999129772186279, + 0.013174837455153465, + -0.02402161993086338 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9992493987083435, + 0.0, + 0.03873699530959129, + -0.04802770912647247 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 6 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.01427679043263197, + -0.022421332076191902, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + 0.022421332076191902, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004723486490547657, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json new file mode 100644 index 0000000000000000000000000000000000000000..81a4d117a59fbd0e7ba10ad3a248e1af21ba0513 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_20", + "index": 227, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2796039246022701, + "parts": [ + { + "vertices_raw": [ + [ + 0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.043411850929260254, + 0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.04283035919070244, + 0.022218186408281326, + 0.13500000536441803 + ], + [ + 0.05710713937878609, + 0.022165704518556595, + 0.13500000536441803 + ], + [ + 0.07138393074274063, + -0.021868860349059105, + 0.13500000536441803 + ], + [ + 0.04283035919070244, + -0.022218186408281326, + 0.13500000536441803 + ], + [ + 0.07138393074274063, + 0.021868860349059105, + 0.13500000536441803 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 7, + 6, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 4, + 3, + 2, + 7, + 8, + 0, + 5, + 8, + 6, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13499999046325684 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.11999998986721039 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.012185338884592056, + 0.9998798370361328, + 0.0095728300511837, + -0.024090494960546494 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01218476053327322, + -0.9998323917388916, + 0.013666875660419464, + -0.02458069659769535 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9992493987083435, + 0.0, + -0.03873699530959129, + 0.04802770912647247 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.02078547142446041, + 0.9996821284294128, + 0.01426559966057539, + -0.025271514430642128 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9979193210601807, + 0.0, + 0.06447597593069077, + -0.07993966341018677 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 7 + ], + [ + 8, + 0, + 5 + ], + [ + 8, + 6, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.04283035919070244, + -0.022415462881326675, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + 0.022415462881326675, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004665190353989601, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json new file mode 100644 index 0000000000000000000000000000000000000000..907edb1541d947ce944c925e60d3a5a863c06cd0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json @@ -0,0 +1,494 @@ +{ + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_24", + "index": 228, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2806710437871516, + "parts": [ + { + "vertices_raw": [ + [ + 0.07138393074274063, + -0.021868860349059105, + 0.13500000536441803 + ], + [ + 0.07138393074274063, + 0.021868860349059105, + 0.13500000536441803 + ], + [ + 0.07235308736562729, + 0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.07235308736562729, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.09405902028083801, + -0.018663831055164337, + 0.11999999731779099 + ], + [ + 0.10129431635141373, + -0.0017999999690800905, + 0.11999999731779099 + ], + [ + 0.09993749856948853, + -0.0017999999690800905, + 0.13500000536441803 + ], + [ + 0.092799112200737, + -0.018502455204725266, + 0.13500000536441803 + ], + [ + 0.092799112200737, + 0.018502455204725266, + 0.13500000536441803 + ], + [ + 0.09993749856948853, + 0.0017999999690800905, + 0.13500000536441803 + ], + [ + 0.1007002666592598, + 0.0017999999690800905, + 0.1274999976158142 + ], + [ + 0.10129431635141373, + 0.0017999999690800905, + 0.11999999731779099 + ], + [ + 0.09405902028083801, + 0.018663831055164337, + 0.11999999731779099 + ], + [ + 0.0868237093091011, + 0.0207201074808836, + 0.11999999731779099 + ], + [ + 0.08631452172994614, + 0.020629581063985825, + 0.1274999976158142 + ], + [ + 0.08566071093082428, + 0.0205390527844429, + 0.13500000536441803 + ], + [ + 0.08566071093082428, + -0.0205390527844429, + 0.13500000536441803 + ], + [ + 0.08631452172994614, + -0.020629581063985825, + 0.1274999976158142 + ], + [ + 0.0868237093091011, + -0.0207201074808836, + 0.11999999731779099 + ] + ], + "indices_raw": [ + 18, + 3, + 2, + 13, + 12, + 11, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 6, + 5, + 11, + 10, + 9, + 6, + 10, + 8, + 12, + 13, + 14, + 1, + 15, + 14, + 13, + 2, + 4, + 7, + 16, + 17, + 3, + 18, + 17, + 16, + 0, + 18, + 4, + 17, + 15, + 8, + 14, + 16, + 7, + 6, + 9, + 8, + 15, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.11999998986721039 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9979193210601807, + 0.0, + -0.06447597593069077, + 0.07993966341018677 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9158932566642761, + -0.3929569125175476, + 0.08200179040431976, + -0.10332231968641281 + ] + }, + { + "index_base": 16, + "num_vertices": 5, + "plane": [ + 0.9162694215774536, + 0.39160022139549255, + 0.08425919711589813, + -0.1036495491862297 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9958661198616028, + -0.011668073944747448, + 0.09008054435253143, + -0.11170623451471329 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.9948680996894836, + 0.0, + 0.10118038207292557, + -0.11308398842811584 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.2747383117675781, + 0.9609381556510925, + 0.03341446444392204, + -0.04778613895177841 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.09272616356611252, + 0.995505690574646, + 0.019245967268943787, + -0.030987940728664398 + ] + }, + { + "index_base": 37, + "num_vertices": 4, + "plane": [ + 0.27523818612098694, + -0.9607937932014465, + 0.03345489874482155, + -0.04783531278371811 + ] + }, + { + "index_base": 41, + "num_vertices": 5, + "plane": [ + 0.09237154573202133, + -0.9955459237098694, + 0.01886383444070816, + -0.0309115182608366 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.273250013589859, + -0.9614702463150024, + 0.030156532302498817, + -0.04726513475179672 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.2741813063621521, + 0.9610224962234497, + 0.03550161048769951, + -0.04801777005195618 + ] + }, + { + "index_base": 52, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13500000536441803 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 12 + ], + [ + 18, + 12, + 11 + ], + [ + 18, + 11, + 5 + ], + [ + 18, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 6, + 5, + 11 + ], + [ + 6, + 11, + 10 + ], + [ + 9, + 6, + 10 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 14 + ], + [ + 1, + 15, + 14 + ], + [ + 1, + 14, + 13 + ], + [ + 1, + 13, + 2 + ], + [ + 4, + 7, + 16 + ], + [ + 4, + 16, + 17 + ], + [ + 3, + 18, + 17 + ], + [ + 3, + 17, + 16 + ], + [ + 3, + 16, + 0 + ], + [ + 18, + 4, + 17 + ], + [ + 15, + 8, + 14 + ], + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 9 + ], + [ + 16, + 9, + 8 + ], + [ + 16, + 8, + 15 + ], + [ + 16, + 15, + 1 + ], + [ + 16, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.07138393074274063, + -0.022062761709094048, + 0.11999999731779099 + ], + [ + 0.10129431635141373, + 0.022062761709094048, + 0.13500000536441803 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006083478219807148, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json new file mode 100644 index 0000000000000000000000000000000000000000..e013fa88136b00976ffeb926c7cff2399d6ebd69 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json @@ -0,0 +1,1549 @@ +{ + "path": "/World/Assets/Tier2Items/pring_bbq_copy_01/VisualMatchedCollision", + "index": 229, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2819461557082832, + "parts": [ + { + "vertices_raw": [ + [ + 0.03465000167489052, + -0.014349999837577343, + 0.22599999606609344 + ], + [ + 0.025989999994635582, + -0.025989999994635582, + 0.23000000417232513 + ], + [ + 0.026520000770688057, + -0.026520000770688057, + 0.004000000189989805 + ], + [ + 0.014349999837577343, + -0.03465000167489052, + 0.22599999606609344 + ], + [ + -0.025989999994635582, + -0.025989999994635582, + 0.23000000417232513 + ], + [ + -0.03465000167489052, + -0.014349999837577343, + 0.22599999606609344 + ], + [ + -0.03465000167489052, + -0.014349999837577343, + 0.004000000189989805 + ], + [ + -0.026520000770688057, + -0.026520000770688057, + 0.004000000189989805 + ], + [ + -0.014349999837577343, + -0.03465000167489052, + 0.22599999606609344 + ], + [ + 0.03674999997019768, + 0.0, + 0.23000000417232513 + ], + [ + 0.03750000149011612, + 0.0, + 0.004000000189989805 + ], + [ + 0.03465000167489052, + 0.014349999837577343, + 0.22599999606609344 + ], + [ + 0.0, + -0.03674999997019768, + 0.23000000417232513 + ], + [ + 0.0, + -0.03750000149011612, + 0.004000000189989805 + ], + [ + -0.014059999957680702, + -0.03395000100135803, + 0.0 + ], + [ + 0.014059999957680702, + -0.03395000100135803, + 0.0 + ], + [ + 0.03395000100135803, + -0.014059999957680702, + 0.0 + ], + [ + 0.03395000100135803, + 0.014059999957680702, + 0.0 + ], + [ + 0.026520000770688057, + 0.026520000770688057, + 0.004000000189989805 + ], + [ + 0.026520000770688057, + 0.026520000770688057, + 0.22599999606609344 + ], + [ + -0.014059999957680702, + 0.03395000100135803, + 0.23000000417232513 + ], + [ + 0.0, + 0.03750000149011612, + 0.22599999606609344 + ], + [ + 0.0, + 0.03750000149011612, + 0.004000000189989805 + ], + [ + -0.014059999957680702, + 0.03395000100135803, + 0.0 + ], + [ + -0.026520000770688057, + 0.026520000770688057, + 0.004000000189989805 + ], + [ + -0.026520000770688057, + 0.026520000770688057, + 0.22599999606609344 + ], + [ + 0.014059999957680702, + 0.03395000100135803, + 0.23000000417232513 + ], + [ + 0.014059999957680702, + 0.03395000100135803, + 0.0 + ], + [ + -0.03674999997019768, + 0.0, + 0.23000000417232513 + ], + [ + -0.03674999997019768, + 0.0, + 0.0 + ], + [ + -0.03465000167489052, + 0.014349999837577343, + 0.22599999606609344 + ], + [ + -0.03465000167489052, + 0.014349999837577343, + 0.004000000189989805 + ], + [ + -0.025989999994635582, + 0.025989999994635582, + 0.23000000417232513 + ], + [ + -0.03395000100135803, + 0.014059999957680702, + 0.23000000417232513 + ], + [ + -0.025989999994635582, + 0.025989999994635582, + 0.0 + ], + [ + -0.03395000100135803, + 0.014059999957680702, + 0.0 + ], + [ + 0.025989999994635582, + 0.025989999994635582, + 0.23000000417232513 + ], + [ + 0.03395000100135803, + 0.014059999957680702, + 0.23000000417232513 + ], + [ + -0.025989999994635582, + -0.025989999994635582, + 0.0 + ], + [ + -0.03395000100135803, + -0.014059999957680702, + 0.0 + ], + [ + 0.025989999994635582, + -0.025989999994635582, + 0.0 + ], + [ + 0.025989999994635582, + 0.025989999994635582, + 0.0 + ], + [ + 0.0, + -0.03674999997019768, + 0.0 + ], + [ + 0.03674999997019768, + 0.0, + 0.0 + ], + [ + 0.0, + 0.03674999997019768, + 0.0 + ], + [ + 0.0, + 0.03674999997019768, + 0.23000000417232513 + ], + [ + -0.03395000100135803, + -0.014059999957680702, + 0.23000000417232513 + ], + [ + 0.03395000100135803, + -0.014059999957680702, + 0.23000000417232513 + ], + [ + -0.014059999957680702, + -0.03395000100135803, + 0.23000000417232513 + ], + [ + 0.014059999957680702, + -0.03395000100135803, + 0.23000000417232513 + ] + ], + "indices_raw": [ + 37, + 36, + 26, + 45, + 20, + 32, + 33, + 28, + 46, + 4, + 48, + 12, + 49, + 1, + 47, + 9, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 4, + 7, + 8, + 9, + 0, + 10, + 9, + 10, + 11, + 12, + 8, + 13, + 12, + 13, + 3, + 14, + 13, + 8, + 14, + 8, + 7, + 15, + 2, + 3, + 15, + 3, + 13, + 16, + 10, + 0, + 16, + 0, + 2, + 17, + 18, + 19, + 11, + 17, + 11, + 10, + 20, + 21, + 22, + 23, + 20, + 23, + 24, + 25, + 26, + 19, + 18, + 27, + 26, + 27, + 22, + 21, + 6, + 5, + 28, + 29, + 30, + 25, + 24, + 31, + 30, + 31, + 29, + 28, + 32, + 20, + 25, + 25, + 30, + 33, + 32, + 34, + 24, + 23, + 34, + 35, + 31, + 24, + 36, + 19, + 26, + 36, + 37, + 11, + 19, + 38, + 14, + 7, + 7, + 6, + 39, + 38, + 40, + 16, + 2, + 40, + 2, + 15, + 41, + 27, + 18, + 41, + 18, + 17, + 42, + 15, + 13, + 42, + 13, + 14, + 43, + 17, + 10, + 43, + 10, + 16, + 44, + 23, + 22, + 44, + 22, + 27, + 45, + 26, + 21, + 45, + 21, + 20, + 46, + 5, + 4, + 46, + 28, + 5, + 47, + 0, + 9, + 47, + 1, + 0, + 48, + 8, + 12, + 48, + 4, + 8, + 49, + 12, + 3, + 49, + 3, + 1, + 33, + 30, + 28, + 37, + 9, + 11, + 35, + 29, + 31, + 39, + 29, + 35, + 34, + 23, + 44, + 27, + 41, + 17, + 43, + 16, + 40, + 15, + 42, + 14, + 38, + 39, + 6, + 29 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.23000000417232513 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.8028452396392822, + -0.5961785316467285, + 0.0032809011172503233, + -0.03711523488163948 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.5961785316467285, + -0.8028452396392822, + 0.0032809011172503233, + -0.03711523488163948 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.8172436356544495, + -0.5762924551963806, + 0.0, + -0.03658729046583176 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.5961785316467285, + -0.8028452396392822, + 0.0032809011172503233, + -0.03711523488163948 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.9893242716789246, + -0.14569422602653503, + 0.0032831623684614897, + -0.03711279109120369 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.9893242716789246, + 0.14569421112537384, + 0.0032831623684614897, + -0.03711279109120369 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.14569422602653503, + -0.9893242716789246, + 0.0032831623684614897, + -0.03711279109120369 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.14569421112537384, + -0.9893242716789246, + 0.0032831623684614897, + -0.03711279109120369 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.24391809105873108, + -0.9697901010513306, + -0.00331676984205842, + -0.03635386377573013 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.5129448771476746, + -0.8584151864051819, + -0.0033170138485729694, + -0.03635520488023758 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.5129448771476746, + -0.8584151864051819, + -0.0033170138485729694, + -0.03635520488023758 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + 0.24391809105873108, + -0.9697901010513306, + -0.00331676984205842, + -0.03635386377573013 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + 0.9697901010513306, + -0.24391809105873108, + -0.00331676984205842, + -0.03635386377573013 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + 0.8584151864051819, + -0.5129448771476746, + -0.0033170138485729694, + -0.03635520488023758 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.845423698425293, + 0.5340963006019592, + 0.0, + -0.036584869027137756 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.9697901010513306, + 0.24391809105873108, + -0.00331676984205842, + -0.03635386377573013 + ] + }, + { + "index_base": 66, + "num_vertices": 4, + "plane": [ + -0.24480660259723663, + 0.9695718884468079, + 0.0, + -0.036358948796987534 + ] + }, + { + "index_base": 70, + "num_vertices": 4, + "plane": [ + -0.5121623277664185, + 0.8588886260986328, + 0.0, + -0.03636027127504349 + ] + }, + { + "index_base": 74, + "num_vertices": 4, + "plane": [ + 0.5121623277664185, + 0.8588886857032776, + 0.0, + -0.03636027127504349 + ] + }, + { + "index_base": 78, + "num_vertices": 4, + "plane": [ + 0.24480660259723663, + 0.9695719480514526, + 0.0, + -0.036358948796987534 + ] + }, + { + "index_base": 82, + "num_vertices": 4, + "plane": [ + -0.9894610643386841, + -0.14479905366897583, + 0.0, + -0.03636269271373749 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + -0.8315243124961853, + 0.5554882884025574, + 0.0, + -0.036783576011657715 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.9894610643386841, + 0.14479905366897583, + 0.0, + -0.03636269271373749 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.5458821058273315, + 0.8181372880935669, + 0.18073241412639618, + -0.07701931893825531 + ] + }, + { + "index_base": 97, + "num_vertices": 4, + "plane": [ + -0.817681610584259, + 0.5462409257888794, + 0.18170803785324097, + -0.07723724842071533 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + -0.5458821058273315, + 0.8181372284889221, + -0.1807328313589096, + -0.03545086085796356 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.8176814913749695, + 0.5462408065795898, + -0.1817084103822708, + -0.035444386303424835 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + 0.5458820462226868, + 0.8181372284889221, + 0.18073245882987976, + -0.07701932638883591 + ] + }, + { + "index_base": 111, + "num_vertices": 4, + "plane": [ + 0.817681610584259, + 0.5462409257888794, + 0.18170806765556335, + -0.07723724842071533 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.5458821058273315, + -0.8181372284889221, + -0.18073277175426483, + -0.03545086085796356 + ] + }, + { + "index_base": 118, + "num_vertices": 4, + "plane": [ + -0.8176814913749695, + -0.5462408065795898, + -0.18170836567878723, + -0.035444386303424835 + ] + }, + { + "index_base": 122, + "num_vertices": 3, + "plane": [ + 0.8181372284889221, + -0.5458821058273315, + -0.18073277175426483, + -0.03545086085796356 + ] + }, + { + "index_base": 125, + "num_vertices": 3, + "plane": [ + 0.5458821058273315, + -0.8181372284889221, + -0.1807328313589096, + -0.03545086085796356 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + 0.5458821058273315, + 0.8181372284889221, + -0.18073277175426483, + -0.03545086085796356 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + 0.8181372284889221, + 0.5458821058273315, + -0.1807328313589096, + -0.03545086085796356 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + 0.19209034740924835, + -0.9645683169364929, + -0.18085695803165436, + -0.03544788807630539 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.19209034740924835, + -0.9645683169364929, + -0.18085692822933197, + -0.03544788807630539 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + 0.9645683169364929, + 0.19209034740924835, + -0.18085695803165436, + -0.03544788807630539 + ] + }, + { + "index_base": 143, + "num_vertices": 3, + "plane": [ + 0.9645683169364929, + -0.19209034740924835, + -0.18085692822933197, + -0.03544788807630539 + ] + }, + { + "index_base": 146, + "num_vertices": 3, + "plane": [ + -0.19209034740924835, + 0.9645683169364929, + -0.18085695803165436, + -0.03544788807630539 + ] + }, + { + "index_base": 149, + "num_vertices": 3, + "plane": [ + 0.19209034740924835, + 0.9645683169364929, + -0.18085692822933197, + -0.03544788807630539 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + 0.19209036231040955, + 0.9645683765411377, + 0.1808566004037857, + -0.07704490423202515 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + -0.19209036231040955, + 0.9645683765411377, + 0.18085657060146332, + -0.07704489678144455 + ] + }, + { + "index_base": 158, + "num_vertices": 3, + "plane": [ + -0.8178373575210571, + -0.5456820130348206, + 0.18268322944641113, + -0.07745501399040222 + ] + }, + { + "index_base": 161, + "num_vertices": 3, + "plane": [ + -0.9642408490180969, + -0.19202513992786407, + 0.18266373872756958, + -0.07744850963354111 + ] + }, + { + "index_base": 164, + "num_vertices": 3, + "plane": [ + 0.9642408490180969, + -0.19202513992786407, + 0.18266375362873077, + -0.0774485170841217 + ] + }, + { + "index_base": 167, + "num_vertices": 3, + "plane": [ + 0.8178374171257019, + -0.5456820130348206, + 0.18268315494060516, + -0.07745499908924103 + ] + }, + { + "index_base": 170, + "num_vertices": 3, + "plane": [ + -0.19202513992786407, + -0.9642408490180969, + 0.18266375362873077, + -0.0774485170841217 + ] + }, + { + "index_base": 173, + "num_vertices": 3, + "plane": [ + -0.5456820130348206, + -0.8178374171257019, + 0.18268315494060516, + -0.07745499908924103 + ] + }, + { + "index_base": 176, + "num_vertices": 3, + "plane": [ + 0.19202513992786407, + -0.9642408490180969, + 0.18266373872756958, + -0.07744850963354111 + ] + }, + { + "index_base": 179, + "num_vertices": 3, + "plane": [ + 0.5456820130348206, + -0.8178373575210571, + 0.18268322944641113, + -0.07745501399040222 + ] + }, + { + "index_base": 182, + "num_vertices": 3, + "plane": [ + -0.9642408490180969, + 0.19202513992786407, + 0.18266375362873077, + -0.0774485170841217 + ] + }, + { + "index_base": 185, + "num_vertices": 3, + "plane": [ + 0.9642408490180969, + 0.19202513992786407, + 0.18266373872756958, + -0.07744850963354111 + ] + }, + { + "index_base": 188, + "num_vertices": 3, + "plane": [ + -0.9642406702041626, + 0.1920250952243805, + -0.18266408145427704, + -0.03543584793806076 + ] + }, + { + "index_base": 191, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 207, + "num_vertices": 3, + "plane": [ + -0.9642406702041626, + -0.1920251101255417, + -0.18266409635543823, + -0.03543584793806076 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 36, + 26 + ], + [ + 37, + 26, + 45 + ], + [ + 37, + 45, + 20 + ], + [ + 37, + 20, + 32 + ], + [ + 37, + 32, + 33 + ], + [ + 37, + 33, + 28 + ], + [ + 37, + 28, + 46 + ], + [ + 37, + 46, + 4 + ], + [ + 37, + 4, + 48 + ], + [ + 37, + 48, + 12 + ], + [ + 37, + 12, + 49 + ], + [ + 37, + 49, + 1 + ], + [ + 37, + 1, + 47 + ], + [ + 37, + 47, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 9, + 0, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 8, + 13 + ], + [ + 12, + 13, + 3 + ], + [ + 14, + 13, + 8 + ], + [ + 14, + 8, + 7 + ], + [ + 15, + 2, + 3 + ], + [ + 15, + 3, + 13 + ], + [ + 16, + 10, + 0 + ], + [ + 16, + 0, + 2 + ], + [ + 17, + 18, + 19 + ], + [ + 17, + 19, + 11 + ], + [ + 17, + 11, + 10 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 20, + 23, + 24 + ], + [ + 20, + 24, + 25 + ], + [ + 26, + 19, + 18 + ], + [ + 26, + 18, + 27 + ], + [ + 26, + 27, + 22 + ], + [ + 26, + 22, + 21 + ], + [ + 6, + 5, + 28 + ], + [ + 6, + 28, + 29 + ], + [ + 30, + 25, + 24 + ], + [ + 30, + 24, + 31 + ], + [ + 30, + 31, + 29 + ], + [ + 30, + 29, + 28 + ], + [ + 32, + 20, + 25 + ], + [ + 25, + 30, + 33 + ], + [ + 25, + 33, + 32 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 35, + 31 + ], + [ + 34, + 31, + 24 + ], + [ + 36, + 19, + 26 + ], + [ + 36, + 37, + 11 + ], + [ + 36, + 11, + 19 + ], + [ + 38, + 14, + 7 + ], + [ + 7, + 6, + 39 + ], + [ + 7, + 39, + 38 + ], + [ + 40, + 16, + 2 + ], + [ + 40, + 2, + 15 + ], + [ + 41, + 27, + 18 + ], + [ + 41, + 18, + 17 + ], + [ + 42, + 15, + 13 + ], + [ + 42, + 13, + 14 + ], + [ + 43, + 17, + 10 + ], + [ + 43, + 10, + 16 + ], + [ + 44, + 23, + 22 + ], + [ + 44, + 22, + 27 + ], + [ + 45, + 26, + 21 + ], + [ + 45, + 21, + 20 + ], + [ + 46, + 5, + 4 + ], + [ + 46, + 28, + 5 + ], + [ + 47, + 0, + 9 + ], + [ + 47, + 1, + 0 + ], + [ + 48, + 8, + 12 + ], + [ + 48, + 4, + 8 + ], + [ + 49, + 12, + 3 + ], + [ + 49, + 3, + 1 + ], + [ + 33, + 30, + 28 + ], + [ + 37, + 9, + 11 + ], + [ + 35, + 29, + 31 + ], + [ + 39, + 29, + 35 + ], + [ + 39, + 35, + 34 + ], + [ + 39, + 34, + 23 + ], + [ + 39, + 23, + 44 + ], + [ + 39, + 44, + 27 + ], + [ + 39, + 27, + 41 + ], + [ + 39, + 41, + 17 + ], + [ + 39, + 17, + 43 + ], + [ + 39, + 43, + 16 + ], + [ + 39, + 16, + 40 + ], + [ + 39, + 40, + 15 + ], + [ + 39, + 15, + 42 + ], + [ + 39, + 42, + 14 + ], + [ + 39, + 14, + 38 + ], + [ + 39, + 6, + 29 + ] + ], + "raw_bounds": [ + [ + -0.03674999997019768, + -0.03750000149011612, + 0.0 + ], + [ + 0.03750000149011612, + 0.03750000149011612, + 0.23000000417232513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015854001976549625, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc22fe0da5bd604b52b4a83f0100cd177906dcf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_00", + "index": 230, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.284148704726249, + "parts": [ + { + "vertices_raw": [ + [ + -0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.0535714291036129, + -0.021399520337581635, + 0.0 + ], + [ + -0.0535714291036129, + 0.021399520337581635, + 0.0 + ], + [ + -0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.07474280148744583, + 0.013110102154314518, + 0.02222222089767456 + ], + [ + -0.07500000298023224, + 0.014010000042617321, + 0.0 + ], + [ + -0.07500000298023224, + -0.014010000042617321, + 0.0 + ], + [ + -0.07474280148744583, + -0.013110102154314518, + 0.02222222089767456 + ], + [ + -0.06428571790456772, + -0.018607646226882935, + 0.0 + ], + [ + -0.06406525522470474, + -0.017368894070386887, + 0.02222222089767456 + ], + [ + -0.06406525522470474, + 0.017368894070386887, + 0.02222222089767456 + ], + [ + -0.06428571790456772, + 0.018607646226882935, + 0.0 + ] + ], + "indices_raw": [ + 11, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 6, + 5, + 4, + 10, + 11, + 8, + 1, + 0, + 9, + 10, + 3, + 2, + 11, + 10, + 4, + 7, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.9999657869338989, + 0.0, + -0.00826695654541254, + 0.053569596260786057 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9999330639839172, + 0.0, + 0.01157329324632883, + -0.07499497383832932 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.3819395899772644, + -0.9225364923477173, + 0.05521488934755325, + -0.04171949252486229 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.3819395899772644, + 0.9225364923477173, + 0.05521488934755325, + -0.04171949625015259 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.24330227077007294, + -0.9677755236625671, + 0.06492000073194504, + -0.03374398127198219 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.24330224096775055, + 0.9677755236625671, + 0.06492000073194504, + -0.03374398127198219 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.02222221903502941 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 8 + ], + [ + 11, + 8, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 5, + 4, + 10 + ], + [ + 5, + 10, + 11 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 9 + ], + [ + 10, + 9, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07500000298023224, + -0.021399520337581635, + 0.0 + ], + [ + -0.05338771268725395, + 0.021399520337581635, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005097361281514168, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json new file mode 100644 index 0000000000000000000000000000000000000000..ab55bb54f35f4caa991688dc86ba2f41baf1dc7a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_04", + "index": 231, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2852630917914212, + "parts": [ + { + "vertices_raw": [ + [ + -0.0535714291036129, + -0.021399520337581635, + 0.0 + ], + [ + -0.03214285895228386, + -0.023662978783249855, + 0.0 + ], + [ + -0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.0535714291036129, + 0.021399520337581635, + 0.0 + ], + [ + -0.03214285895228386, + 0.023662978783249855, + 0.0 + ], + [ + -0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.04271017014980316, + 0.021377170458436012, + 0.02222222089767456 + ], + [ + -0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02222222089767456 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.10111874341964722, + -0.9922329187393188, + 0.07244865596294403, + -0.026729431003332138 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.11380212008953094, + 0.9913497567176819, + 0.06538179516792297, + -0.027310950681567192 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999876618385315, + 0.0, + -0.004960349760949612, + 0.03214246407151222 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06287560611963272, + 0.995385468006134, + 0.07248754799365997, + -0.025574788451194763 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999657869338989, + 0.0, + 0.00826695654541254, + -0.053569596260786057 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0535714291036129, + -0.023662978783249855, + 0.0 + ], + [ + -0.03203262761235237, + 0.023662978783249855, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046752532944083214, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json new file mode 100644 index 0000000000000000000000000000000000000000..fd2a9db5c3c2db6a4a0baa94cda1f9da1c0ecfa9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_08", + "index": 232, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.28633197396993637, + "parts": [ + { + "vertices_raw": [ + [ + -0.03214285895228386, + -0.023662978783249855, + 0.0 + ], + [ + -0.010714286006987095, + -0.023995839059352875, + 0.0 + ], + [ + -0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + -0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.03214285895228386, + 0.023662978783249855, + 0.0 + ], + [ + -0.010714286006987095, + 0.023995839059352875, + 0.0 + ], + [ + -0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.02135508507490158, + 0.022302156314253807, + 0.02222222089767456 + ], + [ + -0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.02222221903502941 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.014944605529308319, + -0.9971882104873657, + 0.07343196123838425, + -0.024088488891720772 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.01811959594488144, + 0.997211217880249, + 0.07239791750907898, + -0.024179402738809586 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999986886978149, + 0.0, + -0.0016534540336579084, + 0.010714272037148476 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.005399574525654316, + 0.9972862601280212, + 0.07342338562011719, + -0.023988574743270874 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999876618385315, + 0.0, + 0.004960349760949612, + -0.03214246407151222 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03214285895228386, + -0.023995839059352875, + 0.0 + ], + [ + -0.01067754253745079, + 0.023995839059352875, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047622667625546455, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json new file mode 100644 index 0000000000000000000000000000000000000000..f8cb82209ed3454347e4c9bd2731080473b1eb91 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_12", + "index": 233, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2873980738222599, + "parts": [ + { + "vertices_raw": [ + [ + -0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.0, + -0.024000000208616257, + 0.0 + ], + [ + 0.010714286006987095, + -0.023995839059352875, + 0.0 + ], + [ + 0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.010714286006987095, + 0.023995839059352875, + 0.0 + ], + [ + 0.0, + 0.024000000208616257, + 0.0 + ], + [ + -0.01070473250001669, + 0.023186329752206802, + 0.01111111044883728 + ], + [ + -0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.0, + 0.022363821044564247, + 0.02222222089767456 + ], + [ + 0.01070473250001669, + 0.023186329752206802, + 0.01111111044883728 + ], + [ + -0.010714286006987095, + 0.023995839059352875, + 0.0 + ], + [ + -0.010714286006987095, + -0.023995839059352875, + 0.0 + ], + [ + 0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 0, + 7, + 6, + 10, + 11, + 11, + 1, + 0, + 2, + 4, + 9, + 12, + 3, + 10, + 6, + 5, + 4, + 2, + 1, + 11, + 10, + 5, + 12, + 9, + 8, + 12, + 8, + 7, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0003986947995144874, + 0.9973012208938599, + 0.0734168291091919, + -0.02393523044884205 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00012940235319547355, + -0.9972832202911377, + 0.07366316020488739, + -0.023934796452522278 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + -0.9999983310699463, + 0.0, + 0.0018121812026947737, + -0.010717795230448246 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.00038732579560019076, + -0.9973012804985046, + 0.07341621816158295, + -0.02393523044884205 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.9999988675117493, + 0.0, + 0.001494726282544434, + -0.010714273899793625 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.00038734794361516833, + 0.9973564743995667, + 0.07266358286142349, + -0.0239365566521883 + ] + }, + { + "index_base": 26, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00035993862547911704, + 0.9972456693649292, + 0.07416867464780807, + -0.023950418457388878 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.02222221903502941 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 7, + 6 + ], + [ + 0, + 6, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 11, + 1, + 0 + ], + [ + 2, + 4, + 9 + ], + [ + 2, + 9, + 12 + ], + [ + 2, + 12, + 3 + ], + [ + 10, + 6, + 5 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 11 + ], + [ + 4, + 11, + 10 + ], + [ + 4, + 10, + 5 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.010714286006987095, + -0.024000000208616257, + 0.0 + ], + [ + 0.010714286006987095, + 0.024000000208616257, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005909623578190804, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json new file mode 100644 index 0000000000000000000000000000000000000000..16036eb19037de1f2b3e6cefd8129f4147dab6aa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_16", + "index": 234, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2886098097078502, + "parts": [ + { + "vertices_raw": [ + [ + 0.03214285895228386, + -0.023662978783249855, + 0.0 + ], + [ + 0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.010714286006987095, + -0.023995839059352875, + 0.0 + ], + [ + 0.03214285895228386, + 0.023662978783249855, + 0.0 + ], + [ + 0.010714286006987095, + 0.023995839059352875, + 0.0 + ], + [ + 0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.02135508507490158, + 0.022302156314253807, + 0.02222222089767456 + ], + [ + 0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.02222221903502941 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.014944600872695446, + -0.9971882104873657, + 0.07343196123838425, + -0.024088488891720772 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.012134380638599396, + 0.9972265362739563, + 0.0734301283955574, + -0.024059299379587173 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999986886978149, + 0.0, + -0.0016534540336579084, + 0.010714272037148476 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.023393962532281876, + 0.9971000552177429, + 0.0724160224199295, + -0.024346306920051575 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999876618385315, + 0.0, + 0.004960349760949612, + -0.03214246407151222 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.01067754253745079, + -0.023995839059352875, + 0.0 + ], + [ + 0.03214285895228386, + 0.023995839059352875, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004686708562076092, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json new file mode 100644 index 0000000000000000000000000000000000000000..6a12e94a1c47453c664a975cc89ea80b4c4fefa3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_20", + "index": 235, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2897003488615155, + "parts": [ + { + "vertices_raw": [ + [ + 0.0535714291036129, + -0.021399520337581635, + 0.0 + ], + [ + 0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.03214285895228386, + -0.023662978783249855, + 0.0 + ], + [ + 0.0535714291036129, + 0.021399520337581635, + 0.0 + ], + [ + 0.03214285895228386, + 0.023662978783249855, + 0.0 + ], + [ + 0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.04271017014980316, + 0.021377170458436012, + 0.02222222089767456 + ], + [ + 0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02222222089767456 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.10111874341964722, + -0.9922329187393188, + 0.07244865596294403, + -0.026729431003332138 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.09088648110628128, + 0.9932209253311157, + 0.07246953994035721, + -0.026423916220664978 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999876618385315, + 0.0, + -0.004960349760949612, + 0.03214246407151222 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.13174384832382202, + 0.9891249537467957, + 0.06538549810647964, + -0.028224507346749306 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999657869338989, + 0.0, + 0.00826695654541254, + -0.053569596260786057 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.03203262761235237, + -0.023662978783249855, + 0.0 + ], + [ + 0.0535714291036129, + 0.023662978783249855, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004689921624958515, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json new file mode 100644 index 0000000000000000000000000000000000000000..70a0b0ae83df8a1484019d1c63fe8d2ec2e04be4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_24", + "index": 236, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29079457093030214, + "parts": [ + { + "vertices_raw": [ + [ + 0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.0535714291036129, + 0.021399520337581635, + 0.0 + ], + [ + 0.0535714291036129, + -0.021399520337581635, + 0.0 + ], + [ + 0.07474280148744583, + 0.013110102154314518, + 0.02222222089767456 + ], + [ + 0.07474280148744583, + -0.013110102154314518, + 0.02222222089767456 + ], + [ + 0.07500000298023224, + -0.014010000042617321, + 0.0 + ], + [ + 0.07500000298023224, + 0.014010000042617321, + 0.0 + ], + [ + 0.06406525522470474, + -0.017368894070386887, + 0.02222222089767456 + ], + [ + 0.06428571790456772, + -0.018607646226882935, + 0.0 + ], + [ + 0.06428571790456772, + 0.018607646226882935, + 0.0 + ], + [ + 0.06406525522470474, + 0.017368894070386887, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 9, + 10, + 11, + 4, + 7, + 8, + 0, + 3, + 9, + 10, + 2, + 1, + 11, + 11, + 1, + 0, + 8, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.9999657869338989, + 0.0, + -0.00826695654541254, + 0.053569596260786057 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9999330639839172, + 0.0, + 0.01157329324632883, + -0.07499497383832932 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.3819395899772644, + -0.9225364923477173, + 0.05521488934755325, + -0.04171949625015259 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.3819395899772644, + 0.9225364923477173, + 0.05521488934755325, + -0.04171949252486229 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.24330224096775055, + -0.9677755236625671, + 0.06492000073194504, + -0.03374398127198219 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.24330227077007294, + 0.9677755236625671, + 0.06492000073194504, + -0.03374398127198219 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02222222089767456 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 3 + ], + [ + 10, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 4 + ], + [ + 10, + 4, + 7 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 11 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 8 + ], + [ + 11, + 8, + 5 + ], + [ + 11, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + 0.05338771268725395, + -0.021399520337581635, + 0.0 + ], + [ + 0.07500000298023224, + 0.021399520337581635, + 0.02222222089767456 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004912177100777626, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json new file mode 100644 index 0000000000000000000000000000000000000000..1624ddb23b5afff17449767427760e32cba3f13a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_00", + "index": 237, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2919063069857657, + "parts": [ + { + "vertices_raw": [ + [ + -0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.07405349612236023, + 0.012169833295047283, + 0.04444444179534912 + ], + [ + -0.07474280148744583, + 0.013110102154314518, + 0.02222222089767456 + ], + [ + -0.07474280148744583, + -0.013110102154314518, + 0.02222222089767456 + ], + [ + -0.07405349612236023, + -0.012169833295047283, + 0.04444444179534912 + ], + [ + -0.06406525522470474, + -0.017368894070386887, + 0.02222222089767456 + ], + [ + -0.06347442418336868, + -0.016074569895863533, + 0.04444444179534912 + ], + [ + -0.06347442418336868, + 0.016074569895863533, + 0.04444444179534912 + ], + [ + -0.06406525522470474, + 0.017368894070386887, + 0.02222222089767456 + ] + ], + "indices_raw": [ + 11, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 6, + 5, + 4, + 10, + 11, + 8, + 1, + 0, + 9, + 10, + 3, + 2, + 11, + 10, + 4, + 7, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02222222089767456 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.9997546076774597, + 0.0, + -0.022150617092847824, + 0.05386684462428093 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9995192885398865, + 0.0, + 0.031003832817077637, + -0.0753958448767662 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.3577865660190582, + -0.931623101234436, + 0.06377461552619934, + -0.04052016884088516 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.3577865660190582, + 0.931623101234436, + 0.06377461552619934, + -0.04052016884088516 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.22654107213020325, + -0.9714105725288391, + 0.07099705189466476, + -0.03305672109127045 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.22654110193252563, + 0.9714106321334839, + 0.07099705189466476, + -0.033056724816560745 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 8 + ], + [ + 11, + 8, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 5, + 4, + 10 + ], + [ + 5, + 10, + 11 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 9 + ], + [ + 10, + 9, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07474280148744583, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.052895355969667435, + 0.019955003634095192, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005064229480922222, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json new file mode 100644 index 0000000000000000000000000000000000000000..7583f4b8c930b1518f3e97c80f0f359680433256 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_04", + "index": 238, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2930022990331054, + "parts": [ + { + "vertices_raw": [ + [ + -0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + -0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.04231628403067589, + 0.019749615341424942, + 0.04444444179534912 + ], + [ + -0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.09383945167064667, + -0.9926474094390869, + 0.07645369321107864, + -0.02659439668059349 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02222222089767456 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.10563068836927414, + 0.9919587969779968, + 0.0697137787938118, + -0.026983117684721947 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999116659164429, + 0.0, + -0.0132925258949399, + 0.03232518583536148 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.05818547308444977, + 0.9953944087028503, + 0.07618784159421921, + -0.02550697699189186 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997546076774597, + 0.0, + 0.022150617092847824, + -0.05386684462428093 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05338771268725395, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.03173721209168434, + 0.02205163985490799, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004509096033871174, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json new file mode 100644 index 0000000000000000000000000000000000000000..defadd6764dfb2d19472dc7c72679b1ab10b59c5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_08", + "index": 239, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29410815984010696, + "parts": [ + { + "vertices_raw": [ + [ + -0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + -0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + -0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + -0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + -0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.021158142015337944, + 0.020597701892256737, + 0.04444444179534912 + ], + [ + -0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.013859757222235203, + -0.9969544410705566, + 0.07674387097358704, + -0.024145275354385376 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.02222221903502941 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.016796914860606194, + 0.9969847202301025, + 0.07575811445713043, + -0.02420670911669731 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999901652336121, + 0.0, + -0.004431175533682108, + 0.010775908827781677 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.0049955593422055244, + 0.997040867805481, + 0.07671123743057251, + -0.024051837623119354 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999116659164429, + 0.0, + 0.0132925258949399, + -0.03232518583536148 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03203262761235237, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + -0.010579071007668972, + 0.02235996723175049, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045556388795375824, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json new file mode 100644 index 0000000000000000000000000000000000000000..5421b4cdc6c0e80f4a32a340f8ae98ebda6ae97a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_12", + "index": 240, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2951725539751351, + "parts": [ + { + "vertices_raw": [ + [ + -0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.0, + -0.022363821044564247, + 0.02222222089767456 + ], + [ + 0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.0, + 0.022363821044564247, + 0.02222222089767456 + ], + [ + -0.010634920559823513, + 0.021515317261219025, + 0.03333333134651184 + ], + [ + -0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.0, + 0.020654242485761642, + 0.04444444179534912 + ], + [ + 0.010634920559823513, + 0.021515317261219025, + 0.03333333134651184 + ], + [ + -0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + -0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 0, + 7, + 6, + 10, + 11, + 11, + 1, + 0, + 2, + 4, + 9, + 12, + 3, + 10, + 5, + 4, + 2, + 1, + 11, + 10, + 6, + 5, + 12, + 9, + 8, + 12, + 8, + 7, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0005075353546999395, + 0.99705970287323, + 0.07662658393383026, + -0.024000877514481544 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00012069653894286603, + -0.9970373511314392, + 0.07691919058561325, + -0.024006880819797516 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + -0.9999896287918091, + 0.0, + 0.004550219513475895, + -0.01078119408339262 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.0003598639159463346, + -0.9970547556877136, + 0.07669176906347275, + -0.02400221675634384 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.9999907612800598, + 0.0, + 0.004312130622565746, + -0.010773270390927792 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02222222089767456 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.00035988667514175177, + 0.9971228837966919, + 0.07580117136240005, + -0.023983949795365334 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00033317116321995854, + 0.996985912322998, + 0.07758204638957977, + -0.024040082469582558 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 7, + 6 + ], + [ + 0, + 6, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 11, + 1, + 0 + ], + [ + 2, + 4, + 9 + ], + [ + 2, + 9, + 12 + ], + [ + 2, + 12, + 3 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 11 + ], + [ + 10, + 6, + 5 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.01067754253745079, + -0.022363821044564247, + 0.02222222089767456 + ], + [ + 0.01067754253745079, + 0.022363821044564247, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005164612084627151, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json new file mode 100644 index 0000000000000000000000000000000000000000..ace72d67adb6c8ed29dca2c010d82aa5011a4319 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_16", + "index": 241, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29631986003369093, + "parts": [ + { + "vertices_raw": [ + [ + 0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.01067754253745079, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.01067754253745079, + 0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.021158142015337944, + 0.020597701892256737, + 0.04444444179534912 + ], + [ + 0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.013859754428267479, + -0.9969544410705566, + 0.07674387097358704, + -0.024145275354385376 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.02222221903502941 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.011280843056738377, + 0.9969878196716309, + 0.0767350122332573, + -0.024118289351463318 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999901652336121, + 0.0, + -0.004431175533682108, + 0.010775908827781677 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.021644167602062225, + 0.9968869686126709, + 0.07581514865159988, + -0.02436109445989132 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999116659164429, + 0.0, + 0.0132925258949399, + -0.03232518583536148 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.010579071007668972, + -0.02235996723175049, + 0.02222222089767456 + ], + [ + 0.03203262761235237, + 0.02235996723175049, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004787081852555275, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json new file mode 100644 index 0000000000000000000000000000000000000000..76aa242eb3e7ccdd202dce7d12dada5ba3ac1d79 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_20", + "index": 242, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2974077770486474, + "parts": [ + { + "vertices_raw": [ + [ + 0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.03203262761235237, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.03203262761235237, + 0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.04231628403067589, + 0.019749615341424942, + 0.04444444179534912 + ], + [ + 0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.09383945167064667, + -0.9926474094390869, + 0.07645369321107864, + -0.02659439668059349 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02222222089767456 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.08446653932332993, + 0.9934936165809631, + 0.07639320939779282, + -0.026311475783586502 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999116659164429, + 0.0, + -0.0132925258949399, + 0.03232518583536148 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.12203077226877213, + 0.9900584816932678, + 0.06994806975126266, + -0.027825968340039253 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997546076774597, + 0.0, + 0.022150617092847824, + -0.05386684462428093 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.03173721209168434, + -0.02205163985490799, + 0.02222222089767456 + ], + [ + 0.05338771268725395, + 0.02205163985490799, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046855444088578224, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json new file mode 100644 index 0000000000000000000000000000000000000000..86b645258da1835627ba855653b7884254a707cd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_24", + "index": 243, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29846736462786794, + "parts": [ + { + "vertices_raw": [ + [ + 0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.05338771268725395, + 0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.05338771268725395, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.07405349612236023, + 0.012169833295047283, + 0.04444444179534912 + ], + [ + 0.07405349612236023, + -0.012169833295047283, + 0.04444444179534912 + ], + [ + 0.07474280148744583, + -0.013110102154314518, + 0.02222222089767456 + ], + [ + 0.07474280148744583, + 0.013110102154314518, + 0.02222222089767456 + ], + [ + 0.06347442418336868, + -0.016074569895863533, + 0.04444444179534912 + ], + [ + 0.06406525522470474, + -0.017368894070386887, + 0.02222222089767456 + ], + [ + 0.06406525522470474, + 0.017368894070386887, + 0.02222222089767456 + ], + [ + 0.06347442418336868, + 0.016074569895863533, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 9, + 10, + 11, + 4, + 7, + 10, + 2, + 1, + 11, + 8, + 0, + 3, + 9, + 8, + 5, + 4, + 11, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.02222221903502941 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.9997546076774597, + 0.0, + -0.022150617092847824, + 0.05386684462428093 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9995192885398865, + 0.0, + 0.031003832817077637, + -0.0753958448767662 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.3577865660190582, + -0.931623101234436, + 0.06377461552619934, + -0.04052016884088516 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.3577865660190582, + 0.931623101234436, + 0.06377461552619934, + -0.04052016884088516 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.22654107213020325, + 0.9714105725288391, + 0.07099705189466476, + -0.03305672109127045 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.22654110193252563, + -0.9714106321334839, + 0.07099705189466476, + -0.033056724816560745 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04444444179534912 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 3 + ], + [ + 10, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 4 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 11 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 11 + ], + [ + 8, + 11, + 1 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.052895355969667435, + -0.019955003634095192, + 0.02222222089767456 + ], + [ + 0.07474280148744583, + 0.019955003634095192, + 0.04444444179534912 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047591421753168106, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5367ddb9fc09bbb83b8e7aa1c11768169577a2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json @@ -0,0 +1,281 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_00", + "index": 244, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29953936394304037, + "parts": [ + { + "vertices_raw": [ + [ + -0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.07305555790662766, + 0.011181156150996685, + 0.06666667014360428 + ], + [ + -0.07405349612236023, + 0.012169833295047283, + 0.04444444179534912 + ], + [ + -0.07405349612236023, + -0.012169833295047283, + 0.04444444179534912 + ], + [ + -0.07305555790662766, + -0.011181156150996685, + 0.06666667014360428 + ], + [ + -0.06347442418336868, + -0.016074569895863533, + 0.04444444179534912 + ], + [ + -0.06347442418336868, + 0.016074569895863533, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 9, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 0, + 3, + 8, + 7, + 6, + 8, + 1, + 0, + 7, + 9, + 5, + 4, + 4, + 3, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.9994859099388123, + 0.0, + -0.032060205936431885, + 0.054293062537908554 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9989931583404541, + 0.0, + 0.044861990958452225, + -0.07597280293703079 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.34569939970970154, + -0.9366006255149841, + 0.05719418823719025, + -0.03954048827290535 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.24717774987220764, + -0.9659130573272705, + 0.07691042870283127, + -0.03430971875786781 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.3456994295120239, + 0.9366006851196289, + 0.057194191962480545, + -0.03954049199819565 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.24717774987220764, + 0.9659130573272705, + 0.07691042870283127, + -0.03430971875786781 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.07405349612236023, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.05218254029750824, + 0.018445679917931557, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004837331362068653, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json new file mode 100644 index 0000000000000000000000000000000000000000..db4f0358ca2f0dbec4137dbd3f3012e47afadbbb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_04", + "index": 245, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3006140040233731, + "parts": [ + { + "vertices_raw": [ + [ + -0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + -0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.04696428403258324, + 0.01754576340317726, + 0.06666667014360428 + ], + [ + -0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.08649902045726776, + -0.9929724335670471, + 0.08076860010623932, + -0.026559825986623764 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.09818018972873688, + 0.992411732673645, + 0.07402350753545761, + -0.026788918301463127 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9998148083686829, + 0.0, + -0.019242454320192337, + 0.03258655592799187 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06682755798101425, + 0.9945108294487, + 0.08051255345344543, + -0.02595546469092369 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9994859099388123, + 0.0, + 0.032060205936431885, + -0.054293062537908554 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.052895355969667435, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.031309522688388824, + 0.02036801166832447, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004637143574655056, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json new file mode 100644 index 0000000000000000000000000000000000000000..49db49b8d4fbd997808d74d779c4f11df41e5104 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_08", + "index": 246, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3016864536330104, + "parts": [ + { + "vertices_raw": [ + [ + -0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + -0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + -0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + -0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + -0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.020873015746474266, + 0.018805498257279396, + 0.06666667014360428 + ], + [ + -0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.012767646461725235, + -0.99665766954422, + 0.08068812638521194, + -0.0243028923869133 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.015473108738660812, + 0.9966989159584045, + 0.07969848811626434, + -0.024334002286195755 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999793767929077, + 0.0, + -0.006415207404643297, + 0.010863972827792168 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.004579628352075815, + 0.9967326521873474, + 0.08064167201519012, + -0.024215754121541977 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998148083686829, + 0.0, + 0.019242454320192337, + -0.03258655592799187 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03173721209168434, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + -0.010436507873237133, + 0.020650707185268402, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047421595081686974, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json new file mode 100644 index 0000000000000000000000000000000000000000..788761c8efef6c01df951fd744c875c8b0ff80e0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_12", + "index": 247, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3027549870312214, + "parts": [ + { + "vertices_raw": [ + [ + -0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.0, + -0.020654242485761642, + 0.04444444179534912 + ], + [ + 0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.010512198321521282, + 0.019764188677072525, + 0.055555559694767 + ], + [ + 0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.0, + 0.020654242485761642, + 0.04444444179534912 + ], + [ + -0.010512198321521282, + 0.019764188677072525, + 0.055555559694767 + ], + [ + -0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.0, + 0.018856646493077278, + 0.06666667014360428 + ], + [ + -0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + -0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 0, + 8, + 7, + 10, + 11, + 11, + 1, + 0, + 2, + 5, + 4, + 12, + 3, + 10, + 7, + 6, + 5, + 2, + 1, + 11, + 10, + 6, + 12, + 4, + 9, + 12, + 9, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.000657655531540513, + 0.9967569708824158, + 0.08046723157167435, + -0.024163581430912018 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00011203485337318853, + -0.9967284798622131, + 0.0808231309056282, + -0.02417881041765213 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + -0.9999788999557495, + 0.0, + 0.006494562607258558, + -0.010869259014725685 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.0003330910112708807, + -0.9967451691627502, + 0.08061543852090836, + -0.0241699256002903 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.9999799132347107, + 0.0, + 0.006335852202028036, + -0.010860451497137547 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.0003331194748170674, + 0.9968318939208984, + 0.07953584939241409, + -0.02412373386323452 + ] + }, + { + "index_base": 26, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00030523346504196525, + 0.9966573715209961, + 0.08169455826282501, + -0.0242399200797081 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 11, + 1, + 0 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 12 + ], + [ + 2, + 12, + 3 + ], + [ + 10, + 7, + 6 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 5, + 10, + 6 + ], + [ + 12, + 4, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.010579071007668972, + -0.020654242485761642, + 0.04444444179534912 + ], + [ + 0.010579071007668972, + 0.020654242485761642, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005916720256209373, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json new file mode 100644 index 0000000000000000000000000000000000000000..0432db08f9978d3fe2790e324f3ef36b465e120d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_16", + "index": 248, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3039586879312992, + "parts": [ + { + "vertices_raw": [ + [ + 0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.010579071007668972, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.010579071007668972, + 0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.020873015746474266, + 0.018805498257279396, + 0.06666667014360428 + ], + [ + 0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.012768711894750595, + -0.9967411160469055, + 0.07964981347322464, + -0.02424686774611473 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.010430618189275265, + 0.9966858625411987, + 0.08067542314529419, + -0.0242781862616539 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999793767929077, + 0.0, + -0.006415207404643297, + 0.010863972827792168 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.019842633977532387, + 0.9966153502464294, + 0.07977592945098877, + -0.02447441965341568 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998148083686829, + 0.0, + 0.019242454320192337, + -0.03258655592799187 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.010436507873237133, + -0.020650707185268402, + 0.04444444179534912 + ], + [ + 0.03173721209168434, + 0.020650707185268402, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004712170921266079, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json new file mode 100644 index 0000000000000000000000000000000000000000..90d44c3caed05663a8685eba975cf8be8521d4e0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_20", + "index": 249, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30504989298060536, + "parts": [ + { + "vertices_raw": [ + [ + 0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.03173721209168434, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.03173721209168434, + 0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.04696428403258324, + 0.01754576340317726, + 0.06666667014360428 + ], + [ + 0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.08649901300668716, + -0.9929724335670471, + 0.08076860010623932, + -0.026559825986623764 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.08026935160160065, + 0.9935017228126526, + 0.08069086819887161, + -0.02636944130063057 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998148083686829, + 0.0, + -0.019242454320192337, + 0.03258655592799187 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.13018172979354858, + 0.9886658787727356, + 0.07478250563144684, + -0.028446290642023087 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9994859099388123, + 0.0, + 0.032060205936431885, + -0.054293062537908554 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.031309522688388824, + -0.02036801166832447, + 0.04444444179534912 + ], + [ + 0.052895355969667435, + 0.02036801166832447, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004710056819021702, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json new file mode 100644 index 0000000000000000000000000000000000000000..9e33984d4a26c96229919bcbdfdb89f505d149f6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json @@ -0,0 +1,281 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_24", + "index": 250, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3061043368652463, + "parts": [ + { + "vertices_raw": [ + [ + 0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.052895355969667435, + 0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.052895355969667435, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.07305555790662766, + 0.011181156150996685, + 0.06666667014360428 + ], + [ + 0.07305555790662766, + -0.011181156150996685, + 0.06666667014360428 + ], + [ + 0.07405349612236023, + -0.012169833295047283, + 0.04444444179534912 + ], + [ + 0.07405349612236023, + 0.012169833295047283, + 0.04444444179534912 + ], + [ + 0.06347442418336868, + -0.016074569895863533, + 0.04444444179534912 + ], + [ + 0.06347442418336868, + 0.016074569895863533, + 0.04444444179534912 + ] + ], + "indices_raw": [ + 9, + 7, + 6, + 8, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 1, + 0, + 5, + 8, + 6, + 5, + 5, + 0, + 3, + 8, + 9, + 2, + 1, + 4, + 9, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04444444179534912 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.9994859099388123, + 0.0, + -0.032060205936431885, + 0.054293062537908554 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9989931583404541, + 0.0, + 0.044861990958452225, + -0.07597280293703079 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06666667014360428 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.3456994295120239, + -0.9366006851196289, + 0.057194191962480545, + -0.03954049199819565 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.24717774987220764, + -0.9659130573272705, + 0.07691042870283127, + -0.03430971875786781 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.24717774987220764, + 0.9659130573272705, + 0.07691042870283127, + -0.03430971875786781 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.34569939970970154, + 0.9366006255149841, + 0.05719418823719025, + -0.03954048827290535 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 5, + 0, + 3 + ], + [ + 5, + 3, + 8 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + 0.05218254029750824, + -0.018445679917931557, + 0.04444444179534912 + ], + [ + 0.07405349612236023, + 0.018445679917931557, + 0.06666667014360428 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004632989875972271, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json new file mode 100644 index 0000000000000000000000000000000000000000..37988bd784b3f99dff6eab76f07aa2ed5ac5b996 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_00", + "index": 251, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30718267895281315, + "parts": [ + { + "vertices_raw": [ + [ + -0.07305555790662766, + -0.011181156150996685, + 0.06666667014360428 + ], + [ + -0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.07187242805957794, + -0.010132753290235996, + 0.08888889104127884 + ], + [ + -0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.07305555790662766, + 0.011181156150996685, + 0.06666667014360428 + ], + [ + -0.07187242805957794, + 0.010132753290235996, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 0, + 2, + 7, + 2, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9992775917053223, + 0.0, + -0.03800173103809357, + 0.0546782948076725 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2620024085044861, + -0.9632378220558167, + 0.05939299985766411, + -0.033870380371809006 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.23768478631973267, + -0.9678465127944946, + 0.08233437687158585, + -0.034208543598651886 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.23768478631973267, + 0.9678465127944946, + 0.08233437687158585, + -0.034208543598651886 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2620024085044861, + 0.9632378220558167, + 0.05939299240708351, + -0.033870380371809006 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9985857605934143, + 0.0, + 0.053165555000305176, + -0.07649660855531693 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.08888889104127884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 2 + ], + [ + 7, + 2, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.07305555790662766, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.05133744701743126, + 0.016858654096722603, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004664449952542782, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json new file mode 100644 index 0000000000000000000000000000000000000000..7ffda43baaa012d3f384e058077137c3ccde0600 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_04", + "index": 252, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30824874294921756, + "parts": [ + { + "vertices_raw": [ + [ + -0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + -0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.04620370268821716, + 0.015786075964570045, + 0.08888889104127884 + ], + [ + -0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.08888889104127884 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.0787634328007698, + -0.9932028651237488, + 0.085699163377285, + -0.026650620624423027 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.08969228714704514, + 0.9928631782531738, + 0.07860086858272552, + -0.026658765971660614 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9997398257255554, + 0.0, + -0.022811448201537132, + 0.0328221432864666 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06033683195710182, + 0.9945189356803894, + 0.0853898823261261, + -0.026077548041939735 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9992775917053223, + 0.0, + 0.03800173103809357, + -0.0546782948076725 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05218254029750824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.030802469700574875, + 0.018597707152366638, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004711500369012356, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json new file mode 100644 index 0000000000000000000000000000000000000000..74138812253c62a5830c19a92ebead2976767b8a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_08", + "index": 253, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3093152870424092, + "parts": [ + { + "vertices_raw": [ + [ + -0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + -0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + -0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + -0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.02566872350871563, + 0.016839541494846344, + 0.08888889104127884 + ], + [ + -0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08888888359069824 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.01161861140280962, + -0.9962677955627441, + 0.08553057909011841, + -0.024606380611658096 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.014359594322741032, + 0.9963206648826599, + 0.0844930112361908, + -0.024611737579107285 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999709725379944, + 0.0, + -0.007605602499097586, + 0.010943245142698288 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.006991754285991192, + 0.9963136911392212, + 0.08549932390451431, + -0.024556873366236687 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997398257255554, + 0.0, + 0.022811448201537132, + -0.0328221432864666 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.031309522688388824, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + -0.010267489589750767, + 0.018853450194001198, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046180980280041695, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json new file mode 100644 index 0000000000000000000000000000000000000000..49de1f562355a2db6144ead2b296a28ee86e880b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_12", + "index": 254, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31037199404090643, + "parts": [ + { + "vertices_raw": [ + [ + -0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.0, + -0.018856646493077278, + 0.06666667014360428 + ], + [ + 0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.010354203172028065, + 0.017915718257427216, + 0.07777778059244156 + ], + [ + 0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.0, + 0.018856646493077278, + 0.06666667014360428 + ], + [ + -0.010354203172028065, + 0.017915718257427216, + 0.07777778059244156 + ], + [ + -0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.0, + 0.016950460150837898, + 0.08888889104127884 + ], + [ + 0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + -0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0008748169057071209, + 0.9963642358779907, + 0.08519087731838226, + -0.024467479437589645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00010282607399858534, + -0.9963262677192688, + 0.08563803881406784, + -0.024496575817465782 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.999971330165863, + 0.0, + 0.007565926294773817, + -0.010940602980554104 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999707937240601, + 0.0, + 0.0076452805660665035, + -0.010946770198643208 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0003051411476917565, + -0.9963423013687134, + 0.0854509249329567, + -0.024484405294060707 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0003051722305826843, + 0.9964572787284851, + 0.08409915119409561, + -0.02439645305275917 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.0002754245651885867, + 0.9962254762649536, + 0.08680199831724167, + -0.024602212011814117 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.08888889104127884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010436507873237133, + -0.018856646493077278, + 0.06666667014360428 + ], + [ + 0.010436507873237133, + 0.018856646493077278, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005254242569208145, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json new file mode 100644 index 0000000000000000000000000000000000000000..1e17a4265d4dccdea7b1f5b14ba19d6205bdfcdb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_16", + "index": 255, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3114990699104965, + "parts": [ + { + "vertices_raw": [ + [ + 0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.010436507873237133, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.010436507873237133, + 0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.02566872350871563, + 0.016839541494846344, + 0.08888889104127884 + ], + [ + 0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08888888359069824 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.011619701981544495, + -0.9963613152503967, + 0.08443392813205719, + -0.024522770196199417 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.009992542676627636, + 0.9962863922119141, + 0.08551980555057526, + -0.024589046835899353 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999709725379944, + 0.0, + -0.007605602499097586, + 0.010943245142698288 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.023106520995497704, + 0.9961404204368591, + 0.08467736840248108, + -0.02489454299211502 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997398257255554, + 0.0, + 0.022811448201537132, + -0.0328221432864666 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.010267489589750767, + -0.018853450194001198, + 0.06666667014360428 + ], + [ + 0.031309522688388824, + 0.018853450194001198, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004793461412191391, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed7da38d54dd331899b22e03b2e8e2353c33d8d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_20", + "index": 256, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31258403370156884, + "parts": [ + { + "vertices_raw": [ + [ + 0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.031309522688388824, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.031309522688388824, + 0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.04620370268821716, + 0.015786075964570045, + 0.08888889104127884 + ], + [ + 0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.08888889104127884 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0787634402513504, + -0.9932028651237488, + 0.0856991559267044, + -0.026650620624423027 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.07323146611452103, + 0.9936338067054749, + 0.08560933917760849, + -0.026479441672563553 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9997398257255554, + 0.0, + -0.022811448201537132, + 0.0328221432864666 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.11767958849668503, + 0.989869236946106, + 0.0794384777545929, + -0.02812458574771881 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9992775917053223, + 0.0, + 0.03800173103809357, + -0.0546782948076725 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.030802469700574875, + -0.018597707152366638, + 0.06666667014360428 + ], + [ + 0.05218254029750824, + 0.018597707152366638, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004689600318670273, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe097538889e8a760f1847e9c8efcba5ef7cde0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_24", + "index": 257, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31363446172326803, + "parts": [ + { + "vertices_raw": [ + [ + 0.07305555790662766, + -0.011181156150996685, + 0.06666667014360428 + ], + [ + 0.07187242805957794, + -0.010132753290235996, + 0.08888889104127884 + ], + [ + 0.05218254029750824, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.05218254029750824, + 0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.07305555790662766, + 0.011181156150996685, + 0.06666667014360428 + ], + [ + 0.07187242805957794, + 0.010132753290235996, + 0.08888889104127884 + ] + ], + "indices_raw": [ + 3, + 4, + 5, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 0, + 2, + 5, + 7, + 1, + 0, + 6, + 7, + 6, + 5, + 7, + 5, + 4, + 7, + 4, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9992775917053223, + 0.0, + -0.03800173103809357, + 0.0546782948076725 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.2620024085044861, + -0.9632378220558167, + 0.05939299240708351, + -0.033870380371809006 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.23768478631973267, + -0.9678465127944946, + 0.08233437687158585, + -0.034208543598651886 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06666667014360428 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9985857605934143, + 0.0, + 0.053165555000305176, + -0.07649660855531693 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.2620024085044861, + 0.9632378220558167, + 0.05939299985766411, + -0.033870380371809006 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.23768478631973267, + 0.9678465127944946, + 0.08233437687158585, + -0.034208543598651886 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.08888889104127884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 0, + 2 + ], + [ + 6, + 2, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + 0.05133744701743126, + -0.016858654096722603, + 0.06666667014360428 + ], + [ + 0.07305555790662766, + 0.016858654096722603, + 0.08888889104127884 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048107095062732697, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json new file mode 100644 index 0000000000000000000000000000000000000000..1c601191851b29f179825297028e8bef283b4b18 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_00", + "index": 258, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31471095979213715, + "parts": [ + { + "vertices_raw": [ + [ + -0.07187242805957794, + -0.010132753290235996, + 0.08888889104127884 + ], + [ + -0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.07062757015228271, + -0.009007705375552177, + 0.1111111119389534 + ], + [ + -0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.07187242805957794, + 0.010132753290235996, + 0.08888889104127884 + ], + [ + -0.07062757015228271, + 0.009007705375552177, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2242056280374527, + -0.9705744981765747, + 0.08784672617912292, + -0.03404794633388519 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9992004632949829, + 0.0, + -0.03998120501637459, + 0.05485028401017189 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.2242056280374527, + 0.9705744385719299, + 0.08784672617912292, + -0.034047942608594894 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9984346032142639, + 0.0, + 0.05593091994524002, + -0.07673155516386032 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1111111119389534 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.07187242805957794, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.05044826492667198, + 0.015175756067037582, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004566740244626999, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json new file mode 100644 index 0000000000000000000000000000000000000000..c1bab104375a0a673f1c40bdd5ca6fb9944d1e56 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_04", + "index": 259, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3157686279155314, + "parts": [ + { + "vertices_raw": [ + [ + -0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + -0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.04540343955159187, + 0.013897744007408619, + 0.1111111119389534 + ], + [ + -0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.111111119389534 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.07028362900018692, + -0.9933003187179565, + 0.09173199534416199, + -0.026927301660180092 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.08047603070735931, + 0.9932162165641785, + 0.0839356854557991, + -0.02666519023478031 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9997119307518005, + 0.0, + -0.02400103583931923, + 0.0329270213842392 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.053103718906641006, + 0.9943954944610596, + 0.09141882508993149, + -0.026388593018054962 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9992004632949829, + 0.0, + 0.03998120501637459, + -0.05485028401017189 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05133744701743126, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.03026895970106125, + 0.01672045886516571, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046228431165218353, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json new file mode 100644 index 0000000000000000000000000000000000000000..0e28e1cf5b2aa0198abdafff23bed5036db15ccb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_08", + "index": 260, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31683825282379985, + "parts": [ + { + "vertices_raw": [ + [ + -0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + -0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + -0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.02522413246333599, + 0.014808975160121918, + 0.1111111119389534 + ], + [ + -0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.111111119389534 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.010361133143305779, + -0.9957307577133179, + 0.09172212332487106, + -0.025134727358818054 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012853192165493965, + 0.9958061575889587, + 0.09058035165071487, + -0.025097832083702087 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999679923057556, + 0.0, + -0.008002366870641708, + 0.01097848266363144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.006151015404611826, + 0.9957683682441711, + 0.09169190376996994, + -0.025089453905820847 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997119307518005, + 0.0, + 0.02400103583931923, + -0.0329270213842392 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.030802469700574875, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.010089653544127941, + 0.01694762147963047, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004639499820768833, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json new file mode 100644 index 0000000000000000000000000000000000000000..3087a841f1d49c817d7de891920ca8c7475a45aa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_12", + "index": 261, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31791009893640876, + "parts": [ + { + "vertices_raw": [ + [ + -0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.0, + -0.016950460150837898, + 0.08888889104127884 + ], + [ + 0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.010178571566939354, + 0.01594497077167034, + 0.10000000149011612 + ], + [ + 0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.0, + 0.016950460150837898, + 0.08888889104127884 + ], + [ + -0.010178571566939354, + 0.01594497077167034, + 0.10000000149011612 + ], + [ + -0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.0, + 0.01490491908043623, + 0.1111111119389534 + ], + [ + -0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + -0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 10, + 11, + 7, + 6, + 12, + 3, + 2, + 5, + 4, + 12, + 4, + 9, + 8, + 7, + 11, + 10, + 0, + 8, + 0, + 3, + 12, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0012099537998437881, + 0.9958295822143555, + 0.0912250503897667, + -0.02498866245150566 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 9.284145926358178e-05, + -0.9957762956619263, + 0.09181275963783264, + -0.025040000677108765 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.0002753082662820816, + -0.9957915544509888, + 0.09164701402187347, + -0.02502552792429924 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889849185944 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.0002753571607172489, + 0.9959530234336853, + 0.08987557888031006, + -0.02487080544233322 + ] + }, + { + "index_base": 22, + "num_vertices": 5, + "plane": [ + 0.9999679327011108, + 0.0, + 0.008002366870641708, + -0.010978483594954014 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.00024234958982560784, + 0.9956269860267639, + 0.09341733902692795, + -0.025219444185495377 + ] + }, + { + "index_base": 30, + "num_vertices": 5, + "plane": [ + -0.9999679923057556, + 0.0, + 0.008002366870641708, + -0.010978483594954014 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.111111119389534 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 10 + ], + [ + 11, + 7, + 6 + ], + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 9 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 10 + ], + [ + 8, + 10, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 12 + ], + [ + 8, + 12, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010267489589750767, + -0.016950460150837898, + 0.08888889104127884 + ], + [ + 0.010267489589750767, + 0.016950460150837898, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005723601207137108, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json new file mode 100644 index 0000000000000000000000000000000000000000..c65dc41812a387b42fd951170f76283fc26dd3d1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_16", + "index": 262, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3191020917147398, + "parts": [ + { + "vertices_raw": [ + [ + 0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.010267489589750767, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.010267489589750767, + 0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.02522413246333599, + 0.014808975160121918, + 0.1111111119389534 + ], + [ + 0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.111111119389534 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.010362275876104832, + -0.9958404302597046, + 0.09052366763353348, + -0.02501663938164711 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.008951252326369286, + 0.9957453012466431, + 0.09171218425035477, + -0.025119617581367493 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999679923057556, + 0.0, + -0.008002366870641708, + 0.01097848266363144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.020329317077994347, + 0.9956663846969604, + 0.09074719250202179, + -0.02534060925245285 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997119307518005, + 0.0, + 0.02400103583931923, + -0.0329270213842392 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.010089653544127941, + -0.01694762147963047, + 0.08888889104127884 + ], + [ + 0.030802469700574875, + 0.01694762147963047, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004725232720375061, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json new file mode 100644 index 0000000000000000000000000000000000000000..545afe78913db769443b381689902bc6fb0941a4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_20", + "index": 263, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3201830228790641, + "parts": [ + { + "vertices_raw": [ + [ + 0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.030802469700574875, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.030802469700574875, + 0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.04540343955159187, + 0.013897744007408619, + 0.1111111119389534 + ], + [ + 0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.111111119389534 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.07028362154960632, + -0.9933003187179565, + 0.09173199534416199, + -0.026927301660180092 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.06554476171731949, + 0.9936320185661316, + 0.09164828807115555, + -0.02677943743765354 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9997119307518005, + 0.0, + -0.02400103583931923, + 0.0329270213842392 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.10370334982872009, + 0.9909965991973877, + 0.08468469977378845, + -0.027890518307685852 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9992004632949829, + 0.0, + 0.03998120501637459, + -0.05485028401017189 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.03026895970106125, + -0.01672045886516571, + 0.08888889104127884 + ], + [ + 0.05133744701743126, + 0.01672045886516571, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004741237498819828, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json new file mode 100644 index 0000000000000000000000000000000000000000..2ceb8834a7010da8f63635c38c170fd5c62dda55 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_24", + "index": 264, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3212626609019935, + "parts": [ + { + "vertices_raw": [ + [ + 0.07187242805957794, + -0.010132753290235996, + 0.08888889104127884 + ], + [ + 0.07062757015228271, + -0.009007705375552177, + 0.1111111119389534 + ], + [ + 0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.05133744701743126, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.05133744701743126, + 0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.07187242805957794, + 0.010132753290235996, + 0.08888889104127884 + ], + [ + 0.07062757015228271, + 0.009007705375552177, + 0.1111111119389534 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2242056280374527, + -0.9705744385719299, + 0.08784672617912292, + -0.034047942608594894 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9992004632949829, + 0.0, + -0.03998120501637459, + 0.05485028401017189 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08888889104127884 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9984346032142639, + 0.0, + 0.05593091994524002, + -0.07673155516386032 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.2242056280374527, + 0.9705744981765747, + 0.08784672617912292, + -0.03404794633388519 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1111111119389534 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.05044826492667198, + -0.015175756067037582, + 0.08888889104127884 + ], + [ + 0.07187242805957794, + 0.015175756067037582, + 0.1111111119389534 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043039629235863686, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json new file mode 100644 index 0000000000000000000000000000000000000000..b2b088d301aa22629dba7a62239dc5ed109f11c6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_00", + "index": 265, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32231120485812426, + "parts": [ + { + "vertices_raw": [ + [ + -0.07062757015228271, + -0.009007705375552177, + 0.1111111119389534 + ], + [ + -0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.0694444477558136, + -0.0077784257009625435, + 0.13333332538604736 + ], + [ + -0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.07062757015228271, + 0.009007705375552177, + 0.1111111119389534 + ], + [ + -0.0694444477558136, + 0.0077784257009625435, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.19468674063682556, + -0.9763413667678833, + 0.09409890323877335, + -0.03333055227994919 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.999277651309967, + 0.0, + -0.03800157457590103, + 0.0546342208981514 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1111111119389534 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.19468674063682556, + 0.9763414263725281, + 0.09409891813993454, + -0.03333055600523949 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9985857605934143, + 0.0, + 0.05316522717475891, + -0.07643493264913559 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13333331048488617 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.07062757015228271, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.0496031753718853, + 0.013369825668632984, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043952977284789085, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json new file mode 100644 index 0000000000000000000000000000000000000000..4c41abdc8be165f846af34e941e1bb72a6898c18 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_04", + "index": 266, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.323361748829484, + "parts": [ + { + "vertices_raw": [ + [ + -0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + -0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.0446428582072258, + 0.011834464967250824, + 0.13333332538604736 + ], + [ + -0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13333332538604736 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.06066110357642174, + -0.9931609034538269, + 0.09975729137659073, + -0.027525687590241432 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1111111044883728 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.07010067999362946, + 0.9933920502662659, + 0.0908750519156456, + -0.026915162801742554 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9997398853302002, + 0.0, + -0.022811541333794594, + 0.032795701175928116 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.044780831784009933, + 0.9940312504768372, + 0.09948115795850754, + -0.027027126401662827 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999277651309967, + 0.0, + 0.03800157457590103, + -0.0546342208981514 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05044826492667198, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.02976190485060215, + 0.014705970883369446, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004607471637427807, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json new file mode 100644 index 0000000000000000000000000000000000000000..1742fb3d7bd9a3ddb86bbd69608396b18c8b4d6e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_08", + "index": 267, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32450518384575844, + "parts": [ + { + "vertices_raw": [ + [ + -0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + -0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + -0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + -0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + -0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.02480158768594265, + 0.012590285390615463, + 0.13333332538604736 + ], + [ + -0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13333331048488617 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.008936711587011814, + -0.9949355125427246, + 0.10011731088161469, + -0.02604130282998085 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1111111119389534 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.011158980429172516, + 0.9950433969497681, + 0.09881424903869629, + -0.02595021203160286 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999710917472839, + 0.0, + -0.007605606224387884, + 0.010934429243206978 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.005184636451303959, + 0.994964599609375, + 0.10009169578552246, + -0.026001036167144775 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997398853302002, + 0.0, + 0.022811541333794594, + -0.032795701175928116 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03026895970106125, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + -0.009920635260641575, + 0.014902463182806969, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00045310473069548607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json new file mode 100644 index 0000000000000000000000000000000000000000..eadfe6f26cbc0f694547b5b85c6f77756c1f8da1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json @@ -0,0 +1,368 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_12", + "index": 268, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32558136992156506, + "parts": [ + { + "vertices_raw": [ + [ + -0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.0, + -0.01490491908043623, + 0.1111111119389534 + ], + [ + 0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.010002939030528069, + 0.013813185505568981, + 0.12222222238779068 + ], + [ + 0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.0, + 0.01490491908043623, + 0.1111111119389534 + ], + [ + -0.010002939030528069, + 0.013813185505568981, + 0.12222222238779068 + ], + [ + -0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.0, + 0.012669865041971207, + 0.13333332538604736 + ], + [ + -0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + -0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 10, + 11, + 7, + 6, + 12, + 3, + 2, + 5, + 12, + 5, + 4, + 12, + 4, + 9, + 8, + 7, + 11, + 8, + 11, + 10, + 0, + 8, + 0, + 3, + 12, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0017800439381971955, + 0.9950487613677979, + 0.09937205165624619, + -0.02587246149778366 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 8.164146129274741e-05, + -0.9949674606323242, + 0.10019895434379578, + -0.025963125750422478 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.00024218604085035622, + -0.9949817657470703, + 0.10005583614110947, + -0.025947436690330505 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1111111119389534 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.00024224453954957426, + 0.99522864818573, + 0.09756913036108017, + -0.025674818083643913 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.9999710917472839, + 0.0, + 0.007605606224387884, + -0.010934429243206978 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.9968021512031555, + 0.07839798927307129, + 0.01546507328748703, + -0.012944051995873451 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.00020422595844138414, + 0.9947287440299988, + 0.10254037380218506, + -0.02627512812614441 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -0.9968021512031555, + 0.07839798927307129, + 0.01546507328748703, + -0.012944051995873451 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + -0.9999710917472839, + 0.0, + 0.007605606224387884, + -0.010934429243206978 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13333332538604736 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 10 + ], + [ + 11, + 7, + 6 + ], + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 9 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 10 + ], + [ + 8, + 10, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 12 + ], + [ + 8, + 12, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010089653544127941, + -0.01490491908043623, + 0.1111111119389534 + ], + [ + 0.010089653544127941, + 0.01490491908043623, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005549569614231586, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json new file mode 100644 index 0000000000000000000000000000000000000000..d8d9ba72bd5b181b1dcecae3934a28c5985e71af --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_16", + "index": 269, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3267437117174268, + "parts": [ + { + "vertices_raw": [ + [ + 0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.010089653544127941, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.010089653544127941, + 0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.02480158768594265, + 0.012590285390615463, + 0.13333332538604736 + ], + [ + 0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13333331048488617 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.008937924169003963, + -0.9950705766677856, + 0.0987662523984909, + -0.025878047570586205 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1111111119389534 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.007776614278554916, + 0.9949460029602051, + 0.1001095324754715, + -0.026028890162706375 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999710917472839, + 0.0, + -0.007605606224387884, + 0.010934429243206978 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.017137177288532257, + 0.994945764541626, + 0.09894098341464996, + -0.026143811643123627 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997398853302002, + 0.0, + 0.022811541333794594, + -0.032795701175928116 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.009920635260641575, + -0.014902463182806969, + 0.1111111119389534 + ], + [ + 0.03026895970106125, + 0.014902463182806969, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00047365715727210045, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json new file mode 100644 index 0000000000000000000000000000000000000000..3626b8132a239f9196fbf3ca030730864f3929c1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_20", + "index": 270, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32780465483665466, + "parts": [ + { + "vertices_raw": [ + [ + 0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.03026895970106125, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.03026895970106125, + 0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.0446428582072258, + 0.011834464967250824, + 0.13333332538604736 + ], + [ + 0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13333332538604736 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.06066110357642174, + -0.9931609034538269, + 0.09975730627775192, + -0.02752568945288658 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1111111044883728 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.05685269460082054, + 0.9933927059173584, + 0.09969335049390793, + -0.027406714856624603 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9997398853302002, + 0.0, + -0.022811541333794594, + 0.032795701175928116 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.08756686747074127, + 0.991955578327179, + 0.09141172468662262, + -0.02783672884106636 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999277651309967, + 0.0, + 0.03800157457590103, + -0.0546342208981514 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.02976190485060215, + -0.014705970883369446, + 0.1111111119389534 + ], + [ + 0.05044826492667198, + 0.014705970883369446, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046697910875082016, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json new file mode 100644 index 0000000000000000000000000000000000000000..df53d36f2d5b84dfc3a5b89db95d0eead1953f83 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_24", + "index": 271, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32892339304089546, + "parts": [ + { + "vertices_raw": [ + [ + 0.07062757015228271, + -0.009007705375552177, + 0.1111111119389534 + ], + [ + 0.0694444477558136, + -0.0077784257009625435, + 0.13333332538604736 + ], + [ + 0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.05044826492667198, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.05044826492667198, + 0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.07062757015228271, + 0.009007705375552177, + 0.1111111119389534 + ], + [ + 0.0694444477558136, + 0.0077784257009625435, + 0.13333332538604736 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.19468674063682556, + -0.9763414263725281, + 0.09409891813993454, + -0.03333055600523949 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.999277651309967, + 0.0, + -0.03800157457590103, + 0.0546342208981514 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1111111119389534 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9985857605934143, + 0.0, + 0.05316522717475891, + -0.07643493264913559 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.19468674063682556, + 0.9763413667678833, + 0.09409890323877335, + -0.03333055227994919 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13333331048488617 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.0496031753718853, + -0.013369825668632984, + 0.1111111119389534 + ], + [ + 0.07062757015228271, + 0.013369825668632984, + 0.13333332538604736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043950416147708893, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json new file mode 100644 index 0000000000000000000000000000000000000000..49d9ff8bf261f842d188b25f15c718ee1464dd01 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_00", + "index": 272, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33000289695337415, + "parts": [ + { + "vertices_raw": [ + [ + -0.0694444477558136, + -0.0077784257009625435, + 0.13333332538604736 + ], + [ + -0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.06844650208950043, + -0.00639332877472043, + 0.15555556118488312 + ], + [ + -0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.0694444477558136, + 0.0077784257009625435, + 0.13333332538604736 + ], + [ + -0.06844650208950043, + 0.00639332877472043, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.15943945944309235, + -0.9817837476730347, + 0.1033429279923439, + -0.03287673741579056 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9994859099388123, + 0.0, + -0.03206019848585129, + 0.05385236442089081 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13333331048488617 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.15943945944309235, + 0.9817837476730347, + 0.1033429279923439, + -0.03287673741579056 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9989930987358093, + 0.0, + 0.04486231133341789, + -0.07535616308450699 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0694444477558136, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.048890359699726105, + 0.011396583169698715, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004389560781419277, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json new file mode 100644 index 0000000000000000000000000000000000000000..c543784e47184390f1baa1513d0f8e4bf227841d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_04", + "index": 273, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3310586018487811, + "parts": [ + { + "vertices_raw": [ + [ + -0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + -0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.04937099665403366, + -0.9925124645233154, + 0.11172018200159073, + -0.028776613995432854 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13333332538604736 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998148679733276, + 0.0, + -0.01924244873225689, + 0.032322052866220474 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.04937099665403366, + 0.9925124645233154, + 0.11172018200159073, + -0.028776613995432854 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9994859099388123, + 0.0, + 0.03206019848585129, + -0.05385236442089081 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0496031753718853, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.029334215447306633, + 0.012504847720265388, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004266933538019657, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json new file mode 100644 index 0000000000000000000000000000000000000000..e22d52fe532b1472e93bb672527e6ccb96cccb7f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_08", + "index": 274, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3321002656593919, + "parts": [ + { + "vertices_raw": [ + [ + -0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + -0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + -0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + -0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0072685000486671925, + -0.993610680103302, + 0.11262751370668411, + -0.027675997465848923 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13333332538604736 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999794363975525, + 0.0, + -0.006415205076336861, + 0.01077579241245985 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.007268501445651054, + 0.9936106204986572, + 0.11262749135494232, + -0.027675993740558624 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9998148679733276, + 0.0, + 0.01924244873225689, + -0.032322052866220474 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.02976190485060215, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + -0.009778072126209736, + 0.012667828239500523, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00043171877041459084, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json new file mode 100644 index 0000000000000000000000000000000000000000..090b2a15b00fa9e27e4b746c07702fe48c64a947 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_12", + "index": 275, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33313744980841875, + "parts": [ + { + "vertices_raw": [ + [ + -0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.0, + -0.012669865041971207, + 0.13333332538604736 + ], + [ + 0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + -0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.0, + 0.012669865041971207, + 0.13333332538604736 + ], + [ + 0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.0, + 0.010151506401598454, + 0.15555556118488312 + ], + [ + -0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 2, + 1, + 4, + 5, + 6, + 7, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 8, + 6, + 5, + 9, + 9, + 5, + 4, + 0, + 10, + 3, + 2, + 7, + 7, + 6, + 8, + 10, + 10, + 8, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13333332538604736 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 6.865493924124166e-05, + -0.9936286211013794, + 0.11270420253276825, + -0.027616364881396294 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.00020400431822054088, + -0.9936419725418091, + 0.11258573830127716, + -0.027600739151239395 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0001816602161852643, + 0.9936419725418091, + 0.11258559674024582, + -0.027600500732660294 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999794363975525, + 0.0, + 0.006415205076336861, + -0.01077579241245985 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9999794363975525, + 0.0, + 0.006415205076336861, + -0.01077579241245985 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.0001816598087316379, + 0.9936397671699524, + 0.11260528862476349, + -0.02760331891477108 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 9 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 0 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 7 + ], + [ + 7, + 6, + 8 + ], + [ + 7, + 8, + 10 + ], + [ + 10, + 8, + 9 + ], + [ + 10, + 9, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.009920635260641575, + -0.012669865041971207, + 0.13333332538604736 + ], + [ + 0.009920635260641575, + 0.012669865041971207, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004948251880705357, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json new file mode 100644 index 0000000000000000000000000000000000000000..43f685393ad6661a3e0a6e3ed8995c42b9381acb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_16", + "index": 276, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3342436049133539, + "parts": [ + { + "vertices_raw": [ + [ + 0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009920635260641575, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.009920635260641575, + 0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.007268501445651054, + -0.9936106204986572, + 0.11262749135494232, + -0.027675993740558624 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13333332538604736 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999794363975525, + 0.0, + -0.006415205076336861, + 0.01077579241245985 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0072685000486671925, + 0.993610680103302, + 0.11262751370668411, + -0.027675997465848923 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9998148679733276, + 0.0, + 0.01924244873225689, + -0.032322052866220474 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.009778072126209736, + -0.012667828239500523, + 0.13333332538604736 + ], + [ + 0.02976190485060215, + 0.012667828239500523, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00051067303866148, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json new file mode 100644 index 0000000000000000000000000000000000000000..c19364c3666b5bb9be227cbe15ad68eaaee1c827 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_20", + "index": 277, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3353224419988692, + "parts": [ + { + "vertices_raw": [ + [ + 0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.02976190485060215, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.02976190485060215, + 0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 7, + 1, + 0, + 4, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.04937099665403366, + -0.9925124645233154, + 0.11172018200159073, + -0.028776613995432854 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13333332538604736 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9998148679733276, + 0.0, + -0.01924244873225689, + 0.032322052866220474 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9994859099388123, + 0.0, + 0.03206019848585129, + -0.05385236442089081 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.04937099665403366, + 0.9925124645233154, + 0.11172018200159073, + -0.028776613995432854 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.029334215447306633, + -0.012504847720265388, + 0.13333332538604736 + ], + [ + 0.0496031753718853, + 0.012504847720265388, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004328223876655102, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json new file mode 100644 index 0000000000000000000000000000000000000000..eebbd74a5fa16290ff6cc954e8f20379a985ea11 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_24", + "index": 278, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3363684397190809, + "parts": [ + { + "vertices_raw": [ + [ + 0.0694444477558136, + -0.0077784257009625435, + 0.13333332538604736 + ], + [ + 0.06844650208950043, + -0.00639332877472043, + 0.15555556118488312 + ], + [ + 0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.0496031753718853, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.0496031753718853, + 0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.0694444477558136, + 0.0077784257009625435, + 0.13333332538604736 + ], + [ + 0.06844650208950043, + 0.00639332877472043, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.15943945944309235, + -0.9817837476730347, + 0.1033429279923439, + -0.03287673741579056 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9994859099388123, + 0.0, + -0.03206019848585129, + 0.05385236442089081 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13333331048488617 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9989930987358093, + 0.0, + 0.04486231133341789, + -0.07535616308450699 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.15943945944309235, + 0.9817837476730347, + 0.1033429279923439, + -0.03287673741579056 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.048890359699726105, + -0.011396583169698715, + 0.13333332538604736 + ], + [ + 0.0694444477558136, + 0.011396583169698715, + 0.15555556118488312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00044936593621969223, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json new file mode 100644 index 0000000000000000000000000000000000000000..41dc9ce061a3ebb63bf28454434e5d2d2159e50d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_00", + "index": 279, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3374029928818345, + "parts": [ + { + "vertices_raw": [ + [ + -0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.06775720417499542, + -0.004727237857878208, + 0.17777778208255768 + ], + [ + -0.06844650208950043, + -0.00639332877472043, + 0.15555556118488312 + ], + [ + -0.06844650208950043, + 0.00639332877472043, + 0.15555556118488312 + ], + [ + -0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.06775720417499542, + 0.004727237857878208, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 0, + 4, + 6, + 5, + 1, + 0, + 7, + 6, + 4, + 7, + 4, + 3, + 7, + 3, + 2, + 1, + 7, + 1, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.14030194282531738, + -0.987003743648529, + 0.07835164666175842, + -0.028101451694965363 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.9997546672821045, + 0.0, + -0.022150615230202675, + 0.05232401564717293 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.09046053886413574, + -0.9885254502296448, + 0.12097187340259552, + -0.03230845928192139 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.09046053886413574, + 0.9885254502296448, + 0.12097187340259552, + -0.03230845928192139 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.14030195772647858, + 0.9870038032531738, + 0.07835166901350021, + -0.02810145542025566 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9995193481445312, + 0.0, + 0.031003495678305626, + -0.0732363760471344 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 0, + 4 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 1, + 0 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + -0.06844650208950043, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.04839800298213959, + 0.00917322188615799, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004714098758995533, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json new file mode 100644 index 0000000000000000000000000000000000000000..062b1a397feb98b23b1d9629e510646dd02871cd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_04", + "index": 280, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33846533577889204, + "parts": [ + { + "vertices_raw": [ + [ + -0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + -0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 0, + 3, + 1, + 0, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.03548188880085945, + -0.9904224872589111, + 0.133432999253273, + -0.03172578662633896 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999116659164429, + 0.0, + -0.013292524963617325, + 0.03139935061335564 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.03548188507556915, + 0.9904224872589111, + 0.133432999253273, + -0.03172578662633896 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9997546672821045, + 0.0, + 0.022150615230202675, + -0.05232401564717293 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 1, + 0, + 5 + ], + [ + 1, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.048890359699726105, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.029038799926638603, + 0.010024720802903175, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000436319038271904, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json new file mode 100644 index 0000000000000000000000000000000000000000..adf4b0b7e3069ff84c5734e8708be25f32cae6fb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_08", + "index": 281, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.339511055033654, + "parts": [ + { + "vertices_raw": [ + [ + -0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + -0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.009748631156980991, + -0.009455766528844833, + 0.16111111640930176 + ], + [ + -0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 7, + 5, + 6, + 8, + 7, + 8, + 0, + 4, + 3, + 5, + 7, + 4, + 1, + 6, + 2, + 1, + 0, + 8, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + -0.006346152164041996, + -0.9910980463027954, + 0.13298241794109344, + -0.030807796865701675 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.999990701675415, + 0.00028257438680157065, + -0.004302112385630608, + 0.010444330982863903 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.005220049060881138, + 0.9908232688903809, + 0.13506340980529785, + -0.03111770562827587 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.9999116659164429, + 0.0, + 0.013292524963617325, + -0.03139935061335564 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.999985933303833, + 0.0, + -0.005299300421029329, + 0.010602270253002644 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 6 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 8 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 3, + 5, + 7 + ], + [ + 3, + 7, + 4 + ], + [ + 1, + 6, + 2 + ], + [ + 1, + 0, + 8 + ], + [ + 1, + 8, + 6 + ] + ], + "raw_bounds": [ + [ + -0.029334215447306633, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.009679600596427917, + 0.0101499417796731, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00046256091445684433, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5b675e5ea268712d3529a416a1048810fdf932 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_12", + "index": 282, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3405931289307773, + "parts": [ + { + "vertices_raw": [ + [ + -0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009748631156980991, + -0.009455766528844833, + 0.16111111640930176 + ], + [ + -0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + -0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 1, + 0, + 8, + 5, + 4, + 0, + 8, + 0, + 3, + 2, + 6, + 5, + 8, + 2, + 8, + 3, + 2, + 1, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0015981185715645552, + -0.990837574005127, + 0.13504931330680847, + -0.03108024224638939 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9908397793769836, + 0.13504253327846527, + -0.031063582748174667 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999901652336121, + 0.0, + 0.004431175533682108, + -0.010467269457876682 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.17777776718139648 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9903321862220764, + 0.13871662318706512, + -0.03171313926577568 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999901652336121, + 0.0, + 0.004431175533682108, + -0.010467269457876682 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9969725608825684, + -0.07632893323898315, + 0.014820748008787632, + -0.012828653678297997 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.15555554628372192 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 8 + ], + [ + 2, + 8, + 3 + ], + [ + 2, + 1, + 7 + ], + [ + 2, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.009778072126209736, + 0.0101499417796731, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048650801181793213, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_283.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_283.json new file mode 100644 index 0000000000000000000000000000000000000000..22d33ea544a360478ecd9a06f519ea5652eb46a9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_283.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_16", + "index": 283, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34167678095400333, + "parts": [ + { + "vertices_raw": [ + [ + 0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009778072126209736, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.02924589440226555, + -0.009340955875813961, + 0.16111111640930176 + ], + [ + 0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009778072126209736, + 0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 7, + 6, + 5, + 8, + 8, + 5, + 0, + 4, + 2, + 7, + 8, + 4, + 2, + 4, + 3, + 2, + 1, + 6, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.004492119420319796, + -0.9908271431922913, + 0.13506071269512177, + -0.031110206618905067 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.004083346109837294, + -0.9906007051467896, + 0.1367240995168686, + -0.031400348991155624 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.9999901652336121, + 0.0, + -0.004431175533682108, + 0.010467269457876682 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.005220045335590839, + 0.9908232092857361, + 0.13506340980529785, + -0.031117703765630722 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999116063117981, + 0.0, + 0.013292524963617325, + -0.03139934688806534 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9729645848274231, + -0.2268424779176712, + 0.043387241661548615, + -0.037564314901828766 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 6, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 4 + ], + [ + 2, + 7, + 8 + ], + [ + 2, + 8, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ] + ], + "raw_bounds": [ + [ + 0.009679600596427917, + -0.0101499417796731, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + 0.0101499417796731, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004777032881975174, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_284.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_284.json new file mode 100644 index 0000000000000000000000000000000000000000..2c3353b5127d2231d1c78df4e2ed9804efc8aa09 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_284.json @@ -0,0 +1,293 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_20", + "index": 284, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3427901747636497, + "parts": [ + { + "vertices_raw": [ + [ + 0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.029334215447306633, + 0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.04355820268392563, + 0.006713211070746183, + 0.17777778208255768 + ], + [ + 0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.04849560186266899, + -0.007232245057821274, + 0.17222222685813904 + ], + [ + 0.029334215447306633, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 9, + 3, + 2, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 1, + 0, + 2, + 1, + 6, + 7, + 8, + 5, + 4, + 7, + 6, + 5, + 8, + 9, + 8, + 4, + 0, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.03429124504327774, + 0.9904657602310181, + 0.13342298567295074, + -0.03168973699212074 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.04320342466235161, + -0.9922414422035217, + 0.1165783554315567, + -0.029348693788051605 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999116659164429, + 0.0, + -0.013292524963617325, + 0.03139935061335564 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9287129044532776, + -0.36514297127723694, + 0.06452105939388275, + -0.058791253715753555 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.028727104887366295, + -0.9907044172286987, + 0.13296400010585785, + -0.03145751357078552 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.9997546672821045, + 0.0, + 0.022150615230202675, + -0.05232401564717293 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.04393469914793968, + 0.9917612671852112, + 0.12033046036958694, + -0.029963703826069832 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 7 + ], + [ + 9, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 8, + 5, + 4 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 0 + ], + [ + 9, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.029038799926638603, + -0.010024720802903175, + 0.15555556118488312 + ], + [ + 0.048890359699726105, + 0.010024720802903175, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005017123185098171, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_285.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_285.json new file mode 100644 index 0000000000000000000000000000000000000000..e252264c05fac67d849261ebb9997834ce1529b2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_285.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_24", + "index": 285, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34387983893975616, + "parts": [ + { + "vertices_raw": [ + [ + 0.06775720417499542, + 0.004727237857878208, + 0.17777778208255768 + ], + [ + 0.06844650208950043, + 0.00639332877472043, + 0.15555556118488312 + ], + [ + 0.048890359699726105, + 0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.06844650208950043, + -0.00639332877472043, + 0.15555556118488312 + ], + [ + 0.048890359699726105, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.06775720417499542, + -0.004727237857878208, + 0.17777778208255768 + ] + ], + "indices_raw": [ + 3, + 4, + 2, + 1, + 0, + 1, + 2, + 5, + 0, + 2, + 5, + 2, + 4, + 6, + 7, + 6, + 4, + 7, + 4, + 3, + 7, + 3, + 1, + 0, + 7, + 0, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15555556118488312 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.14030194282531738, + 0.987003743648529, + 0.07835164666175842, + -0.028101451694965363 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.09046053886413574, + 0.9885254502296448, + 0.12097187340259552, + -0.03230845928192139 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9997546672821045, + 0.0, + -0.022150615230202675, + 0.05232401564717293 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.09046053886413574, + -0.9885254502296448, + 0.12097187340259552, + -0.03230845928192139 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.14030195772647858, + -0.9870038032531738, + 0.07835166901350021, + -0.02810145542025566 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9995193481445312, + 0.0, + 0.031003495678305626, + -0.0732363760471344 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17777778208255768 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 0, + 2 + ], + [ + 5, + 2, + 4 + ], + [ + 5, + 4, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + 0.04839800298213959, + -0.00917322188615799, + 0.15555556118488312 + ], + [ + 0.06844650208950043, + 0.00917322188615799, + 0.17777778208255768 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004629269242286682, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_286.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_286.json new file mode 100644 index 0000000000000000000000000000000000000000..63ca1f9a400500e6450551127a70c0c0cd2273c2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_286.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_00", + "index": 286, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34493227303028107, + "parts": [ + { + "vertices_raw": [ + [ + -0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.06750000268220901, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.06775720417499542, + -0.004727237857878208, + 0.17777778208255768 + ], + [ + -0.06775720417499542, + 0.004727237857878208, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.06750000268220901, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.04821428656578064, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.04821428656578064, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.048226457089185715, + 0.00370830949395895, + 0.1944444328546524 + ], + [ + -0.048226457089185715, + -0.00370830949395895, + 0.1944444328546524 + ] + ], + "indices_raw": [ + 0, + 4, + 8, + 7, + 6, + 9, + 0, + 1, + 2, + 3, + 4, + 0, + 2, + 5, + 4, + 3, + 5, + 3, + 2, + 1, + 6, + 7, + 5, + 1, + 8, + 4, + 5, + 8, + 5, + 7, + 9, + 6, + 1, + 9, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999348521232605, + -0.0034661388490349054, + -0.010872429236769676, + 0.05035025626420975 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.09034338593482971, + -0.9872452616691589, + 0.13109122216701508, + -0.0340934656560421 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.09034336358308792, + 0.9872452616691589, + 0.13109122216701508, + -0.0340934656560421 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999330043792725, + 0.0, + 0.011573291383683681, + -0.06981014460325241 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20000000298023224 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.04983929172158241, + 0.9849621057510376, + 0.16542533040046692, + -0.03822215273976326 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9457608461380005, + 0.3248639404773712, + -0.06667516380548477 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9457608461380005, + 0.3248639404773712, + -0.06667516380548477 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.0498393252491951, + -0.9849621057510376, + 0.16542533040046692, + -0.03822215273976326 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 4, + 8 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 6 + ], + [ + 0, + 6, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 1 + ], + [ + 8, + 4, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 9, + 6, + 1 + ], + [ + 9, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.06775720417499542, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.04821428656578064, + 0.006498809438198805, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005177869461476803, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_287.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_287.json new file mode 100644 index 0000000000000000000000000000000000000000..0590e37053f08293ec9042907287e9a9cae2b8c0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_287.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_04", + "index": 287, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34605087991803885, + "parts": [ + { + "vertices_raw": [ + [ + -0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + -0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.04821428656578064, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.048226457089185715, + 0.00370830949395895, + 0.1944444328546524 + ], + [ + -0.048226457089185715, + -0.00370830949395895, + 0.1944444328546524 + ], + [ + -0.04821428656578064, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.028928572311997414, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.028928572311997414, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.0289358738809824, + 0.003928691148757935, + 0.1944444328546524 + ], + [ + -0.02895723097026348, + -0.0051402747631073, + 0.18888889253139496 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 4, + 7, + 10, + 5, + 4, + 9, + 10, + 9, + 8, + 11, + 0, + 3, + 5, + 10, + 3, + 2, + 1, + 0, + 11, + 6, + 11, + 8, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999349117279053, + 0.0034661395475268364, + 0.01087243016809225, + -0.05035025626420975 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.19999998807907104 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.010736864991486073, + 0.9398258924484253, + 0.3414849042892456, + -0.07040280848741531 + ] + }, + { + "index_base": 18, + "num_vertices": 6, + "plane": [ + 0.9999870657920837, + 0.0035333246923983097, + -0.0036414512433111668, + 0.029662851244211197 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.02758917026221752, + 0.9842638373374939, + 0.17453835904598236, + -0.038760844618082047 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.02518470771610737, + -0.9856839179992676, + 0.1667119860649109, + -0.03728600591421127 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9538219571113586, + 0.3003726303577423, + -0.06179140880703926 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 10, + 8, + 11 + ], + [ + 10, + 11, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 5, + 10, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 1, + 0, + 11 + ], + [ + 1, + 11, + 6 + ], + [ + 11, + 8, + 7 + ], + [ + 11, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.04839800298213959, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.028928572311997414, + 0.007041452918201685, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004920349456369877, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_288.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_288.json new file mode 100644 index 0000000000000000000000000000000000000000..08a3b7814103b08ff9d1bafc83b6e2ecdbbe2e53 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_288.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_08", + "index": 288, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34714440163224936, + "parts": [ + { + "vertices_raw": [ + [ + -0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + -0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.028928572311997414, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.0289358738809824, + 0.003928691148757935, + 0.1944444328546524 + ], + [ + -0.0289358738809824, + -0.003928691148757935, + 0.1944444328546524 + ], + [ + -0.028928572311997414, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.009642857126891613, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.009642857126891613, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.009645291604101658, + -0.003961100243031979, + 0.1944444328546524 + ], + [ + -0.009645291604101658, + 0.003961100243031979, + 0.1944444328546524 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 4, + 7, + 8, + 7, + 6, + 10, + 11, + 5, + 4, + 9, + 11, + 9, + 8, + 10, + 0, + 3, + 1, + 0, + 10, + 6, + 5, + 11, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999766945838928, + 0.001948353718034923, + 0.006539310794323683, + -0.03021438978612423 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20000000298023224 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.0015672917943447828, + -0.9328854084014893, + 0.3601699769496918, + -0.07374341785907745 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.0015672917943447828, + 0.9328854084014893, + 0.3601699769496918, + -0.07374341785907745 + ] + }, + { + "index_base": 22, + "num_vertices": 6, + "plane": [ + 0.9999979734420776, + -0.001666444819420576, + -0.0010864457581192255, + 0.009863127022981644 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.004050937481224537, + -0.9827384948730469, + 0.1849559098482132, + -0.03991859406232834 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.004050937481224537, + 0.9827384948730469, + 0.1849559098482132, + -0.03991859406232834 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 10 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 1, + 0, + 10 + ], + [ + 1, + 10, + 6 + ], + [ + 5, + 11, + 3 + ], + [ + 5, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + -0.029038799926638603, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009642857126891613, + 0.007121253293007612, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004825717769563198, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_289.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_289.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac12b9ea269d07c0e81e873fd0c9bd8f2ee3550 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_289.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_12", + "index": 289, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3482146440073848, + "parts": [ + { + "vertices_raw": [ + [ + 0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + -0.009642857126891613, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + -0.009645291604101658, + 0.003961100243031979, + 0.1944444328546524 + ], + [ + -0.009645291604101658, + -0.003961100243031979, + 0.1944444328546524 + ], + [ + -0.009642857126891613, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.009642857126891613, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.009645291604101658, + -0.003961100243031979, + 0.1944444328546524 + ], + [ + 0.009645291604101658, + 0.003961100243031979, + 0.1944444328546524 + ], + [ + 0.009642857126891613, + 0.0017999999690800905, + 0.20000000298023224 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 0, + 3, + 10, + 11, + 8, + 11, + 4, + 7, + 6, + 1, + 0, + 9, + 6, + 9, + 8, + 7, + 5, + 4, + 11, + 10, + 5, + 10, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999974966049194, + 0.000643447507172823, + 0.0021805400028824806, + -0.010071810334920883 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.17777776718139648 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.9999974966049194, + -0.000643447507172823, + 0.0021805400028824806, + -0.010071810334920883 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.19999998807907104 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9824947118759155, + 0.1862902194261551, + -0.040114857256412506 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9319706559181213, + 0.3625338077545166, + -0.07418430596590042 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9319705963134766, + 0.3625337779521942, + -0.07418429851531982 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9824947118759155, + 0.1862902194261551, + -0.040114857256412506 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 9 + ], + [ + 6, + 9, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 5, + 10, + 3 + ], + [ + 5, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + -0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009679600596427917, + 0.007121253293007612, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004742690362036228, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_290.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_290.json new file mode 100644 index 0000000000000000000000000000000000000000..0f0a8e198e94f1dec9c04d54f373301846c50479 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_290.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_16", + "index": 290, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3492773766629398, + "parts": [ + { + "vertices_raw": [ + [ + 0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.0289358738809824, + -0.003928691148757935, + 0.1944444328546524 + ], + [ + 0.009645291604101658, + -0.003961100243031979, + 0.1944444328546524 + ], + [ + 0.009679600596427917, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.009679600596427917, + 0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.028928572311997414, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.0289358738809824, + 0.003928691148757935, + 0.1944444328546524 + ], + [ + 0.028928572311997414, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.009642857126891613, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.009642857126891613, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.009645291604101658, + 0.003961100243031979, + 0.1944444328546524 + ] + ], + "indices_raw": [ + 6, + 1, + 0, + 5, + 7, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 8, + 9, + 10, + 9, + 8, + 7, + 11, + 2, + 1, + 6, + 10, + 2, + 10, + 9, + 11, + 4, + 3, + 5, + 4, + 11, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999766945838928, + -0.001948353718034923, + 0.006539310794323683, + -0.03021438978612423 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.001651061698794365, + -0.982746958732605, + 0.18494760990142822, + -0.039870716631412506 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20000000298023224 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.0015672917943447828, + 0.9328854084014893, + 0.3601699769496918, + -0.07374341785907745 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0015672917943447828, + -0.9328854084014893, + 0.3601699769496918, + -0.07374341785907745 + ] + }, + { + "index_base": 26, + "num_vertices": 6, + "plane": [ + -0.9999979734420776, + 0.001666444819420576, + -0.0010864457581192255, + 0.009863127022981644 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.004050937481224537, + 0.9827384948730469, + 0.1849559098482132, + -0.03991859406232834 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 11 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 10 + ], + [ + 2, + 10, + 9 + ], + [ + 2, + 9, + 11 + ], + [ + 2, + 11, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 7 + ] + ], + "raw_bounds": [ + [ + 0.009642857126891613, + -0.007121253293007612, + 0.17777778208255768 + ], + [ + 0.029038799926638603, + 0.007121253293007612, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005431598983705044, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_291.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_291.json new file mode 100644 index 0000000000000000000000000000000000000000..81efe16259ce9457df60fe63af095bf48509767f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_291.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_20", + "index": 291, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3504216689616442, + "parts": [ + { + "vertices_raw": [ + [ + 0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.048226457089185715, + -0.00370830949395895, + 0.1944444328546524 + ], + [ + 0.0289358738809824, + -0.003928691148757935, + 0.1944444328546524 + ], + [ + 0.029038799926638603, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.029038799926638603, + 0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.04821428656578064, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.048226457089185715, + 0.00370830949395895, + 0.1944444328546524 + ], + [ + 0.04821428656578064, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.028928572311997414, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.028928572311997414, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.0289358738809824, + 0.003928691148757935, + 0.1944444328546524 + ] + ], + "indices_raw": [ + 6, + 1, + 0, + 5, + 7, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 8, + 9, + 10, + 2, + 1, + 6, + 10, + 4, + 3, + 2, + 10, + 9, + 11, + 9, + 8, + 7, + 11, + 5, + 4, + 11, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999349117279053, + -0.0034661395475268364, + 0.01087243016809225, + -0.05035025626420975 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.011248371563851833, + -0.9845994114875793, + 0.17446322739124298, + -0.038117073476314545 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.19999998807907104 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.010736864991486073, + -0.9398258924484253, + 0.3414849042892456, + -0.07040280848741531 + ] + }, + { + "index_base": 22, + "num_vertices": 6, + "plane": [ + -0.9999767541885376, + 0.0019483534852042794, + -0.00653931125998497, + 0.03021438792347908 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.010736864991486073, + 0.9398258924484253, + 0.3414849042892456, + -0.07040280848741531 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.02758917026221752, + 0.9842638373374939, + 0.17453835904598236, + -0.038760844618082047 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 10 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 10 + ], + [ + 4, + 10, + 9 + ], + [ + 4, + 9, + 11 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 11 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 7 + ] + ], + "raw_bounds": [ + [ + 0.028928572311997414, + -0.007041452918201685, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + 0.007041452918201685, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004875641316175461, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_292.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_292.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ea1c98438344baca3f8061026079def42514cd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_292.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_24", + "index": 292, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35148860886693, + "parts": [ + { + "vertices_raw": [ + [ + 0.06775720417499542, + -0.004727237857878208, + 0.17777778208255768 + ], + [ + 0.06750000268220901, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.04839800298213959, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.04839800298213959, + 0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.06775720417499542, + 0.004727237857878208, + 0.17777778208255768 + ], + [ + 0.06750000268220901, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.04821428656578064, + 0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.04821428656578064, + -0.0017999999690800905, + 0.20000000298023224 + ], + [ + 0.048226457089185715, + -0.00370830949395895, + 0.1944444328546524 + ], + [ + 0.048226457089185715, + 0.00370830949395895, + 0.1944444328546524 + ] + ], + "indices_raw": [ + 3, + 2, + 8, + 7, + 6, + 9, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 5, + 4, + 3, + 6, + 7, + 1, + 5, + 8, + 2, + 1, + 8, + 1, + 7, + 9, + 6, + 5, + 9, + 5, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999348521232605, + 0.0034661388490349054, + -0.010872429236769676, + 0.05035025626420975 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.09034336358308792, + -0.9872452616691589, + 0.13109122216701508, + -0.0340934656560421 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17777778208255768 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9999330043792725, + 0.0, + 0.011573291383683681, + -0.06981014460325241 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.09034338593482971, + 0.9872452616691589, + 0.13109122216701508, + -0.0340934656560421 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20000000298023224 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.04983929172158241, + -0.9849621057510376, + 0.16542533040046692, + -0.03822215273976326 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9457608461380005, + 0.3248639404773712, + -0.06667516380548477 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9457608461380005, + 0.3248639404773712, + -0.06667516380548477 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0498393252491951, + 0.9849621057510376, + 0.16542533040046692, + -0.03822215273976326 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 8 + ], + [ + 3, + 8, + 7 + ], + [ + 3, + 7, + 6 + ], + [ + 3, + 6, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 1, + 0 + ], + [ + 5, + 0, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 6, + 7, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 7 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 3 + ] + ], + "raw_bounds": [ + [ + 0.04821428656578064, + -0.006498809438198805, + 0.17777778208255768 + ], + [ + 0.06775720417499542, + 0.006498809438198805, + 0.20000000298023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005227508954703808, + "first_observed_frame": 8883, + "first_observed_tick": 26653 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json new file mode 100644 index 0000000000000000000000000000000000000000..c3c68c090186cb2c1a4fa45b35ec03fe1b88aa56 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json @@ -0,0 +1,73628 @@ +{ + "episode_uid": "chain50_layout_02", + "stage_id": 9223002, + "root_layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_02/scene_physical.usda", + "request_frame": 8883, + "request_tick": 26653, + "stage_meters_per_unit": 1.0, + "stage_up_axis": "Z", + "physics_scenes": { + "/World/PhysicsScene": { + "physics:gravityDirection": [ + 0.0, + 0.0, + -1.0 + ], + "physics:gravityMagnitude": 9.8100004196167, + "physxScene:bounceThreshold": 0.0, + "physxScene:broadphaseType": "MBP", + "physxScene:collisionSystem": "PCM", + "physxScene:enableCCD": true, + "physxScene:enableEnhancedDeterminism": false, + "physxScene:enableExternalForcesEveryIteration": false, + "physxScene:enableGPUDynamics": false, + "physxScene:enableResidualReporting": false, + "physxScene:enableSceneQuerySupport": true, + "physxScene:enableStabilization": false, + "physxScene:frictionCorrelationDistance": 0.02500000037252903, + "physxScene:frictionOffsetThreshold": 0.03999999910593033, + "physxScene:frictionType": "patch", + "physxScene:gpuCollisionStackSize": 67108864, + "physxScene:gpuFoundLostAggregatePairsCapacity": 1024, + "physxScene:gpuFoundLostPairsCapacity": 262144, + "physxScene:gpuHeapCapacity": 67108864, + "physxScene:gpuMaxDeformableSurfaceContacts": 1048576, + "physxScene:gpuMaxNumPartitions": 8, + "physxScene:gpuMaxParticleContacts": 1048576, + "physxScene:gpuMaxRigidContactCount": 524288, + "physxScene:gpuMaxRigidPatchCount": 81920, + "physxScene:gpuMaxSoftBodyContacts": 1048576, + "physxScene:gpuTempBufferCapacity": 16777216, + "physxScene:gpuTotalAggregatePairsCapacity": 1024, + "physxScene:invertCollisionGroupFilter": false, + "physxScene:maxBiasCoefficient": "inf", + "physxScene:maxPositionIterationCount": 255, + "physxScene:maxVelocityIterationCount": 255, + "physxScene:minPositionIterationCount": 1, + "physxScene:minVelocityIterationCount": 0, + "physxScene:reportKinematicKinematicPairs": false, + "physxScene:reportKinematicStaticPairs": false, + "physxScene:solverType": "TGS", + "physxScene:timeStepsPerSecond": 240, + "physxScene:updateType": "Synchronous" + } + }, + "context": { + "settings": { + "/physics/addMenuSelectionLimit": 1000, + "/physics/addMenuSubtreeLimit": 100000, + "/persistent/physics/autocreatePhysicsScene": true, + "/physics/autoPopupSimulationOutputWindow": false, + "/physics/collisionApproximateCones": false, + "/physics/collisionApproximateCylinders": false, + "/physics/cudaDevice": 0, + "/persistent/physics/visualizationQueryUsdrtForTraversal": false, + "/persistent/physics/visualizationSimplifyAtDistance": 2500.0, + "/physics/defaultSimulator": "PhysX", + "/physics/demoAssetsPath": "", + "/physics/disableContactProcessing": false, + "/physics/disableSleeping": false, + "/persistent/physics/visualizationDisplayAttachments": 0, + "/persistent/physics/visualizationDisplayAttachmentsHideActor0": false, + "/persistent/physics/visualizationDisplayAttachmentsHideActor1": false, + "/persistent/physics/visualizationDisplayColliders": 0, + "/persistent/physics/visualizationDisplayColliderNormals": false, + "/persistent/physics/visualizationDisplayDeformables": 0, + "/persistent/physics/visualizationDisplayDeformableAttachments": 0, + "/persistent/physics/visualizationDisplayDeformableBodies": 0, + "/persistent/physics/visualizationDisplayDeformableBodyType": 0, + "/persistent/physics/visualizationDisplayDeformableMeshType": 0, + "/persistent/physics/visualizationDisplayDeformableSurfaces": 0, + "/persistent/physics/visualizationDisplayJoints": false, + "/persistent/physics/visualizationDisplayMassProperties": 0, + "/persistent/physics/visualizationDisplayParticles": 0, + "/persistent/physics/visualizationDisplayParticlesParticlePositions": 0, + "/persistent/physics/visualizationDisplayParticlesParticleRadius": 2, + "/persistent/physics/visualizationDisplayParticlesShowDeformableMesh": false, + "/persistent/physics/visualizationDisplayParticlesClothMeshLines": false, + "/persistent/physics/visualizationDisplayParticlesShowDeformableParticles": true, + "/persistent/physics/visualizationDisplayParticlesShowDiffuseParticles": false, + "/persistent/physics/visualizationDisplayParticlesShowFluidSurface": false, + "/persistent/physics/visualizationDisplayParticlesShowParticleSetParticles": true, + "/persistent/physics/visualizationSimulationDataVisualizer": false, + "/persistent/physics/visualizationSimulationOutput": false, + "/persistent/physics/visualizationDisplayTendons": 0, + "/physics/enableAttachmentAuthoring": true, + "/persistent/physics/enableDeformableBeta": 0, + "/physics/enableExtendedJointAngles": false, + "/physics/enableParticleAuthoring": true, + "/physics/enableSynchronousKernelLaunches": false, + "/physics/exposePrimPathNames": true, + "/physics/exposeProfilerData": true, + "/physics/forceParseOnlySingleScene": null, + "/simulation/jointBodyTransformCheckTolerance": 0.0010000000474974513, + "/persistent/physics/localMeshCacheSizeMB": 1024, + "/physics/logRobotics": false, + "/physics/logSceneMultiGPU": false, + "/persistent/physics/massDistributionManipulator": false, + "/physics/maxNumberOfPhysXErrors": 1000, + "/persistent/simulation/minFrameRate": 60, + "/physics/mouseGrab": true, + "/physics/mouseGrabIgnoreInvisible": true, + "/physics/forceGrab": true, + "/physics/mouseInteractionEnabled": true, + "/physics/pickingForce": 1.0, + "/physics/mousePush": 1000.0, + "/physics/numEventPumpsForTestStageSetup": 3, + "/persistent/physics/numThreads": 8, + "/physics/omniPvdOutputEnabled": false, + "/physics/omniPvdIsOVDStage": false, + "/physics/omniPvdIsRecording": false, + "/persistent/physics/omniPvdOvdRecordingDirectory": "", + "/physics/outputVelocitiesLocalSpace": false, + "/persistent/physics/overrideGPUSettings": -1, + "/physics/developmentMode": false, + "/physics/sceneMultiGPUMode": 0, + "/physics/physxDispatcher": false, + "/persistent/physics/pvdDebug": true, + "/persistent/physics/pvdEnabled": false, + "/persistent/physics/pvdIP": "127.0.0.1", + "/persistent/physics/pvdMemory": true, + "/persistent/physics/pvdOutputDirectory": "", + "/persistent/physics/pvdProfile": true, + "/persistent/physics/pvdStreamToFile": false, + "/physics/resetOnStop": true, + "/physics/showCollisionGroupsWindow": false, + "/physics/simulateEmptyScene": false, + "/physics/suppressReadback": false, + "/physics/testsAssetsPath": "", + "/persistent/physics/testRunnerFilter": "", + "/physics/testRunnerRepeats": 1, + "/persistent/physics/testRunnerSelection": {}, + "/physics/testRunnerStatus": {}, + "/physics/cooking/ujitsoCollisionCooking": true, + "/physics/cooking/ujitsoCookingDevKey": 0, + "/persistent/physics/cooking/ujitsoCookingMaxProcessCount": 16, + "/physics/cooking/ujitsoRemoteCacheEnabled": false, + "/physics/updateParticlesToUsd": true, + "/physics/updateResidualsToUsd": true, + "/physics/updateToUsd": true, + "/physics/updateVelocitiesToUsd": true, + "/persistent/physics/useActiveCudaContext": false, + "/persistent/physics/useLocalMeshCache": true, + "/persistent/physics/visualizationCollisionMesh": null, + "/persistent/physics/visualizationGap": 0.20000000298023224 + }, + "versions": { + "omni.physx": { + "id": "omni.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.cooking": { + "id": "omni.physx.cooking-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.cooking-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.convexdecomposition": { + "id": "omni.convexdecomposition-107.3.26", + "path": "/isaac-sim/extscache/omni.convexdecomposition-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.usd.schema.physx": { + "id": "omni.usd.schema.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.usd.schema.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.foundation": { + "id": "omni.physx.foundation-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.foundation-107.3.26+107.3.3.lx64.r.cp311.u353" + } + }, + "binding_module": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353/omni/physx/bindings/_physx.cpython-311-x86_64-linux-gnu.so" + }, + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "0e2ec6aa4c41760ae1ff8f76e96bc9b4e1d1277452024d0f94a04dd9cb411084" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "724b3aae8c4f03df483a60eab4cb1e31bd953a591e999fd4877340b3b7b46b93" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "1b779c2e3ba8203886b539f6adc9223705de868a47cb6af2a4c1d09384237bee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "c1d8c91e970dbf40da590c0cf9c1682ce4c87af3def0c47828f640df19d357b2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "aa6973e33e8c3b47bb8e0019356575a04ea923ef2e11705b7662a3ee35d19dc6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d6d632a8bd11bf3431f48c5cf9b5de8e8ca9390181b3e15a52f0e36230ca3f90" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "8d17269d2d48e93b848ce31d8e2f534724e826e513764225a27afe247dcab989" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "fa0dadd0fac73b1cb10410b6364bf7d463fe01c57be6236a106f81c60e820df5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "0d7d98b3eacd0384bf5b81b122c1641d2c11fcb09775eac8a10018caa4b1ede5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "5c9f4e7b132f3b7102a5ac43bec51574b6a68aa05248d3c1175426ef27f2e702" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "912eee2d1e51113da71c3bec326341c794b1d2d2231ab5f7f58610706ec68652" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "7ea7c97fcdc31452add75c7254a4ac4800b7bef482123fabf7d289b4edc714ec" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "3bfeec555da4f8497e57a6b1f39e0a0ac8a6ac6b360c8dfd06bab2e376494beb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "aab24c17ad7bd6089e12b724d7b111c69cbd030e239aaa46fc15b2460413daf7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e2921df6d383ea324efb1c7c6d00527154449845a6853e3338bcdd4ed0b086a7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "ed1007e33c5d38b352bbb662a76ce1722b9ac12981e298ce34ada6c58384a69f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00768496, + 0.01288183, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "be5028ac3ec1a8747a753d029d260cf2e729bd17a15a76fa3cb0f1d8c5a6e14b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00768496 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01288183 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.666975049160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1271181699999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.007684959999999963 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.01288183000000001 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00866294, + 0.01224555, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e3bd177aa339e278b0a2ed9b8536d6f9d5637859351334e0a125dd8ae7951cbb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00866294 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01224555 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.667953029160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1277544499999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.008662940000000008 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.012245549999999994 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01633278, + 0.01892723, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "63ecb1c3928425f5d1d05255a27b006f828e98e252a6bcf29da4fb739c283e23" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01633278 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01892723 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.675622869160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.12107276999999991 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.016332779999999936 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.01892722999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01904742, + 0.01619247, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "173d861b03bcde4fb2c5ed9dfa6c57aa8cc07243a03ab4318064d3281081eab2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01904742 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01619247 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.678337509160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1238075299999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.019047419999999926 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.01619247 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01493116, + 0.00143545, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "1254ce4fdf3670ebceb7534d849db3fb5c8bb3d77f2a0e2acc486bc3fa1f137d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01493116 + ], + [ + 0.0, + 1.0, + 0.0, + 0.00143545 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.674221249160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1385645499999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.014931159999999943 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0014354500000000048 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01222906, + -0.0086862, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a81b0a016817db0de7836aff63f5180fbf7e7150dd03e3713a0e87f3ae8fffba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01222906 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0086862 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.671519149160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1486861999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.012229059999999903 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.008686200000000005 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01012874, + -0.01106385, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "7e425be9b73c0d302e5a24d17158490693ba6f4f2097039e9a1092a57ec1fc55" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01012874 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01106385 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.6694188291602041 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1510638499999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.01012874000000008 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.011063849999999986 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01487967, + -0.02008968, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a2d14813498b98f1ceb160edfd3b89901b101ac11887624d5532b925204bf088" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01487967 + ], + [ + 0.0, + 1.0, + 0.0, + -0.02008968 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.674169759160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1600896799999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.014879670000000011 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.02008968 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01319953, + -0.0212314, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "61589ee1bf1a013f3ba1bb2cdd6214dceb371515a952ee16f188515f74cb8d7f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01319953 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0212314 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.672489619160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1612313999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.01319953000000007 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.02123140000000001 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00699567, + -0.01326878, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "05318f28c29b353145684a10a0b9eb2fce762410bee4893dc46ed3e410d61ee6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00699567 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01326878 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.666285759160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1532687799999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.006995670000000009 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.013268780000000008 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00611629, + -0.01369639, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "2ee3222108102af5159d98bdc9df6082d0977f2106160d5e5bd9f37304d308c5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00611629 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01369639 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.665406379160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1536963899999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.006116290000000024 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.013696390000000003 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.0052636, + -0.01404616, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "55c9145d914ffc227adcdedcfc433139bfb8764372d86b9a535186e0da014f7c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.0052636 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01404616 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.664553689160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1540461599999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.005263599999999924 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.014046160000000002 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00441426, + -0.01433577, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d7d6fc0b3f97d1b349cab29b82dc2a2f9d64bea404f65c5cf696530ea5e27412" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00441426 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01433577 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.663704349160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1543357699999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + -0.004414259999999892 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.014335769999999998 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "36b64ddb9382816687d738b9521bf0bf38082c66fc2c6f9bac6b9c4076624c18" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d3f32b9d136a30cc9e005c43dc53e1bd9328d5b542c013a5750513e2db9ba260" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d7a42a7707ed2bf5caa5af05ff15b82b79e5cb842ea381db5b0a3e835215b6d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "447bebb961076c0d635221e14c577657ab7c4200ae48a3c281578718b805d385" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "9901d8d3ee461fc4d79b82b1134f9e4cc947c616bd8df061fe478d070657d999" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "b0f47fe456cbaf5d64653ffdc1270b0db21906cb318a37924e474734cb74b965" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "4763d67e71dd709aabf9159e05a80fead0e58a644bf0e91c8ccc29264264afdf" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "2d5142242a0c8b5162d913c290507b95e6c0fc27af6775eb1bcbc8fe3e244c51" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "007943c2873d96b4c5be5b6325f390707c11a0651f79e961edae64be6eefe865" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "31e70b98e1b4925c6f12e58439d7d1e71b37652d990bd9272df68f0a18118cc0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "8f227bfc8dfb82003376156a353e8c19d6b99a9410e51a8d047629fbda92383f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "cfb747dcda97450321931c68af37007dce08781608679c51e0a510aa29fd5422" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "26bfc7ab4907267b02ccde23b28d9d1a87f6f1f76b58563465310820a8470c5d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1290, + 3 + ], + "sha256": "ac464756999186648cc69dc5956b640d03b9720770dbf57ce365ad6303e1bfa0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 4644 + ], + "sha256": "9f3f9db8cb1233e486520f95d799d2397d40df7c76d9034de9ce4fa4dc044871" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 1034 + ], + "sha256": "1b58a989362aa94e08385073627ea2aee4b6d092ee1575fab6d4141b49d1a708" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.659290089160204 + ], + [ + 0.0, + -1.0, + 0.0, + 0.1399999999999999 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "d0e0fdfd29bf3d0e396a0838457e4571dcf4b7823d667a0d05ae1697ab42369f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -1.0, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 0.6499999761581421 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.023, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "2289fc2397c4ed3e179dc99fffb94657662169f65949afbfae1cb723f08c11f0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.023 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.6362899560928301 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -1.0, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.02299999999999991 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.04, + 0.0, + -0.007 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "bd5c98cab73712965d261714cec83c5edc01c0f05317173936fe511653dfadc5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "c3f384da622c3f375c99c5690387b202e3ea5d147b2c9275db6d0415fae74630" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 16 + ], + "sha256": "f630d79cd5a7ebf82ab0ff14923ad63a9648264e5ffe20273fd2ecd47d70d3ee" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.04 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + -0.007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.61928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9090002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -1.0, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.040000000000000036 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + -0.007000000000000006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.04, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "99de56095e94029493007ee9d6d13692989e1751355806af804d0da1a2e3406a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.04 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9999999999999999, + 0.0, + 0.0, + 1.61928995609283 + ], + [ + 0.0, + -0.9999999999999999, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -1.0, + 0.0, + 0.0, + 1.65928995609283 + ], + [ + 0.0, + -1.0, + 0.0, + 0.139969527721987 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160002470016605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 0.0, + 0.0, + 0.040000000000000036 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d70e16bffbbeceaaa014af63107f2d241554244e4fd190c045b2e0b0620a990f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "6601ed4bdfa2100c2274906b3e6bb50035f250e65feea12848c77df87b535d74" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a25b9f3878bdf5b642c4ec0cb5ce5641ea86f588a55f29843cbd911ed83602a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e1772abed381ad0f4f773d3e5aa524e7f0d7cfb6622f47b7cac17d1c6bd610f9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + -2.553512903698301e-16, + 2.553512903698301e-16, + -1.149999976158142, + 4.6818906741592485 + ], + [ + -1.149999976158142, + -5.669937638726587e-32, + 2.553512903698301e-16, + 0.09000019777232238 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "688329867bacaf57c9136ebc2503f563562947835b36719ae547ed08a0bab8f4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0756903c6a94a9ecb69916d32e3ceb3884d6e96050730c82b788eabec9b2b8e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "288b143a1b334d60b925f35dc8f9c8cafac8be63b4d7beb322f1611c047de803" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6f042b3a3da38e82255fbf8736e274a51e28302eff050acc45e9d810849e0383" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "caf5ff543ca09d4587fca3ee63464530e9d582b7b384635c90e00a900befdeb4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8d92281933e3f52e32bbf4d064926955b8f42b387be7d416b3aa40202aff8438" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4f959fa71cd2652205cd29fe1cdc837a39747655db4dec2dfaea4ddf9e237a93" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "698235f8a43821a3ee141189c3350f22d70f0c34e23772c86f64c3baa9fc747b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "7747c1db4f6fc9fcf51e8fcdc1333939906042f1f872621bf857db5e89a63e07" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "177146e3afbbc3545e63ad3b3c1cb7f7e7276ca3384f87c7867390976cd69ec6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "007db52f5e1f1dc83e9755874b073e39b64e384fb91b0302e9d2d28f4d5365ce" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "9f5544ab3bb097126b3448f4e27276712c5d73cc77c8e6ff69fe14c68cf34b16" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1ebb47ef37d3c28c45c3553fbd4d0fda5bccd2df190db0ad05c66aa0d88803b5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "207d6721cd6d0deb1881121b1a3a59b3283bc87251b25fbbf1abe0a4fbbc2445" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c1da9b06db694889a007cea43a1f2648b0ba653d8eeb790332039dfaabc431af" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6e7694aef40167b4514d2c4513cc55e969251299d40fefae9f91cb38950279e7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d85211c8c27bbfe1fbe04b4fda5928f1043db43c6950b3aad3fb868669a6ebc5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "30a7cf602eac1296c2f8aade7ed07de254d1b43d5cebeb8f7bcd819d08662a8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9a182af683a764016af7af5925118b793d72a7dd813bad2a3a172214c03571aa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0f72a5bbcc8215bbad261a6f9dafaca41faa9cb23dd02654755fe8ba8fa6a54b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_09" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "32e489bfe75ab8f6017779d2e6d7b41ed5eb84a388b262659b636aeaf2c3e213" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "599971f8291521848a7d0fb6c9a392f272be9ff582dbcfcfe2f62cfe7d358dd6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_10" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4eb91768da84cf4b8175692cd9153273197d33d2c1fab9b70e4383e13a59f576" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "fd1f480c7ae7e9ce56c15e78b2b2f86b52144f3f82dfc6ac017ef96049008104" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_11" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d27645d0359fcea20feaa50e82780f4f1fd8766d2041c3992684a979a37369b7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "36b432090a884e2143eaf8204a68a0cfd23a3bb556cce24178bccddcda4a784c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "24db326def60c564ba64896ea328ebaa1c3bef5e26155dccaea5d42413d68bef" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0d508ccbb70b4830cd88e09c9544858625336e107f749ddc145638dcffb5a22d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_13" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "b1a7742df31b34775d6cfc49002fb9b8b9b95019e63a2c3a507e2101487a3a73" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "aa0b5aac0dd8bb00f16e24df357a66d1fa553e4f1853b243288537403410da75" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_14" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4a340db47451f888cba1f8b924e4303219854b38ecdbaa721b8b432a4a7caf87" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "c92499ce0c47051edfd23a1d4e88e00004d435fcd884dd04bb56a0526201166b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_15" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "cbc15b3fe3e5235aa7f773b226f17693e9a12da58563eb8151155456a6c497c7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b24fbe743c7e05224870132f4244ab772342a2ac869a6763c19a49e601d4f177" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "86717af7a225021026eb0b3caabeeebfe0adc7352c96247db3e62d14af3211c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "161986140e871863365a8974bdd75ea8dc1561d9935749478daf03d2e76222ec" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_17" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9b19ea5aec669871e24b60e3f118e920af2b34efc575a23790049d165ce47f33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b8881226102715322e189aec332aa0b21555f347af48270775e3f2fc70efd93b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_18" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f03c931e764503d26b8412a5e85e5a23fbb66719586dd660d119e3978a14273e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8a59e5d867492dbd6506c4152d2317814004d62d80f16d19321123d866380af4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_19" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "61a9bf3fafed795c7991945edcc1cf21ab34bec560baec0c676dd241bff1fdf3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b58a421dc7c2e2766eead27a2026aa3ae87a62462395ed6ac4dab0f5c4bd6f9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c8e8c0eb3cd037c1f752a810681f31bcc3b0d6b6a00da23b739c3c3cbff32fde" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "15650054aaf2a884b9ecf1f5bbafee970eb71c5d78714839cc179b21bd27579e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_21" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1634ef440de789bf94ee49097358d1a31c6834fb553151fefb523343ef6d6468" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "45ce5d12b4d8f1ca2eef2326c9740c471cb71574bf2d8762840919430e73c3ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_22" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "5ac87e89587bda1ebd55fd5abb99918b58e7854ec15a788c122b0a489e67c398" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "f2894ba779613ffa4f527b9d0a96854835dd958cf0c3cfeafae74241ad4f28a6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_23" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eca57cd0ed23973c2ceef2d736b714d2b4f69673c2ef0bceb90c7184ff8c7155" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bafd76ce205a20bd08daa34e0e643398c7c0718b1659e3eddace3309a00fa2e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "0b0a8cad2bfe26bdcbe278e52cab405d779a7c785820781215f80f46ffc19d33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad56627c9dedd159106eb57298ad31fdbf58312d497e61686851992816b85f12" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_25" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f27990604522339e4f1792be2e788c535b8467f2f33593686ca6ccf2519799e3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e1d8fd660ea323cec79b586165a12c3c0259450b05d16316b033d2c35351d0c5" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_26" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "8172cd68eaea3cb1292d7d1eddc3985cccae012b1825fa6d74e27a33f34a552e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "31f4488993d5c54ad17efa53546a9e8636ead153bf8030b8b5ed395b4e816a49" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_27" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1828ea116174f55389bb56cfdd51e6d4dfe5f20207fc0796a8f3d6b97792fd03" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "3c7ad841c6c9c9ac931f6f96f8fd8ace6432eebb1fa0d0ba8279fd008cc71a5b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_28" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f65eb4b309eb3e2bf4e6a1174aa2fcf1bb0fd255bbb5b3784c675f2ef296fc50" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "006e8b19fa100edd59db83c857993755595efed368a59b1fc074a6dac3e00950" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_29" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eedb12c1c0c24e668e2ec47f8b2424f629888ac8f2410f1a2657c9a5e67e573c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e25de4092a4f6e81dbb40d3315749ce4ade01d49de0071bd7f0397d9cf7db96f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_30" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "96e24b17bb999fd6df667ddf7483ad75cf6e604d6b78d2409e65fd9d2bb65ae6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bffc6b1bcafe13eafb988cbacf3ec664af16ebe16467ba0240a703f4f93aebee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_31" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25, + 3 + ], + "sha256": "2026dc913e5b35c40d47e6b1e2bfe4b3b0e98e320a64feb8bc0ca79945dbab6d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 138 + ], + "sha256": "444f8a352016e017a92d91918558bfddc9ade5e44175fa5bfe2aea03cff37648" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 46 + ], + "sha256": "14e8d6bd3c483e9cf14370e008a1b21c33d516dba9d27fb806b71ee1a7d32ef6" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/CapCenterSeal" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "3b45990de65bdb4f96396b121436d93952c688ef167933893c50d27f63475877" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "173bfc98237d84c9f9f2ab6bbcbe552df34b0cc8f0b942af131f4cd7bd3ce524" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/OrangeCap" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576123, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893464, + -5.512299393995877e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933987e-05, + -5.428915726026505e-06, + 0.9999999998855832, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.7384316019749317, + 0.6743283836576122, + 1.4087159948072312e-05, + -2.182995557785034 + ], + [ + -0.6743283836569357, + 0.7384316020893466, + -5.512299393995878e-06, + 2.2891766837501333 + ], + [ + -1.4119504029933989e-05, + -5.428915726026503e-06, + 0.9999999998855833, + 1.1825006008148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 1.759717244274523e-16, + 5.012204280081169e-21, + -8.881784197001252e-16 + ], + [ + -5.831033215732276e-17, + 1.0000000000000002, + 2.003349109529478e-21, + 1.6653345369377348e-16 + ], + [ + -1.9647945092119442e-22, + 9.120139390900444e-22, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 0.9999999999999999, + 0.9999999999999999, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "dba08af309faa8427a8015f4d88e87116d5decbf14ac7ec99d678681da6bd36f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "59fda73abd76af1479f2f88996f02cbe02ee110c9ba4c2114f371ec86a0b0025" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "2eaea781a50bd4e3520ec03a6cddca82d17739185a0a9ba64805001fa99160d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "731dfbba5fe66ff2f06b8f73770743f6c1cae2de93d1c1e6d9d08bbeae58d726" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "8344ec8a8e8a8c9a5c0be145718300c1d9f1c38165c091292e8afc7c9fc46fd4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "260891ad26f7c1d9a1e154645e4442c0d648a8e3642ef42c796636be00c75060" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "496633b5cdd0d3779f7160371d0d8288c0fcecdc30fd37c481c1d00b000774b8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "72e92f118c3f27e1bc0fd1c61df3ca67fd40fa4c41044097911fa22724971e34" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "14ee76f41fb860f9f2ab278ecd249aaa882d0f37e54b195ff82397c5ba4ca159" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "4a8ec91f16fd22b85803d3364bac8475ffce61841e843c9dc74103b6b59f6c0d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f6caa6e26aff2724a5c15c7eaa0c424cc6d7462dffeadf942f670f8042c33f58" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "15b4fc15ce71fda958b132287aa05aff682b152cbc672c0b001a248ce4ae7e20" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f37af282a44302287f0f157d3cd720f24700a1dc17fc645b75a1c9628b2ec618" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "fc1349d06cac79f928fb2bbe46ae700cd62a3b612876725d9b970af79f476840" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "acc6d39a8624ff0261f3e7299b6729d1437f3dd0a074cd15d309d8142c5fe43b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "112a5ff87ef9d647b62b408858cb06471b13081fd70d8f2bcd7e51d036d853a3" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "a84ec36d09a06ebf78df062e29e29d55d3a5f275d11c74818169a1d1ea194280" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8409c847abf4e6705b52539958a08657facf8efd34aff742f6f790a89712b4b0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "86e597bc356876a6eb75870189c1931431f4f8b32aafb0a2b900cdbfef2d6c84" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b14e77971bed7d5dda6e9d240bef4bef468fe40f0dcd9db0cdcf2173bfa9fc5a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c77e3e3686cb14db26fd8537c008b209792f1a4b1214ddb7fa797fbd3a3c7631" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "154343239b8a6ed7c8f69daba0696b34f4209662cc66ceb7d984355663c852fe" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "e46d95c7e187a4c67277a5e7a8d04943698ed85c2c16f98b45c929ed55deba3b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8af331e7869ab6f0477a0f0baddbde4d1c61b98369c538c16a7a6768db634350" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "edecc48fad9f15c8c25db50d1d601b668447fa5b0131cd55c009e58b10b750de" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8afbbd309401905d543a215eae90638239b644fa1cd4a9ec8d3ce4f6eedbe984" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "e38cbd1b7206c0d9b2afe5d68f1c749135c18548e12a0043dd864101ebd1b451" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e57f4f07d9869bd9796021310033a5c9c207077c3ab5a57466e1d1a19228db51" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "fb4060397046005981e1f0046f42d10102c0a2f93c6f14ac26759c49ffcc9b82" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "451d2ac27a7f94d3abee744671e16699cd9924777fd9c365b32c77cc294dbe9b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "3a42bc7188e3dccbf2d9d59487485ddba782816c9b7faed0d519672c8ceb2107" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "c064211a4d534002edac3726f75d37649df9c9526942ed2d3ca7b1c30bb9a8ea" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "7026858dbe5e3dd76ac0337f505376d96095694a1c76c11efc1333a7e501a8b3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "732bfc06b13f075b42fbf0359674e3b294c8aae0109bdc491cb0b20b327bc680" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d5b31546f9f69d50cb8fb1c69f06ff91612ce737eff949a28b2dff683b24a1d6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "72a475217b83a5a54ace6dc5730b87b0d77a5dd57fd91414af2bcdf3c0e0e1a7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/SpoutTip" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449275, + 1.9915780747927225e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256355, + 4.51325027171724e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210096996e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.5827745482377196, + 0.8126338818449274, + 1.991578074816556e-06, + -2.587080240249634 + ], + [ + -0.8126338818435008, + 0.5827745482256357, + 4.513250271734333e-06, + 2.1840998938941762 + ], + [ + 2.5069790752498445e-06, + -4.248631210152527e-06, + 0.9999999999878321, + 1.1825007200241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.1400004981735192e-16, + 1.1373540621519292e-21, + 0.0 + ], + [ + 6.82683404393564e-17, + 1.0, + -2.9328416370119895e-17, + 1.1102230246251565e-16 + ], + [ + 1.45135230435218e-22, + 5.553026072442881e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "9278d27fb00258e7d9ff23f7dc961c3b877719a89894a62e16a3b34586363d99" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "5addc505884a436c4a05cf25b72f6bd58fd4baba536c0bf7620677b9639a771f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1aad4c020316a09c5fad5e0ace41ba89e989e15e0734b81e8564f8b3f55fe9d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3d646d29bbed148f96796eb2a6ccfbed4cfaaee15991abbb46376c2de10d6fbb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bf38194bac60f0c1dfb65eb3d574f655653ee979fb514af2d9e4cf19e686541a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3c9bb3fe5b1ed9f5dee5a05041298869ce0f95243166ce5ea9f66214568809d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d070846870327925274d14c32ac88996725c1c9bca1375f62d583808048b51fa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "594f89ed45ad6493360e03e996f33e24de0d77cb4dfe91a41baef0bec89c7ce6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6634cd8fc193eaf42a4f303a8fb6c01ef0825b9f80782256f1bf4e0cbd7f081c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7ad1a6cb41bc02a0975bf36de771f4ba257c43101ba848e0c3db4e2aa3c8bf0e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "83e184d24d8bd9dbdd71e21e47b60c59e30ad7ff747e9246c55f8a87195e98c9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2a40af619f205ed682c654ccfa8c90da81fb4aa76d70241c00f087e5bf72a308" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8df4725384ba2dcbec9a4edcf781b260ad4a050c97b32dae3635e4c9d83d2bf8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "c236a359a52ed877faeee38d2f75a437826915c26cd36fb4e90ac7f1e5501e57" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8dce202f93d88f72712e3fe1bfb2bdf0be5c633a26c412b9d28440236521f677" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4872eb7911e6c09d2259b6afe50818aea2b3c498ab1b485d9fd29ca33163dcaa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4d3c41a23d3c233e81cb15c1c59d5d7dc7ab51c3247e298e148a65675e6f79a1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "82da7b32e86ce1c4599454ba72d9ce843235028bd586f3f358c5140da0ccb6bb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "cf4983a6a594274e6539be65d66761a92f0e7c46a02ef4955cfcb0ea186167d4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2722719cf157a760269adf7ac86225483cc1904917040e8d7250c6e4e99a8c05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "130dbe14583a12385c8b54376ee201333ee7d6d790b5d472f159af35363ebd27" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "1ccf194c37a434875731ae4cc4023b994d7adad54e94cc5d026976f1682103fd" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "74ec3d17a5979f3daa13526bb0db783c39ce91924232e2fca5c81fa04a7b5cdd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "2ecf5f136b5359a431f8eb153fcf0692403d76c1572fda13d73c442af16e05d6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "563479e54b6ba2b2e3d958d228d98a97d7589529effab17ae3f37ddb7e58e100" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "eea1f8d5ab66fd85ee0022a79b3b686cf9e83df85c00a94859458a9754eefb14" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "74b91e56a1c8d1f79974a460b5bb31b77bda90e5813a2294d2c0c63e0c50cbab" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "450cc763b08f4f10fbee0bc92516944ac5254525e768ca38b9c599101d913728" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "38f03ab35e545e54b8ff5e601c02a96fa08fec9716dfb9e6e79687c6f75e890d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "dde3f904272d4b22228a17f4d5ac555b0ceeaa0cbefff674d0184deff4b75bba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "4bfde0a827e4a14d1c055ce61bd7e99c9fae743af709492320dccc81c1d983de" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6bc6a8a6a13b52e26b2b93fa03f800ff4cdaaa5d7885ef6954cb76cf538a305d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f661ceb9303bd7754e2f393d51f09257f075a174a60804299e96284f79d06b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "abb8354958eb4c4460b36178ff9cd021fa3bf910a1a2640e2374d5b8b3990e9a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "94786265beb7963b9d754737421391c9c7ff9e904c5c49ef28ae0d4892561a5f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "cd803f2c1e70bdf5630f5465b0fbc651ab607247399b2c1a2fc0c8c38d1ce909" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "c62af1fc835d27e5e1fdbcb614aa6b8ace4a10857ab773b0897454bae4515af7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0b502872e5877d05d6d88d1de3c98870a2661316ecb0c33cf3d944f55b9e69f8" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0ce7bb79788266051ed6fe5b183809376bac1a5082d6160e43209cf6c562b350" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85e43f66256cb41f1e48d75db2f1b04e6c6703cb81a783139693c0c498f31ad7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bee1cde0bda00eef3be8fa1948402572c1c34cf63c6209380847432c12a1cd19" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "53b9d6a3e79c017a22cea03e00920b090722beea16bcf1b0e03fe0617922473f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "5a36e69d5e787a30bc5415c4d9e099e39ba7d1e36838ca2c37e5424f5adf5e86" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d5013bf5d09ef1727cc38b387ecbf7527100afd7b695c19f1510b8af5f5555ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "23026d1a54c6ef90a4cc66be912192a3a2cb062f4723668a7e74cb6607218f58" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "77c88cf8f97fc7f081456fd7e926ebd8266ff06bf88e01dab1051c76a5d617ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6f658a3ccf62394671b1c747b8baf00a69c3b275242e37a808cef4695084575a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "75804f2223f91a0e4601cd8f6701e4a2d50b936addc8cf82a118c91568b6d5d1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "56ff09bca0e2eab8c809b2dc7d3f3609f8d2c0bf1c349701e7f1db38d15e371e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "526f0ef6bcce41be9b50e0e230fd1530df7e8327fba2d5c46da84b1ffb098e17" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "679e8eb9839414d6b4a2962c37c47ef47d0e0963af3c93d830580d8d3d6e2741" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b5bef4cd7476dd0b7665d13a7566069532ce549cc089e3b5b0632dff094cbb45" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "f1073ca9686c4df180aae745722c528f01105dbf2cb514436d36b27d59a3e809" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "1deacc3c9f8edb656090595c0efbdee08c9138a90cb30c832621df02770b477d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "921b73a2abcecfba81b5d3554ac87100699a3cd345ec1e28c27318d2c51b40ba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0ae64fa66ac11c555ede528ac41a56f1c18b8972761960737e0d87792ccb6d98" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "cf7bc17931bcff344aaf93b1932b7a509644ea9d701bf228338f86091b65e545" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "536cc6bd8632decad2ba3d82ef4887a39bd8cf5b8a9bf414e2df9dd19f4dcd14" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "63b1eb887be448d01c881c369281f79967251a5db5837554e52c7bcf9ed7c97e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "aa5bf31eba1f8397a6f5c93aa65ab9ea8f0d2a9d14c4e24d8992a2a7541d40f9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1044e7037fc363960d508528a0800ca879696ad7b702b4eac4fe23a182b8b921" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "eef6372a6eebbf413d156fcaf98162b5e3ac5ce2c0d408adc4d128db7e55da8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0006ac08829199d1e254402a15f5fa1e493ef440ce70e9a84097148d9e9acf5e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "a61ade0c0b316bca95232dc28e574c1ca9712d1ccd2bea334e2df4d9b5c84a8f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "3c67414d623b18a5a86964ea27fe5f04845d97d70f4174fec8bc4620af49eab7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "122f7c17ae7bf6aacb4a580241aa91a53589970f311bbab67c8f281dee78fbc1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d0fc4bff9472b2a5d3c202c1eb4c50b80e3e31a999f302c0ed2443cf0efea11d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ad1a786de3b1d0e701fa233377aea77598e9eb93ba6832d60b0df8c4589a11ee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "745bb2f24bff78e721dbe76daf3d75189879d290a80f4bac828092b9ac221e9c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2cdb32a525456d825be1a4f897f3a1a8bfb8077d3eb7cea475c9963731b76ba2" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "260c8257d3fc306bdf9f7cfb4394c4e83fca642ccb173f54200f771739712a7e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "825d6e53a17af6f19c42b53650d15da2914d6ff81c0782d3307c95357679fb36" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6eb80ebd897b7b0e74832ca405df86027cdc13ce75766057abe007032306e7cd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8dd1b515ba8273c56a6dc2d09b607996eea66dbcc985ab59b5d612a886f33fbf" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1ef95da7d80e3c1178f6fb23af5c9fea03bf8956b0d7e0e07b4b5bbcd032be26" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "da535ec0e92beb9f4c713f4453c83eff76872b24f94ebcb96fd13ebc8d5cf513" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "83c3260b49f1c3d1918b8179c711d96a14d0b660aab60944f5c0d9510d545a26" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "64b5770dae3a85019e2772383eaf51f2809b2bf0b263b7891807e803e5107d8d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "00f60cf61f45356c6205f28975811117607e63b80afd0ef0662845bff139c3dc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "afef9f4502cefb60ec7f2d71272afd0679195d36521c5e2d62d4e0f596cc1566" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "754b09d306e6c141e10f43add5426b779ab0967060a4141285f1f78e2a5b6655" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2f5c7edb3b8d398703e34110960c6ea3b75ee4c679b24a5b568bcc0fb8ad7a26" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a7485425b69d30da83990935d972746826289d2e0dcf7f4a72f56792d5c19935" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "bcd9e5879789aa3b2c41f7db82d5b0ffdde37dd496b788239632b3637ab0afe4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "221e3acfd1bf847892b52870cde11e4031f163617afb41515b36597fe158ebbd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9fb6b269cbefc3ebc219f8d7381a4cf430920643fc60b54fb358885beb3b1dce" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "28ed8f938b84db3f847671faadfd124b00792e97094f37e50f3e945d29c5e5c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "5aa87b8e1e34599bead8bb5c63e949451a9df13411f0bf776188b3cc8e797b66" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "257ae3d4cb6cd7a27cd5a89b4af7ad8413e7fbca929b154385cd22fc39aae007" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ef1509d23479b8497e6329d5ee2919ae11acb516fad4c280f814b87e8f04e839" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ac71e321c2638e1d920d7f5a2c69e84ba50ce4b512b1ea1a9dac902d219a76c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7b9d2e84382fcf791f805a91d0a89af549bdfb1e347611886ff09fdad751d861" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "226896792d63f6b77ef7cfb59402df8f4a2335fe18bbe551ee63039a50035197" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad859db2b0d74701b6ff20d854546817771f3ffa809ac21d053f41250064f6ba" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "b6433570e31e2c688ac7dd473a00448b7179dc8c7b4b91d2f3b3b8f5e9661d20" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "61d8d44eae51067ff8f86f291726bffcba6c3d938ed1686668d57bb86c005e9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6e4efff1a7b1f5db244c9049c8f73708c22c1f0eb65e4e88767294396021e936" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "e85f183611e57ce19dfdfe93b40b634e4167d0fc269bf2a412310a0047478ba0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "aa16441268268bac24112208ea83c417924fcda0eb718aa50657bb414030c49b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f571224be35414ae6309fa2a0bd583cc44a4d9a223434575241de4ae07835f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "deb4c0a13f899af07cff3ef3c3f119027d4c5fd9dc11a20c7974dbab092fb315" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "58d9d9fe6624ef04ae60d89a89a3eb307a3ef6ef4f913495984c722443a56064" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0a217b71a65ed3b286fce7b79669bbdac34237b9cbcf356bbb7fb0c146a123b6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9ec8f58a673af46811f30bafafec5f341d1b9199b48c1bc7a34e09b3da128921" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1f46995f956d3299d064000fddb7ab88fee85fa6100cda6126b49d5ad3bf04c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "774bc49638227994f55eb7ae93203453deebcfce005ecb5bdc239635b1c5d548" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "6528349d7feec4afb1848240c92509d995769e33f1d43bdc92ea2e2b67981ced" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "da6ead2b0d99ccf914c2c4c80c91c5efbd83c54b966b86a6ee5afb58124d1716" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "fd9450f0028d6df33dd917adc4bc69bb781ad3222462f0a851f925b62fc49013" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "9c48e8d79f7a276e50af1dba6f7e986347dd19520c908b5f1f8bbaa21f386892" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "202e56720af1e6c18fb41a43071ebc52d27012291e11ad6d8be9cee144acabf3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "f637bba5bb319c732668f954e81b5e812576a717f53410f835f7e4badf958c51" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "19d1fc072468b50ec56307244847489f84a3da30b35e8446e6f994eacaa0be7a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "f6600c16b250438be06e6811725ad9e85fcc584aab501511b2ff204818f4a05d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "90b7ffe74424594bde135263c7675266ce6d86feae6191ed06059380c626ddda" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "cff902e8907e5bc77dec62f030a3f275e369cfd81043085d154adbb762ac734b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "bc82f6efc3a5e0bbd891bc4a32e1d4a21e83ff0b20d24058be5f525234a10788" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "c3be3f72b3e1c525be320c63f3b9099bc3fe2d888ef711a158e5500ad343655a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "054af84aaabf83b13de535e5719335f5fc2c551e83da6840c9810cddf783ca8f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "2f6c930b6eea393c408ad4c42bc18748fd87a55d7e3fea83469ffb59fbdc6aa4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r_copy_01/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.3489636532087401e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460187285e-07, + 2.1796290686988637 + ], + [ + -3.3606873372710274e-07, + 1.3735034956544049e-06, + 0.9999999999990002, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.06450793796378984, + -0.9979171939283541, + 1.348963653234567e-06, + -2.6931777000427246 + ], + [ + 0.9979171939292092, + -0.06450793796327203, + 4.239706460203978e-07, + 2.1796290686988637 + ], + [ + -3.360687337271027e-07, + 1.3735034955668562e-06, + 0.9999999999990004, + 0.7510004043579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -7.080586341207e-18, + 2.9693215070544006e-22, + 0.0 + ], + [ + 6.710478546686113e-18, + 0.9999999999999999, + 2.588032870376462e-17, + 4.440892098500626e-16 + ], + [ + -8.927319831745335e-23, + 8.754904521382975e-17, + 0.9999999999999998, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 0.9999999999999998 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "344363a0ea8c84250cf29c0d7a499e7918165f0a35c7c4274ec0902a01fe3631" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "6adbd3a83a54214b6955eb020994c56249c593ea16b138b629bcd3eec1641006" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "3a8b8ff17607dde9df21affe7042fe06917fb67ccfe3e368bad6d81cfa036a33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "f2d56f2010b56f2212d5aceae0a4e5682aa70f0e8b82e3dc2e4d0bafa890c459" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "051f5410e20777c45aeed721cc64f5bac8860d7e7e5df0670ac3af2230e785f3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "f0921e8a07d92eb51a3ea7879e55ff4f16c3ce9c58e5629c2278ba64443010c9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 32, + 3 + ], + "sha256": "9d78e09a33e68be248f81afc7e93e7bd32dbdc3e1ac6baf271c6757a450be810" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 180 + ], + "sha256": "ec1d7a72064f5f7d5b24f1917425686d4f121b7cb6172a19cb852293051893f0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 60 + ], + "sha256": "d56f574e2729a4caa8a70738d89b0ea5adb951ced1317bd9d168a6a9796efddb" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "4fad785ca14f7b10c1dbeaae0e46e327a96f352b028de1ca1d7533de790fc37e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "ecb44ed1c4881760c8f572aba1f37fbc45400c8936ea7d974ab3299292001902" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "9799c005f4b520a8d207fc307df04406e1aa078230711299df003de4a469c646" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "e432d93afaa4d66942b8946f1f10516ca1a3030877144bcc2c809ac185bd0ceb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "07c1796b917a322238e4de243d7ae9eb21f0917c46d9d4a318f70c980ac4e9e1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "388c4704bef684fc46fa268858ae11dc484233dfa940e6601c95610bf0b201eb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_00_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4372491129e1eff55951b0dd0aa91ccb04745fbeae663808636bad59ecbd7c9a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8bd7c8e643804599f81570c0c5ade2d194da2fbb234a38dd307f1461f38f0961" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "9a9968df64b30345a2063cbf985b300ef49637ef95f498051cf79084de93d099" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3c7df44334e1b0cea4d138a4a089fb94aa660db119efa431f14a17c9b4610c4b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "ece9da0de97a293e85d7e7679b85d27a431ac7616045a2766180d5b6a0103272" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "5189dba94fedba7a6c3dd8b671eb875f8002c392872f9acb7be2c9b968b28585" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "0927ac87578259d74be469be5dc8827780cbecaae4194d062ceb0991091f391d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "e920bae8c46ccc8980e88107e41c25582a877db313f48b9efa32b00b5cc561ad" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "6faf019b51220ed11c0528c35bb896ec646315201bce5e66a7fec0e3fbdbec78" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "d961ef42cafe98e06771a90b9eca33925ebaa2cdc8bf647764dfe8005661a1c2" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "44d99cdc4cd1643414d36b95bfa32d61e73d7cf6b6cb75969241e0f73a9c6258" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "74c80de6d459b63d4f4121c21a88d4efdd603966f4ef9f0cb920d54c6d4ffce1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "c2c82313ed921a8a0e8820f18c371d890e8f0f341bce6647bfb7fa49fd39ee39" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "f3cf4744fbebe163bc60e16a05e7a6ed98f056293ff06a5d836aee1fbaca436a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_04_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "53f691106ac9180602b649664dbb2177ea45936e58e172f9cfd97e0f114de279" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2bba8d93d0d9bba778f5d992ce5581c816a346591aa22552493bd62f5d6aa6c3" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "786f9de1cfd62b43efb5e8b9657f3a5ace0a397529aa8168521d0d9f0cb8b660" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "60f57b788ceea58490f00c4744b1d25026c34fb299bf191c11ee65e3973c8b34" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "e2fd0349f174d4c34e6ce0c43ce4456076bfbe4d83fb73dbfbca2fb1a3829005" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "275143091cd3131a52d119a461ea49cbede386b0234f363b38e67e5e0d9a3cb7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "cd6e4e51acd7916aca19cb7986998be71f6a63928ff16ebcd7c07c2e44e47373" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "ccecc8219b8ad23a94e5e9c3f844d891bc0603cf20433a10d5cb2a300d951cd7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "d57e56517636f6abd8cf2f661eea51abb618a69eb4bbed6adba1bc0b917ca9e1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "eeed84c58147cbee0b6e1c99bad084e7e98ebee637a3c74db5ec59ff53b66075" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "5d4d1880a0c9f43ba78426c0f42dc3b1ff1c7db35d870b0d7158352b14ed9c57" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85d3f37f8b7868d23781cc5f2e31180dc6e067f082c24ddb3204f2488acdab42" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "f66b467ee412b69f4f3398786e46e6280f24738b97baf2dc4a96bfb450fa00b2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d196592a6c2f3fbf23c3867b3d8265d0a341c15bf41cd7e0355a8b1002f1ddff" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_08_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ef0f287cd396631ece73f737c38c7a3f62201ac59c7568bbe15670ab0bdd05c3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0f6d9ac23962f16eb967336af51c570feae04ec4a47d4e3f7bea26f3c845857c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ad02f5f16ffff185b26d1d9a75decc9c3f9d29223fb912a18279ecd135c8de1a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2b7aaed3f508334dc5997c025bcd057dd940a24bcd8963db2b6dafa2399c49f7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "1b1df8642c88a38d6987d2cffc93ee1687426f4420e224d61a45f349e6d32508" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "73617a132cd0f9d11f23e13ad71cd6b58c715d0efdf2d6cb9019dcf54a05c651" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "ff1613f8a72e126d35c2763a720adac07a2886eeb8cd68a4c6ccd08d1b992375" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "60b2701455db3dc4c0258bf8b808004442fe4fbfd702f57346fe347bbb304296" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "133f4a204232dc1a0bd804239e3d5035660b8138031a5bc0334a36201c8589c8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "19c0f03651063bd7fc2e5f43537802e77e62b030bf9f66ca14c754df10ee93c9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "7df125cc7e2e63a67e04fd160003a286cc9f700e5dd87da84ecc057527dff61b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "f5a5b127c91a0ec99fb56d6200ffd358f14c1ac5c6170d0b9d395d5d7b80c0f4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "428a7ece92c1c6a9a0ed55efac126c1e75330c886b1203c1426a90c30115dc9f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "f79edc58a1e259f97e837ccd06d12200b664388ad6287b91877c22e8cdd287b4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_12_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1ad6aa68ac48610443e5e0046f3f5ac186a450594c8f356e3e47f4aafeef6e71" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0e8562f1adc65a04d2da7217985e4466b14659f247dbfa489a6717cf1922aa65" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bc81187fabfca3710c8f1cd3f1105dbe2b32c86f74965cf035f5bbf620333f9c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "aa3c32912a4df082cd964144de1adec1278e938a062c765d4d0a971593747703" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 34, + 3 + ], + "sha256": "a991f2062ae8f3418cba97c8ba7556a4907a8bb63e81213edef8706db2ce6d80" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3b70205ffa5a267270e8b293242d52014cfcda088de4c72542397a3f24409eed" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 64 + ], + "sha256": "58ce5c958c387d3bcad653fb2317b72fa16b44525b127a653c02195e01d9a168" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "17244bdfe049f3581588373d301797c09b939a4598702852e33b92b86d671dff" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "f3dbb73e681c33ab2615b05eed68d4df81507be084f02fdb8cd4c53870a5f8f8" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 34, + 3 + ], + "sha256": "f8770b069e5c1407fb7b8d26887dce3e4f45e13f57cb928f910486826c4f6c54" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "b844adf926b2af6b0991d664d3aff8a438989981ea80803496d1029f81293140" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 64 + ], + "sha256": "58ce5c958c387d3bcad653fb2317b72fa16b44525b127a653c02195e01d9a168" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ee0e490191ecdfd9bb3ead36cbd6f28dc22e569fea0d8984cc0511bea712a9f6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "6e50bfa7acdf4cc585d20f0e79e759403639bfb94f7d8cc0a8164b93c7b57304" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6c5763a60e8183f17d2bc3eae86789ac80e9414e5e9cd7af6045a753aa252e09" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ccfae2b8e3c1d43b366c43ac287a04bf10a36bc663e809579d6549928657363f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_16_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a5ed0d96275b479e69d200e8df9ab14079c6fdf5ec7c79f748c153232d537a99" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "c28f0f53d1fd9bc7e86ec4de992dc51a3a738e6db8bb67e7704e5c68b75f37a6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "b362589c29976c18fe52f9df76b090544d639f0815cfb60d991eae52a2040faa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d598958183bd7f1f76f076b602ec0cd3edfecda612c460ee4eafc2f125e21819" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 38, + 3 + ], + "sha256": "6c185247dd09e280dc64e7269134d15b39672afba0ce3ed3faccacee690eebde" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 216 + ], + "sha256": "613408f30a05cb1eecc675595da6b0c3fcc2f26c1216c1d8040c6c99a5b5f1f9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 72 + ], + "sha256": "d8ee8573801c96b28068d76997e617a67a92bf9adaaf94b01fa1952cfe039469" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "9813a19dfa9f077e1e0a577a9f22e4d648e54d09f7ccf5792e17b460c9d6765e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "7a51d0218d36cd1d76d77e56afabdd156500f4410558c1542743af83117e03f6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 38, + 3 + ], + "sha256": "dbbdaa0b17d13dde4accac26085db3fbc557cca782063ab9f891efa9b965b6df" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 216 + ], + "sha256": "1ec994b9375eebc2fa728da83ab7f82dc6e7e3b7e9f8c80e2831a368402bbc5d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 72 + ], + "sha256": "d8ee8573801c96b28068d76997e617a67a92bf9adaaf94b01fa1952cfe039469" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "3d0addcfc2ce323bc4e59cf01ff068dcb191e6a3ef76548d9337dd285193d5e9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "dd020ecea00f2244c089e12ba9af2331b7cad869b8ead29f7ab6f15081623f8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "eb1047caf54777ac92bb0da5583a7ce50033cda7f7bda86090caf10b8b9db946" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1693956d74dc330f632592a2d0002f14be0bbd5f0755685d0e1dd0f4e25366b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_20_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "fa993cc0127061275e42217c6bdbafdb05f0ac1a556fd9c1e65b0c383d5c6b0d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "6a6ef9d6b055fb8260a6f39dd5bafda31ff5349f2bdc74feb918159dccd2fef9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1b8a9a4da09dbfc86edc28c3df5354a46ad7d081cf9437281f497c7aafd56fe6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8acef6d0b94ed5a4ab370a7a0418b9cf1ccc1052b2b575a56e0ef7b372bec74f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "dadd7a9c7b7a7e9defe0100b5c151381691bf688e39d1202fb5182ef5a46093c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "162dfa699d448c01a4aba3bb5fa9d63eaccf4b6cb7dc08979135744138fc7bfe" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "7856c56fed5d8697fdffb1a2d69b6370e5fa044f566fb4147ec1d831b1f49965" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "a169bde1a672940d2e5909b4eb3065be8eca214596f25d7da24110489a530548" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "4b995791dfbb32953e9eeb29892fe6eb287b96087dce200b5787bb0f6e2be2ab" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "976c50027d6cd49bebefa3730f5045612ecb8841860ace88f358b7895701495f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0a74a044a43519331d2a151be1118f80e5bc5909ecd1cf9268a5984807d82347" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9023cd40b5b0ef4365c68121781f8527c790930ae14aa2a63d0371561e0e0f4a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "7b54de07edf9a87ab06875208c7544890c5ee8b21399031ab7f0f2b8bda3c274" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3ec18a556a56be8caca2ade2a41c0b6791fa11857f0a43d68ce4d5d133e65d31" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_24_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d7fe3c32dc78058441d2822b95c44a4df532173bd6a74195fb1a4c3057143138" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "f4c8f9963a0414b14dc7c5e2562b0495b6d8de1a163fed8e6e9009b5ca2f0089" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "808bf909a54a368667d60b75d18712d7d9913e1b682e611ac32c104f17d0afdb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d1ec1e79dfacfbe8ce48e9680bf103d90f0fd85c19d33f7bc2cd67294f282548" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "f43561ddb71abfe9e6e95abaec2574cd6edd7dc0920020f1feab0f6f4f38c294" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "f6a2f959c8167296a950550ba882067e2051d97586c8456892b998624f8b2e11" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "07c4ac8d33f8ff349e8c24e88058271bef40ea25252fb3bcd9a455ae8357af53" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "31fe24b5b2cde4004b521695761c1a8089fb42374994deff81dd02be9cca0558" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 42, + 3 + ], + "sha256": "92041de543051aaa6ea5a082c27f73764373f4716f01ff08530090e781bfde65" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 240 + ], + "sha256": "536d0dedda943db811329aca0a8e6f10184a880180cfe900bbee8999f38b78c7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 80 + ], + "sha256": "914b245f9dc8e199175cb2ac3ffce29dd3b9daa5f4d49db10cab3136eac910f8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "11c86de615b83fc6b3602c08e58efda4d02b25031cc69a2c676a78d0eb8eeb58" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "50a8f8e1416f6745f0d2ee24ab5b342300466517a1e1e0317f0d03b5741fef47" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "70c08ba686a4b678a4e43c0e842996f4bd13d0508e159cefb54523cb9fd8c3bd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "a1952f6400eb1ca333baa4a0df2ebcb2fd73bf802581c0fbaca2e2e997477e49" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_28_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6c557c3be2706a8161838389d82fb32e3e9313ac393fe4256793d5a25675bc48" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "89dd6e1667f8b8eb13b62523286b882d20a5f03841b915bd988d2a632084d6a2" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "01542d6c3a5cc99eec4282cbf4220e8f1c1f89f5a92d9af1a54a95620c3e587c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "14949eabfbd88d8395d101a917fc3fdcba93cfb678f2cd6b12055b16cbb6cd2e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "845e31f49209f173c499b2cba29ed7f9f76ce3435d26bc2d9ddaf2ebaf904f05" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "c12f0a2327c93e324fba318ce3c5fcee20034e684522631a13efaf31b38d077c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "e278b71207a171f6577c822702c8e57865894748002e5042ee731c025333dc82" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 156 + ], + "sha256": "5ba27b7fa14c9be6eebbf274f6083244cf7650820da3082dbdccd96a41be67f8" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 52 + ], + "sha256": "ce347e0bef272f18963730a61e289413c5c9a4848bb324f188dfbc1bb6a52387" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "9964658d3d8499799547dcec5fe697d6809edee86ea8918b5b98f8930f615342" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "4dacadc57f262cd2a0ff2c36b6bc6b70ca111a51765a501a1c51e9c86813e420" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a51b09b8a92931ae20bc9834b186d19091c9ae42b4d57afff46ff41f4b6bbe59" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "c197ca76fec95b914482dfa518bd224724bb1adeb4cf8504e16ccc69dc51d328" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/oreo_gf", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d8320c66c952971c29a9d3b14f450bc36e6da79ab47bc33cf9267646a5207128" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "fd8a62dfb6fbb6bc006a6737d5f636905a5a3f695c554ab8b3c37e019c64d2b5" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/oreo_gf/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/oreo_gf/asset.usda", + "path": "/Asset/PouchCollision/patch_32_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9503681413605041, + -0.311127619935902, + -5.4340054980927726e-08, + -1.8056392669677734 + ], + [ + 0.3111276199358909, + -0.950368141360497, + 1.530105237320294e-07, + 0.1964962592983054 + ], + [ + -9.924885712754362e-08, + 1.2850963507440452e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9503681413605034, + -0.31112761993590177, + -5.434005496485653e-08, + -1.8056392669677734 + ], + [ + 0.31112761993589066, + -0.9503681413604964, + 1.530105237811202e-07, + 0.1964962592983054 + ], + [ + -9.924885712754355e-08, + 1.2850963512605754e-07, + 0.9999999999999868, + 0.45490217208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 4.910616464766152e-17, + 4.069213869225345e-23, + 0.0 + ], + [ + -1.029848594092435e-16, + 1.0000000000000004, + 5.165452705413064e-17, + -5.551115123125783e-17 + ], + [ + -1.0031367345364153e-23, + -5.1653090936474995e-17, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000007, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/pring_bbq_copy_01/VisualMatchedCollision", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/pring_bbq_copy_01", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "7c3d8a2379711ddba9e6375d91b2dd3809af658afb5a6a0ca8e069ab0469c605" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 372 + ], + "sha256": "a48036f48dbc521623f3dce03ae9030f07ae376fddb281eaeb90dba488519086" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 124 + ], + "sha256": "3c8c09d12bfb999abc1ab1457900e85a2a9053f1d6f169cb4fd2be89989b6519" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/pring_bbq_copy_01/PhysicsMaterials/PringlesRigidMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.9931699037552906, + 0.11667708547156184, + 7.541510139446435e-07, + -2.812485694885254 + ], + [ + -0.116677085471892, + 0.9931699037554537, + 4.0954371260477593e-07, + 2.0921559146308706 + ], + [ + -7.012157231765512e-07, + -4.947386319440028e-07, + 0.9999999999996317, + 0.751000702381134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/pring_bbq/asset.usda", + "path": "/Asset/VisualMatchedCollision" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.9931699037552906, + 0.11667708547156184, + 7.541510139446435e-07, + -2.812485694885254 + ], + [ + -0.116677085471892, + 0.9931699037554537, + 4.0954371260477593e-07, + 2.0921559146308706 + ], + [ + -7.012157231765512e-07, + -4.947386319440028e-07, + 0.9999999999996317, + 0.751000702381134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.9931699037552906, + 0.11667708547156187, + 7.541510139446435e-07, + -2.812485694885254 + ], + [ + -0.116677085471892, + 0.9931699037554538, + 4.095437126047759e-07, + 2.0921559146308706 + ], + [ + -7.012157231765512e-07, + -4.947386319440028e-07, + 0.9999999999996317, + 0.751000702381134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + -5.100100173950209e-18, + -1.146614197621537e-22, + 0.0 + ], + [ + 2.0807417173385672e-17, + 0.9999999999999998, + -2.5030686068172273e-23, + 0.0 + ], + [ + 1.251253513481912e-22, + -7.995770810375056e-23, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + -5.100100173950209e-18, + -1.146614197621537e-22, + 0.0 + ], + [ + 2.0807417173385672e-17, + 0.9999999999999998, + -2.5030686068172273e-23, + 0.0 + ], + [ + 1.251253513481912e-22, + -7.995770810375056e-23, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6c9639d826a2b1decc72323bfb468d45af0da1effe355ed8dc1cfe5b2a0a6e2b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "5addc505884a436c4a05cf25b72f6bd58fd4baba536c0bf7620677b9639a771f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "901ea2ca8d4715e865f9fbd26b117687dd0890b0853c0154ff1218030b0d163d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3d646d29bbed148f96796eb2a6ccfbed4cfaaee15991abbb46376c2de10d6fbb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "08863e2156187c7519bb12950d0d8b1ccfa2899537da9786bbad06d8ac75b75c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3c9bb3fe5b1ed9f5dee5a05041298869ce0f95243166ce5ea9f66214568809d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "59c8807e613434b854e620be1339217aed407e95afaa3b6ef2d2ae3545d19df1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "594f89ed45ad6493360e03e996f33e24de0d77cb4dfe91a41baef0bec89c7ce6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "613f3183742d2ba870609f183958db1f1c6aab283b2ad39651232c77217d29d3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7ad1a6cb41bc02a0975bf36de771f4ba257c43101ba848e0c3db4e2aa3c8bf0e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4490a2c3a03c4534defb5bcb6bb7b7e7cc864e49af7f762af3b55ce641d6b844" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2a40af619f205ed682c654ccfa8c90da81fb4aa76d70241c00f087e5bf72a308" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "eaade1797db137dfec4dec6dc479e7c4805a26fcbe051066ff051f613806de35" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "c236a359a52ed877faeee38d2f75a437826915c26cd36fb4e90ac7f1e5501e57" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_00_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "74477af777f4de3231bc248bd169140cf20b505f52f5604f72cc5cd6b527c139" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4356da9f99da4ae939753138aec981a58ee50f0a41e07257b3e38e3719cf3531" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "e0a97e78708cd8a02fe5d40be8182890ef95d69d78e19f951fd4ff8a8774ae36" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "82da7b32e86ce1c4599454ba72d9ce843235028bd586f3f358c5140da0ccb6bb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "60979c569845e70e272309c126a35505fecc1f16ad52cf804644e9d9f2ddffaa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2722719cf157a760269adf7ac86225483cc1904917040e8d7250c6e4e99a8c05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a7a49b69db5ccc6d2b6e1e8347996b8f139cc36d4a0f2c1ac5ac07a06c90293c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "1ccf194c37a434875731ae4cc4023b994d7adad54e94cc5d026976f1682103fd" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "5dbfa4931186e148fb97aaff5cd104f5e42806565423ddd500b38a3b2cfd81cb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6a55e7464f19354dec619305601c8b74c73bac8f364f1b1595a91c1a8874735c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d50000fe35c69ba3a6d8ba2b96660855960249f6f810494b0a741e3e11f40eb4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_04_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ab1add3e45ef9c4f458a109c759da884726ef53dc9d967d4183f6a64470d09db" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0b31f9c0f902ec021a5d3ff9593924a883c25d9b23acc6aa78492840f872bf61" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "98018819102a44b15b02832c849b4f8c52604148da680777644a6092692bc6a2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "38f03ab35e545e54b8ff5e601c02a96fa08fec9716dfb9e6e79687c6f75e890d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "fcc2971debe6364e0f1fe102050bd3381532e56e99d3c49323518de52fd16cd2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "4bfde0a827e4a14d1c055ce61bd7e99c9fae743af709492320dccc81c1d983de" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "17b04e4075f7409e6b955efdd70b645ec5663db4c7acdf18e0eb55daa0549b60" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f661ceb9303bd7754e2f393d51f09257f075a174a60804299e96284f79d06b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "cf30ee76aeaad30cf2077fdeb920e8c7b37792735b665e20022ae826b6e4744c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "59c3a2a8a04820ee9c6d4381fe330c7f822f796adf5872ffd0396843a47fc5c3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "cd803f2c1e70bdf5630f5465b0fbc651ab607247399b2c1a2fc0c8c38d1ce909" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_08_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "848cfa3e5e9a31d8b52a394e96f515b0e65171cb2b9369599dcb602202ccaed0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0b502872e5877d05d6d88d1de3c98870a2661316ecb0c33cf3d944f55b9e69f8" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d2eaba95f20ff12d64205a86012b47b9a1cb40e6447aa0be2c11b353e460f0b6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85e43f66256cb41f1e48d75db2f1b04e6c6703cb81a783139693c0c498f31ad7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d6a59f832a3907b10e00e0773a10a0544d2128ce810fb4da7676124fc156c634" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "53b9d6a3e79c017a22cea03e00920b090722beea16bcf1b0e03fe0617922473f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6b1613287604635a53f2193d679acf439daf44fece88717240cf22530897c000" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d5013bf5d09ef1727cc38b387ecbf7527100afd7b695c19f1510b8af5f5555ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d905af437cd47e72e23478a00c9c1904520f770c1c7cb33de95b5c8fcf9882d9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "77c88cf8f97fc7f081456fd7e926ebd8266ff06bf88e01dab1051c76a5d617ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "75f39dd08a8b003b4c1ad2e7a71c5ffe07c2d3785ff20a1f0155eb1c6118aa51" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "75804f2223f91a0e4601cd8f6701e4a2d50b936addc8cf82a118c91568b6d5d1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "12fa02b419daedaedd390bfabb9d550df85902c438c00efc2f79289c45c22453" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "526f0ef6bcce41be9b50e0e230fd1530df7e8327fba2d5c46da84b1ffb098e17" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_12_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "80f6f95070c7451d64c482314dae91e92bf91b199645c2d8c9be6c0793287657" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b5bef4cd7476dd0b7665d13a7566069532ce549cc089e3b5b0632dff094cbb45" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "99874c0dddb2db185c2a27748fa10b4f56c5febaf27b7e3f262c2a7d13cff38e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "94233f2b06ba3f25c1c031599f597ade39d7011905a1952d77b38c96af31e4df" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0289b82fbd92997461b1055bc8df683199be26d727bc4c2705295156c84c2e08" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "6c8cf0d9d136cc36788227ab6d3b5a419163038a7652f3d1f6cb56161f10c279" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "72c808d93d5c14d1423efe6b4debbd993419b241787abf64057b8fadf1888b56" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d9198f555b6e5839278371f20b86e247798c90a8c7dfde13d2267e7961af006e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a5503b81f1f8af1f98d7c16775e137b9bf6cec17631fa340a0d9f032f6790183" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "e41f9982f1070c565b602f6d932527581113d3494b05e8fcbe087bae2b0ef669" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a88b092c3ef65dc63d44ca05fda114d9b679a9f26c15a423b20eb6ff792bf1c9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7c1ded89c1ab6fad96644a60d42a3ae2feea29fe980f0be0b1a127e038b1e519" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bbdd1b5f49d01adeed76d0284994ecc99c1bc0178a669e4f8f812277d131b34d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "a61ade0c0b316bca95232dc28e574c1ca9712d1ccd2bea334e2df4d9b5c84a8f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_16_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "674ba735ed25555e9f3d7cbb86f26601bd46fe2bb46a632a9ed962013f033452" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "122f7c17ae7bf6aacb4a580241aa91a53589970f311bbab67c8f281dee78fbc1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1e67f02d2c17da04557c2cee425fc6f44e49bf3dc56be7b5a15ea713a9207811" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ad1a786de3b1d0e701fa233377aea77598e9eb93ba6832d60b0df8c4589a11ee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8b3ca2b645419570e183794d6956958d6127901d9c4fa40c718c542df09f3f8c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2cdb32a525456d825be1a4f897f3a1a8bfb8077d3eb7cea475c9963731b76ba2" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "e0deb8ec69f24844c2daea4a67fff3278b2f848966d2d801dee3cb4eed1ec8d5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "825d6e53a17af6f19c42b53650d15da2914d6ff81c0782d3307c95357679fb36" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1387f7d32a499a393180169538bf5a7b64104f0bf9fda27571e1729668186d07" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8dd1b515ba8273c56a6dc2d09b607996eea66dbcc985ab59b5d612a886f33fbf" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8b1da2e3e33b755d27fe29d39ec75984193ef8e7392d5fcb4ec102e80c202d22" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "da535ec0e92beb9f4c713f4453c83eff76872b24f94ebcb96fd13ebc8d5cf513" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a8c798870d1e5793767657060a6a2275dd6decdb411ef9e3a6a8012f22105aa2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "64b5770dae3a85019e2772383eaf51f2809b2bf0b263b7891807e803e5107d8d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_20_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ca6184881e64136b4459e2f6ea618c201b36c11b522a7ebfae9a91bec3fa2727" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "afef9f4502cefb60ec7f2d71272afd0679195d36521c5e2d62d4e0f596cc1566" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "2a4c70fb6e227bb6c42b09c65e90ea5ebd2e6d6b3dd822f4b68298e35437782f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2f5c7edb3b8d398703e34110960c6ea3b75ee4c679b24a5b568bcc0fb8ad7a26" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "41726b0572546588382b223d8478111e31d376ba64e73266e7875b6c832ede0c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "bcd9e5879789aa3b2c41f7db82d5b0ffdde37dd496b788239632b3637ab0afe4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "7fe6ac7abcc41871982b1810f436f2b9ce7c32bc554e32fee9ae629eda95b30f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9fb6b269cbefc3ebc219f8d7381a4cf430920643fc60b54fb358885beb3b1dce" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ab8cc5cb8661e301b5281156d6e2db76ece7dac497a99baf624713b202efa391" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8d438110160bdb4ddbd836426319b5db5c5bb3ac2e74d9b0db21a5300d5670a3" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "37905b1a1d9bdc9dcde4fbc61f4bcb69de9f492f8a22cf843992bdfbc5c91e23" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ef1509d23479b8497e6329d5ee2919ae11acb516fad4c280f814b87e8f04e839" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "fccb14fee5938ad984e4d209f35cff2ae0fb99cc40e7c23f6532d2011eaafcd8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7b9d2e84382fcf791f805a91d0a89af549bdfb1e347611886ff09fdad751d861" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_24_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c172c3f07368ce5a76cb1c1a8fe29cb433b615c99c21a5448d5ba319bded943a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad859db2b0d74701b6ff20d854546817771f3ffa809ac21d053f41250064f6ba" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "514787c91c6a67b66e328cbeeacc9834d0ab196fba80a4d0314c436bfb44a30a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "61d8d44eae51067ff8f86f291726bffcba6c3d938ed1686668d57bb86c005e9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "dd7b28bbf829496451581d355debf9e78b574d3643e7cded0a35af29c994b9c8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "e85f183611e57ce19dfdfe93b40b634e4167d0fc269bf2a412310a0047478ba0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ee4a2225529f4081b2731778d948f29fd33174493c8f935f96e8c5e0f3052c7b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f571224be35414ae6309fa2a0bd583cc44a4d9a223434575241de4ae07835f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "65df78190a1df48699f5fb752dc75ba46971bd9f574a3448000ce36e718993b1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "58d9d9fe6624ef04ae60d89a89a3eb307a3ef6ef4f913495984c722443a56064" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "941cd0314828e0e345389e1d31b761e233ad02d7c0398cb9414f4da709124324" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9ec8f58a673af46811f30bafafec5f341d1b9199b48c1bc7a34e09b3da128921" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "e6143474717e88975115f731be711a8c397c68421abf0afd8697c4fd8599e86a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "3712d0140fe806ba00cb2dd76db7b53b5a120cd43f9b061cb7e82ab8b636e15d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_28_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "f6ae1d0f5b6d3b26f0c2ef12a63e1c080eec4bf83ca95586e6e422fc40546bd8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "da6ead2b0d99ccf914c2c4c80c91c5efbd83c54b966b86a6ee5afb58124d1716" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "92013636ab047e6f161cda81750be3c1f8e09d2b0988047dca8ab61a8d37e658" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "63579840ee3b9602717d8a07a8fefcebc9d6ea5124dc7fd67ada40eece8ec3e0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "f9338ced36f0a5b7517778ee57a4c0267bace9862281cf344f9e0975adda5ff5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "e947e0b56266307ac479366f6b7d163a2d03c324350bd005befc569890930322" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "fff0f17b8640bd967eb563ac9fe39db1175ce90775418fbcca19ec3c0e75af6a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "f6600c16b250438be06e6811725ad9e85fcc584aab501511b2ff204818f4a05d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "b7c2834285803808193d78aa7fe543efca33f90b11c989953a5bc5e089cd692b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "cff902e8907e5bc77dec62f030a3f275e369cfd81043085d154adbb762ac734b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "fcf695646a66a71a0daaeb6f80887da2d5cf1400f77f4d489276cb10c7c4caad" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "c3be3f72b3e1c525be320c63f3b9099bc3fe2d888ef711a158e5500ad343655a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/skit_littles", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "a834ebe73b8631bc1a44c04b21acd25fcf7b69404a5f063b310a04d6690117ef" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "2f6c930b6eea393c408ad4c42bc18748fd87a55d7e3fea83469ffb59fbdc6aa4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/skit_littles/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/skit_littles/asset.usda", + "path": "/Asset/PouchCollision/patch_32_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047657, + 1.3078234033597333e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.48613399666399515, + 1.2862366432209555e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579790478199e-06, + 0.9999999999991366, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 0.4861339966634364, + -0.8738842814047659, + 1.307823403344892e-06, + -2.475717544555664 + ], + [ + 0.8738842814054241, + 0.486133996663995, + 1.2862366433035206e-07, + 2.230412941303234 + ], + [ + -7.481796164737377e-07, + 1.0803579788086608e-06, + 0.9999999999991367, + 0.7510002255439758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0, + 2.7660965246222938e-16, + -3.984395417932413e-22, + 0.0 + ], + [ + -7.696424981244936e-17, + 0.9999999999999999, + -1.6983230485887354e-17, + 0.0 + ], + [ + 2.262437103740423e-24, + 2.391598363364417e-16, + 1.0, + -1.1102230246251565e-16 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + } + ], + "lineage": "Contemporary actual cached USD stage request. No live PxShape identity claim.", + "run_asynchronously": false, + "coordinate_rule": "Raw only. External version-bound calibration must be independently checked before mapping.", + "analytic_policy": "Preserve Cube/Cylinder/Sphere analytic attributes and affine transforms exactly; no tessellation substitute." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json new file mode 100644 index 0000000000000000000000000000000000000000..abe31900d5c818f136f69b1a9868a7d1a1426de4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json @@ -0,0 +1,4416 @@ +{ + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_02", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/pring_bbq_copy_01/VisualMatchedCollision": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_24": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0013083508238196373, + "request_call_wall_s": 0.000818219967186451, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0025214250199496746, + "request_call_wall_s": 0.0005508847534656525, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.003544410690665245, + "request_call_wall_s": 0.0004929229617118835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0045554060488939285, + "request_call_wall_s": 0.00048008980229496956, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.005526939872652292, + "request_call_wall_s": 0.0004894700832664967, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006520624738186598, + "request_call_wall_s": 0.00048192404210567474, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.007501830812543631, + "request_call_wall_s": 0.00047796498984098434, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008471367880702019, + "request_call_wall_s": 0.0004718247801065445, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009433469735085964, + "request_call_wall_s": 0.0004744529724121094, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.010433457791805267, + "request_call_wall_s": 0.0004935669712722301, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.011439949739724398, + "request_call_wall_s": 0.00047407159581780434, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012410884723067284, + "request_call_wall_s": 0.0004782616160809994, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.013362735975533724, + "request_call_wall_s": 0.0004754341207444668, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.014363390859216452, + "request_call_wall_s": 0.00048808706924319267, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.015355276875197887, + "request_call_wall_s": 0.00047357194125652313, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.016337350942194462, + "request_call_wall_s": 0.0004858262836933136, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.017340125050395727, + "request_call_wall_s": 0.0004903161898255348, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01831822097301483, + "request_call_wall_s": 0.0004648459143936634, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.019476443994790316, + "request_call_wall_s": 0.0004843766801059246, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020482693798840046, + "request_call_wall_s": 0.0004988308064639568, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.021462553646415472, + "request_call_wall_s": 0.0004753102548420429, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02243414195254445, + "request_call_wall_s": 0.0004898007027804852, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.023452861700206995, + "request_call_wall_s": 0.0004751821979880333, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.024439651984721422, + "request_call_wall_s": 0.0004824991337954998, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02539905672892928, + "request_call_wall_s": 0.00046702008694410324, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02635721070691943, + "request_call_wall_s": 0.00046434905380010605, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02735491981729865, + "request_call_wall_s": 0.0004801042377948761, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.028331578709185123, + "request_call_wall_s": 0.0004584570415318012, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.029278321657329798, + "request_call_wall_s": 0.00045069679617881775, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.030238325707614422, + "request_call_wall_s": 0.0004584002308547497, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.031208347994834185, + "request_call_wall_s": 0.00048090610653162, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03216932760551572, + "request_call_wall_s": 0.00044477591291069984, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.033152810763567686, + "request_call_wall_s": 0.0004734629765152931, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03413644665852189, + "request_call_wall_s": 0.0004516798071563244, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03508800594136119, + "request_call_wall_s": 0.0005326061509549618, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03611868293955922, + "request_call_wall_s": 0.0004436909221112728, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.037099727895110846, + "request_call_wall_s": 0.00047902483493089676, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03806656273081899, + "request_call_wall_s": 0.0004441221244633198, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03901307471096516, + "request_call_wall_s": 0.00043946830555796623, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03996987268328667, + "request_call_wall_s": 0.0004467829130589962, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0409064800478518, + "request_call_wall_s": 0.0004350380040705204, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04183747200295329, + "request_call_wall_s": 0.0004340759478509426, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04512429190799594, + "request_call_wall_s": 0.0018182210624217987, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.047466784715652466, + "request_call_wall_s": 0.0013360069133341312, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04937428189441562, + "request_call_wall_s": 0.001072706189006567, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05099507700651884, + "request_call_wall_s": 0.0005452241748571396, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05213745962828398, + "request_call_wall_s": 0.0007773912511765957, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05342546384781599, + "request_call_wall_s": 0.00048798881471157074, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.054425892885774374, + "request_call_wall_s": 0.0004613208584487438, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05540777603164315, + "request_call_wall_s": 0.00044409604743123055, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05635478859767318, + "request_call_wall_s": 0.0004489179700613022, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05742949293926358, + "request_call_wall_s": 0.0006638192571699619, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.058690623845905066, + "request_call_wall_s": 0.0006170598790049553, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05989791499450803, + "request_call_wall_s": 0.0006210589781403542, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.061107710003852844, + "request_call_wall_s": 0.0009446321055293083, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06268583284690976, + "request_call_wall_s": 0.0011187801137566566, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06437212787568569, + "request_call_wall_s": 0.0010736691765487194, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06604757066816092, + "request_call_wall_s": 0.0009468486532568932, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06759660178795457, + "request_call_wall_s": 0.0009306557476520538, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0691061238758266, + "request_call_wall_s": 0.0009286371059715748, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07063685404136777, + "request_call_wall_s": 0.0010152650065720081, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07224846305325627, + "request_call_wall_s": 0.000950200017541647, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07380079291760921, + "request_call_wall_s": 0.0009248629212379456, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07533393567427993, + "request_call_wall_s": 0.0010207248851656914, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07696594670414925, + "request_call_wall_s": 0.0009530661627650261, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07850449485704303, + "request_call_wall_s": 0.0009482139721512794, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08005959680303931, + "request_call_wall_s": 0.0009651803411543369, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08163003204390407, + "request_call_wall_s": 0.0010497462935745716, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08327120169997215, + "request_call_wall_s": 0.0009480169974267483, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08482434693723917, + "request_call_wall_s": 0.0009323786944150925, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08635784266516566, + "request_call_wall_s": 0.0010286732576787472, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08799175079911947, + "request_call_wall_s": 0.0009429426863789558, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08953187288716435, + "request_call_wall_s": 0.0009403727017343044, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09106810670346022, + "request_call_wall_s": 0.0009201150387525558, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09556740568950772, + "request_call_wall_s": 0.0011237249709665775, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09722955990582705, + "request_call_wall_s": 0.0009657628834247589, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09879716159775853, + "request_call_wall_s": 0.0011607878841459751, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1005682097747922, + "request_call_wall_s": 0.0011792751029133797, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10234919982030988, + "request_call_wall_s": 0.0009651472792029381, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10392636992037296, + "request_call_wall_s": 0.0009196363389492035, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10543370200321078, + "request_call_wall_s": 0.0009512170217931271, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1069844588637352, + "request_call_wall_s": 0.0010357541032135487, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10865067597478628, + "request_call_wall_s": 0.000888011883944273, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11008147289976478, + "request_call_wall_s": 0.00043904315680265427, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11111869663000107, + "request_call_wall_s": 0.0008693668060004711, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11265482380986214, + "request_call_wall_s": 0.0009924499318003654, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11424563359469175, + "request_call_wall_s": 0.0010456438176333904, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11591559601947665, + "request_call_wall_s": 0.0009632636792957783, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11747162463143468, + "request_call_wall_s": 0.0009436002001166344, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1190369906835258, + "request_call_wall_s": 0.0009497581049799919, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12064468394964933, + "request_call_wall_s": 0.0010447250679135323, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12230287259444594, + "request_call_wall_s": 0.0009434306994080544, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12385885370895267, + "request_call_wall_s": 0.0009278552606701851, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12540862569585443, + "request_call_wall_s": 0.0011471342295408249, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12720548780635, + "request_call_wall_s": 0.0006431750953197479, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1284364638850093, + "request_call_wall_s": 0.0008709579706192017, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12991508096456528, + "request_call_wall_s": 0.0009337570518255234, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13145140884444118, + "request_call_wall_s": 0.0010859360918402672, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1331487400457263, + "request_call_wall_s": 0.001007154118269682, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13475776370614767, + "request_call_wall_s": 0.00106420973315835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1364010227844119, + "request_call_wall_s": 0.0007906449027359486, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13779993867501616, + "request_call_wall_s": 0.0005816696211695671, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1390063287690282, + "request_call_wall_s": 0.0009476267732679844, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_00", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14063873793929815, + "request_call_wall_s": 0.0005770809948444366, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_04", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14175947476178408, + "request_call_wall_s": 0.0004914221353828907, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_08", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1429343200288713, + "request_call_wall_s": 0.0004741777665913105, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_12", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14401561301201582, + "request_call_wall_s": 0.0005377428606152534, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_16", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14516451302915812, + "request_call_wall_s": 0.0004742690362036228, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_20", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1462495350278914, + "request_call_wall_s": 0.00046996213495731354, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14730869885534048, + "request_call_wall_s": 0.0004954468458890915, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_00", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1484290948137641, + "request_call_wall_s": 0.000534003134816885, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_04", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14955578465014696, + "request_call_wall_s": 0.00045984378084540367, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_08", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15065136598423123, + "request_call_wall_s": 0.00047775590792298317, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_12", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15172057785093784, + "request_call_wall_s": 0.0005234889686107635, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_16", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1528339758515358, + "request_call_wall_s": 0.0004665069282054901, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_20", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15391147788614035, + "request_call_wall_s": 0.000459388829767704, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_24", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15499306377023458, + "request_call_wall_s": 0.000515863299369812, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_00", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15611080173403025, + "request_call_wall_s": 0.0004786304198205471, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_04", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15721766371279955, + "request_call_wall_s": 0.000539747066795826, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_08", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1583923427388072, + "request_call_wall_s": 0.00047627510502934456, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_12", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15946255577728152, + "request_call_wall_s": 0.0006189672276377678, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_16", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16108393296599388, + "request_call_wall_s": 0.0007277638651430607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_20", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16284565487876534, + "request_call_wall_s": 0.0007299459539353848, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_24", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16449657268822193, + "request_call_wall_s": 0.0007438268512487411, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_00", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16594254598021507, + "request_call_wall_s": 0.00046289805322885513, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_04", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1670420439913869, + "request_call_wall_s": 0.00046793557703495026, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_08", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16814660979434848, + "request_call_wall_s": 0.00046526873484253883, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_12", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16921060904860497, + "request_call_wall_s": 0.0005061868578195572, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_16", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17031730990856886, + "request_call_wall_s": 0.0004711379297077656, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_20", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17138761887326837, + "request_call_wall_s": 0.00047331396490335464, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_24", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17244054470211267, + "request_call_wall_s": 0.0004309769719839096, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_00", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17350205779075623, + "request_call_wall_s": 0.0004480569623410702, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17455776687711477, + "request_call_wall_s": 0.0004633301869034767, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_08", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17569102672860026, + "request_call_wall_s": 0.00047260476276278496, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_12", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17676026187837124, + "request_call_wall_s": 0.0005245222710072994, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_16", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17788780387490988, + "request_call_wall_s": 0.00047330185770988464, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_20", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17898599384352565, + "request_call_wall_s": 0.0004489971324801445, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_24", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18005940970033407, + "request_call_wall_s": 0.0004435279406607151, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18112219171598554, + "request_call_wall_s": 0.0004459810443222523, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18217782489955425, + "request_call_wall_s": 0.00044152606278657913, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1832323377020657, + "request_call_wall_s": 0.0004660557024180889, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1843018876388669, + "request_call_wall_s": 0.0005016610957682133, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1854212610051036, + "request_call_wall_s": 0.00047799618914723396, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1864986657164991, + "request_call_wall_s": 0.0004356270655989647, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18761466164141893, + "request_call_wall_s": 0.00044967280700802803, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18866919167339802, + "request_call_wall_s": 0.00047329487279057503, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1897498588077724, + "request_call_wall_s": 0.0004438520409166813, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19079807261005044, + "request_call_wall_s": 0.0004372391849756241, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1918827285990119, + "request_call_wall_s": 0.000484309159219265, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19300377974286675, + "request_call_wall_s": 0.0004365718923509121, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19404071988537908, + "request_call_wall_s": 0.00045907124876976013, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19511073594912887, + "request_call_wall_s": 0.00048474082723259926, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19620182365179062, + "request_call_wall_s": 0.00047113141044974327, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19727269560098648, + "request_call_wall_s": 0.0004300680011510849, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1983301700092852, + "request_call_wall_s": 0.00047016097232699394, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19939976977184415, + "request_call_wall_s": 0.0004908228293061256, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20047881873324513, + "request_call_wall_s": 0.0004746406339108944, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20159125700592995, + "request_call_wall_s": 0.0005084038712084293, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2027008947916329, + "request_call_wall_s": 0.00048711011186242104, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20376770105212927, + "request_call_wall_s": 0.00047380803152918816, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20485619362443686, + "request_call_wall_s": 0.0004819640889763832, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2059377320110798, + "request_call_wall_s": 0.0004899250343441963, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20712192868813872, + "request_call_wall_s": 0.0004833159036934376, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20821736380457878, + "request_call_wall_s": 0.00049251364544034, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2093071979470551, + "request_call_wall_s": 0.0004935306496918201, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21039402578026056, + "request_call_wall_s": 0.00047814613208174706, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_00", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21155472891405225, + "request_call_wall_s": 0.0006576529704034328, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_04", + "index": 167, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2128023006953299, + "request_call_wall_s": 0.00044787582010030746, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_08", + "index": 168, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21385798091068864, + "request_call_wall_s": 0.0004429500550031662, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_12", + "index": 169, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21489668963477015, + "request_call_wall_s": 0.00044925976544618607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_16", + "index": 170, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2163242008537054, + "request_call_wall_s": 0.0004819468595087528, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_20", + "index": 171, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21743472199887037, + "request_call_wall_s": 0.00046227313578128815, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_24", + "index": 172, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21851193392649293, + "request_call_wall_s": 0.0006107003428041935, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_00", + "index": 173, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21972252195701003, + "request_call_wall_s": 0.000539722852408886, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_04", + "index": 174, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2208828697912395, + "request_call_wall_s": 0.00152623001486063, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_08", + "index": 175, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2230144846253097, + "request_call_wall_s": 0.00043947622179985046, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_12", + "index": 176, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2240044386126101, + "request_call_wall_s": 0.0004545440897345543, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_16", + "index": 177, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22508721193298697, + "request_call_wall_s": 0.0004426618106663227, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_20", + "index": 178, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2261310569010675, + "request_call_wall_s": 0.00043341610580682755, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_24", + "index": 179, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2271662037819624, + "request_call_wall_s": 0.0005384166724979877, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_00", + "index": 180, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22828576574102044, + "request_call_wall_s": 0.0005462677218019962, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_04", + "index": 181, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2294618426822126, + "request_call_wall_s": 0.0004580039530992508, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_08", + "index": 182, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2304689916782081, + "request_call_wall_s": 0.00045181578025221825, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_12", + "index": 183, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23145795799791813, + "request_call_wall_s": 0.0004444611258804798, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_16", + "index": 184, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.232540896628052, + "request_call_wall_s": 0.0004432080313563347, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_20", + "index": 185, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23359970469027758, + "request_call_wall_s": 0.0004449780099093914, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_24", + "index": 186, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2346924999728799, + "request_call_wall_s": 0.0005610641092061996, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_00", + "index": 187, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2358827507123351, + "request_call_wall_s": 0.000553725752979517, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_04", + "index": 188, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23711619060486555, + "request_call_wall_s": 0.00046966318041086197, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_08", + "index": 189, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23819459369406104, + "request_call_wall_s": 0.0004582465626299381, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_12", + "index": 190, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23918577888980508, + "request_call_wall_s": 0.00042601535096764565, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_16", + "index": 191, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24019302101805806, + "request_call_wall_s": 0.00043628038838505745, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_20", + "index": 192, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24126954562962055, + "request_call_wall_s": 0.0004573059268295765, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_24", + "index": 193, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2423406350426376, + "request_call_wall_s": 0.0005438430234789848, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_00", + "index": 194, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.243506932631135, + "request_call_wall_s": 0.0005531241185963154, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_04", + "index": 195, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24466017773374915, + "request_call_wall_s": 0.0004659160040318966, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_08", + "index": 196, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24569946387782693, + "request_call_wall_s": 0.0004695402458310127, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_12", + "index": 197, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24670742079615593, + "request_call_wall_s": 0.0004373542033135891, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_16", + "index": 198, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2477091127075255, + "request_call_wall_s": 0.0004542302340269089, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_20", + "index": 199, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24876457871869206, + "request_call_wall_s": 0.000450965017080307, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_24", + "index": 200, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24983540177345276, + "request_call_wall_s": 0.0005312967114150524, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_00", + "index": 201, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2510084696114063, + "request_call_wall_s": 0.0006798058748245239, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_04", + "index": 202, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2523023788817227, + "request_call_wall_s": 0.00047424808144569397, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_08", + "index": 203, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25332955876365304, + "request_call_wall_s": 0.00045489100739359856, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_12", + "index": 204, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2543479106388986, + "request_call_wall_s": 0.0004573957994580269, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_16", + "index": 205, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2553677000105381, + "request_call_wall_s": 0.00047679478302598, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_20", + "index": 206, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2564428308978677, + "request_call_wall_s": 0.000464435201138258, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_24", + "index": 207, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2575220647267997, + "request_call_wall_s": 0.0006085550412535667, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_00", + "index": 208, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2587226266041398, + "request_call_wall_s": 0.0006158286705613136, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_04", + "index": 209, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25996072590351105, + "request_call_wall_s": 0.00045486027374863625, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_08", + "index": 210, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26099175261333585, + "request_call_wall_s": 0.00044794008135795593, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_12", + "index": 211, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2619762737303972, + "request_call_wall_s": 0.0004209456965327263, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_16", + "index": 212, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26302002975717187, + "request_call_wall_s": 0.00046072714030742645, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_20", + "index": 213, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26407145289704204, + "request_call_wall_s": 0.0004362519830465317, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_24", + "index": 214, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26521011674776673, + "request_call_wall_s": 0.0006069769151508808, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_00", + "index": 215, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26645165774971247, + "request_call_wall_s": 0.0006461278535425663, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_04", + "index": 216, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.267683336045593, + "request_call_wall_s": 0.00045817065984010696, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_08", + "index": 217, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.26873620273545384, + "request_call_wall_s": 0.0004686363972723484, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_12", + "index": 218, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2697477419860661, + "request_call_wall_s": 0.0004295031540095806, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_16", + "index": 219, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2707540630362928, + "request_call_wall_s": 0.00046106288209557533, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_20", + "index": 220, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2718292437493801, + "request_call_wall_s": 0.00046295905485749245, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_24", + "index": 221, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2729079108685255, + "request_call_wall_s": 0.0006343661807477474, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_00", + "index": 222, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2741398657672107, + "request_call_wall_s": 0.0005871164612472057, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_04", + "index": 223, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2753603127785027, + "request_call_wall_s": 0.0004722699522972107, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_08", + "index": 224, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2764094239100814, + "request_call_wall_s": 0.00045283278450369835, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_12", + "index": 225, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2774778939783573, + "request_call_wall_s": 0.0004526199772953987, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_16", + "index": 226, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.27852141577750444, + "request_call_wall_s": 0.0004723486490547657, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_20", + "index": 227, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2796039246022701, + "request_call_wall_s": 0.0004665190353989601, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_24", + "index": 228, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2806710437871516, + "request_call_wall_s": 0.0006083478219807148, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/pring_bbq_copy_01/VisualMatchedCollision", + "index": 229, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2819461557082832, + "request_call_wall_s": 0.0015854001976549625, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_00", + "index": 230, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.284148704726249, + "request_call_wall_s": 0.0005097361281514168, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_04", + "index": 231, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2852630917914212, + "request_call_wall_s": 0.00046752532944083214, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_08", + "index": 232, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.28633197396993637, + "request_call_wall_s": 0.00047622667625546455, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_12", + "index": 233, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2873980738222599, + "request_call_wall_s": 0.0005909623578190804, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_16", + "index": 234, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2886098097078502, + "request_call_wall_s": 0.0004686708562076092, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_20", + "index": 235, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2897003488615155, + "request_call_wall_s": 0.0004689921624958515, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_24", + "index": 236, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29079457093030214, + "request_call_wall_s": 0.0004912177100777626, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_00", + "index": 237, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2919063069857657, + "request_call_wall_s": 0.0005064229480922222, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_04", + "index": 238, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2930022990331054, + "request_call_wall_s": 0.0004509096033871174, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_08", + "index": 239, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29410815984010696, + "request_call_wall_s": 0.00045556388795375824, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_12", + "index": 240, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2951725539751351, + "request_call_wall_s": 0.0005164612084627151, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_16", + "index": 241, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29631986003369093, + "request_call_wall_s": 0.0004787081852555275, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_20", + "index": 242, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2974077770486474, + "request_call_wall_s": 0.00046855444088578224, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_24", + "index": 243, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29846736462786794, + "request_call_wall_s": 0.00047591421753168106, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_00", + "index": 244, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29953936394304037, + "request_call_wall_s": 0.0004837331362068653, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_04", + "index": 245, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3006140040233731, + "request_call_wall_s": 0.0004637143574655056, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_08", + "index": 246, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3016864536330104, + "request_call_wall_s": 0.00047421595081686974, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_12", + "index": 247, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3027549870312214, + "request_call_wall_s": 0.0005916720256209373, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_16", + "index": 248, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3039586879312992, + "request_call_wall_s": 0.0004712170921266079, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_20", + "index": 249, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30504989298060536, + "request_call_wall_s": 0.0004710056819021702, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_24", + "index": 250, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3061043368652463, + "request_call_wall_s": 0.0004632989875972271, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_00", + "index": 251, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30718267895281315, + "request_call_wall_s": 0.0004664449952542782, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_04", + "index": 252, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30824874294921756, + "request_call_wall_s": 0.0004711500369012356, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_08", + "index": 253, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3093152870424092, + "request_call_wall_s": 0.00046180980280041695, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_12", + "index": 254, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31037199404090643, + "request_call_wall_s": 0.0005254242569208145, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_16", + "index": 255, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3114990699104965, + "request_call_wall_s": 0.0004793461412191391, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_20", + "index": 256, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31258403370156884, + "request_call_wall_s": 0.0004689600318670273, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_24", + "index": 257, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31363446172326803, + "request_call_wall_s": 0.00048107095062732697, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_00", + "index": 258, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31471095979213715, + "request_call_wall_s": 0.0004566740244626999, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_04", + "index": 259, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3157686279155314, + "request_call_wall_s": 0.00046228431165218353, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_08", + "index": 260, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31683825282379985, + "request_call_wall_s": 0.0004639499820768833, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_12", + "index": 261, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31791009893640876, + "request_call_wall_s": 0.0005723601207137108, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_16", + "index": 262, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3191020917147398, + "request_call_wall_s": 0.0004725232720375061, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_20", + "index": 263, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3201830228790641, + "request_call_wall_s": 0.0004741237498819828, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_24", + "index": 264, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3212626609019935, + "request_call_wall_s": 0.00043039629235863686, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_00", + "index": 265, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32231120485812426, + "request_call_wall_s": 0.00043952977284789085, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_04", + "index": 266, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.323361748829484, + "request_call_wall_s": 0.0004607471637427807, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_08", + "index": 267, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32450518384575844, + "request_call_wall_s": 0.00045310473069548607, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_12", + "index": 268, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32558136992156506, + "request_call_wall_s": 0.0005549569614231586, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_16", + "index": 269, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3267437117174268, + "request_call_wall_s": 0.00047365715727210045, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_20", + "index": 270, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32780465483665466, + "request_call_wall_s": 0.00046697910875082016, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_24", + "index": 271, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32892339304089546, + "request_call_wall_s": 0.00043950416147708893, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_00", + "index": 272, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33000289695337415, + "request_call_wall_s": 0.0004389560781419277, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_04", + "index": 273, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3310586018487811, + "request_call_wall_s": 0.0004266933538019657, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_08", + "index": 274, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3321002656593919, + "request_call_wall_s": 0.00043171877041459084, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_12", + "index": 275, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33313744980841875, + "request_call_wall_s": 0.0004948251880705357, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_16", + "index": 276, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3342436049133539, + "request_call_wall_s": 0.00051067303866148, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_20", + "index": 277, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3353224419988692, + "request_call_wall_s": 0.0004328223876655102, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_24", + "index": 278, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3363684397190809, + "request_call_wall_s": 0.00044936593621969223, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_00", + "index": 279, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3374029928818345, + "request_call_wall_s": 0.0004714098758995533, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_04", + "index": 280, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33846533577889204, + "request_call_wall_s": 0.000436319038271904, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_08", + "index": 281, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.339511055033654, + "request_call_wall_s": 0.00046256091445684433, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_12", + "index": 282, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3405931289307773, + "request_call_wall_s": 0.00048650801181793213, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_16", + "index": 283, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34167678095400333, + "request_call_wall_s": 0.0004777032881975174, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_20", + "index": 284, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3427901747636497, + "request_call_wall_s": 0.0005017123185098171, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_24", + "index": 285, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34387983893975616, + "request_call_wall_s": 0.0004629269242286682, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_00", + "index": 286, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34493227303028107, + "request_call_wall_s": 0.0005177869461476803, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_04", + "index": 287, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34605087991803885, + "request_call_wall_s": 0.0004920349456369877, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_08", + "index": 288, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34714440163224936, + "request_call_wall_s": 0.0004825717769563198, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_12", + "index": 289, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3482146440073848, + "request_call_wall_s": 0.0004742690362036228, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_16", + "index": 290, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3492773766629398, + "request_call_wall_s": 0.0005431598983705044, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_20", + "index": 291, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3504216689616442, + "request_call_wall_s": 0.0004875641316175461, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + }, + { + "path": "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_24", + "index": 292, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35148860886693, + "request_call_wall_s": 0.0005227508954703808, + "first_observed_frame": 8883, + "first_observed_tick": 26653 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0, + "rigid_owner_mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r_copy_01/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/oreo_gf/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/pring_bbq_copy_01/VisualMatchedCollision": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/skit_littles/PouchCollision/patch_32_24": 0.0 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py new file mode 100644 index 0000000000000000000000000000000000000000..fef605610b90429a889948f6b651aa5e61f3a462 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py @@ -0,0 +1,15 @@ +"""Mechanically apply a qualified exact-chain first landing and its verified repack.""" +import sys,json +from pathlib import Path +W=Path(__file__).resolve().parent +for cid in map(int,sys.argv[1:]): + case=W/'cases'/f'layout_{cid:02d}'; jp=case/'job.json'; before=case/'PRE_ALIGNMENT.json'; job=json.loads(jp.read_text()); proposal=json.loads((case/'EXACT_CHAIN_LANDING_PROPOSAL.json').read_text()) + if not proposal.get('passed') or not proposal.get('floor_inset8_covers') or min(proposal['future_gaps_after_repack'])<=.012:raise ValueError(f'Unqualified proposal {cid}') + if not before.exists():before.write_text(json.dumps(job,indent=2)+'\n') + slots=proposal['proposed_slots']; + if len(slots)!=len(job['items']):raise ValueError('slot count') + base=proposal['base'];base[2][3]=job['items'][0]['place_base'][2][3] + job['items'][0]['place_base']=base;job['items'][0]['station_alignment_policy']='transferred_actual_chain_goal_exact_v1';job['items'][0]['placement_slot']=slots[0];job['items'][0]['destination_xyz']=[*slots[0]['xy'],job['tray_floor_z']] + for item,slot in zip(job['items'][1:],slots[1:]):item['placement_slot']=slot;item['destination_xyz']=[*slot['xy'],job['tray_floor_z']] + job['place_base']=base;job['destination_xyz']=job['items'][0]['destination_xyz'];job['tray_slots']=slots;job['exact_chain_landing_proposal']=str(case/'EXACT_CHAIN_LANDING_PROPOSAL.json');job['pre_alignment_job']=str(before) + jp.write_text(json.dumps(job,indent=2)+'\n');print(jp) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_geometry.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..3084090fcc78ffc9efe2c5090ff11c5b0b8bd72a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_geometry.py @@ -0,0 +1,118 @@ +"""Use existing exact/native sampled collision gates for this continuous task.""" +import sys,json,os,subprocess +from pathlib import Path +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]).resolve();out=case/'rollout';kind=sys.argv[2] +if kind=='world' and 'CHAIN_AUDIT_SHARD' not in os.environ: + sys.exit(subprocess.call([sys.executable,str(W/'parallel_world_audit.py'),str(case)])) +shard=int(os.environ.get('CHAIN_AUDIT_SHARD','-1')) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop'),str(R/'work/place_training_tray_20260918')] +job=json.loads((case/'job.json').read_text()) +from multi_validation import items +requested=items(job);requested_targets=[row['target'] for row in requested] +# Optional contemporary cooking representations refine conservative envelopes. +# All actual geometry, filters and tolerances remain unchanged. +import collision_scene as cs +cs.STOCK=list(dict.fromkeys(cs.STOCK+job.get('clutter',[])+[path for row in requested for path in row.get('clutter',[])])) +adapter=None +if (out/'collision_readback/RESULT.json').exists(): + import importlib.util,types,numpy as np + from pxr import Usd + path=R/'work/omni_pick_stage1_20260914/native_cooking_readback/nonrobot_coverage/analysis_extension/adapter_extra.py' + spec=importlib.util.spec_from_file_location('chain_captured_geometry',path);module=importlib.util.module_from_spec(spec) + # This task stores scene/readbacks under case/rollout, with runtime root in case. + # Validate exact same-case paths instead of the legacy directory nesting. + source=path.read_text() + legacy="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve().parent!=snapshot.resolve().parent or snapshot.resolve().parent!=self.readback.parent.parent:raise GeometryReview('Readbacks and snapshot belong to different capture directories')" + current="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve()!=_chain_runtime_root or snapshot.resolve()!=_chain_snapshot or self.readback.parent!=_chain_output or self.native_readback.parent!=_chain_output:raise GeometryReview('Readbacks and snapshot do not match this chain capture')" + assert source.count(legacy)==1 + module.__dict__.update(_chain_runtime_root=Path(job['scene']).resolve(),_chain_snapshot=(out/'scene.usda').resolve(),_chain_output=out.resolve()) + exec(compile(source.replace(legacy,current),str(path),'exec'),module.__dict__) + from collision_inventory import enabled_nonrobot_convex_colliders + module.export.enabled_nonrobot_convex_colliders=enabled_nonrobot_convex_colliders + original_normalize=module.normalize_rigid_mount + def normalize_roundoff(prim,current,captured,cache): + try:return original_normalize(prim,current,captured,cache) + except module.GeometryReview: + before=np.asarray(current['collider_to_rigid_owner_column_matrix'],float);after=np.asarray(captured['collider_to_rigid_owner_column_matrix'],float);points=np.asarray(prim.GetAttribute('points').Get(),float) + if points.ndim!=2 or points.shape[1]!=3:raise + coefficient=float(np.max(abs(before-after)));displacement=float(np.linalg.norm((np.c_[points,np.ones(len(points))]@(before-after).T)[:,:3],axis=1).max()) + if coefficient>1e-10 or displacement>1e-9:raise + return dict(method='bounded_float64_matrix_chain_roundoff',normalized_mount=before.tolist(),raw_end_mount=after.tolist(),raw_end_mount_max_coefficient_difference=coefficient,maximum_geometry_displacement_m=displacement,coefficient_bound=1e-10,geometry_displacement_bound_m=1e-9,normalized_model_is_live_PxMeshScale_identity=False,source_geometry_modified=False) + module.normalize_rigid_mount=normalize_roundoff + stage=Usd.Stage.Open(str(out/'scene.usda'));metadata=np.load(out/'full_state.npz',allow_pickle=False) + wrapped,AnalysisBody,adapter=module.build_extended_adapter(stage,out/'collision_readback',out/'collision_readback_nonrobot',metadata) + (out/('COOKED_ADAPTER_COVERAGE.json' if shard<0 else f'COOKED_ADAPTER_COVERAGE.part_{shard}.json')).write_text(json.dumps(adapter.receipt,indent=2)+'\n') + cs.collider_mesh=wrapped;cs.static_collision_mesh=wrapped;cs.Body=AnalysisBody + +if kind=='self': + import omni_native_audit as native + if adapter is not None:native.trimesh=types.SimpleNamespace(util=types.SimpleNamespace(concatenate=adapter.combine)) + native.audit(out/'physics_ticks/full_state.npz',out/'scene.usda',out/'SELF_COLLISION_AUDIT.json') +elif kind=='world': + item_index=int(os.environ['CHAIN_AUDIT_ITEM']);item=requested[item_index] + audit_target=item['target'];audit_hand=item['hand'] + import collision_initial_layout + from place_tray_layout import scene_geometry + from shapely.geometry import Polygon + original_surfaces=collision_initial_layout._surfaces + def place_surfaces(scene): + surfaces=original_surfaces(scene);geometry=scene_geometry(scene.stage,audit_target);top=float(geometry['tray_xyz'][2]+geometry['tray_floor_z']) + assert abs(top-job['tray_floor_z'])<1e-5 + surfaces.append(dict(top=top,polygon=Polygon(geometry['tray_floor']+geometry['tray_xyz'][:2]),paths=['/World/Assets/Tray']));return surfaces + collision_initial_layout._surfaces=place_surfaces + original_support=cs.is_shelf_support_body + cs.is_shelf_support_body=lambda body:original_support(body) or body.name.startswith('/World/Assets/Tray/') + import collision_sweep as sweep + from contact_policy import install + spec=dict(target=dict(prim_path=audit_target),hand=audit_hand) + import collision_scene as cs + original_static=cs.include_static_collision_geometry + def static_inventory(scene): + result=original_static(scene);templates=[];unresolved=[] + for path in result['undefined_active_enabled_static_colliders']: + prim=scene.stage.GetPrimAtPath(path) + if path.startswith('/Flattened_Prototype_') and not prim.IsDefined():templates.append(path) + else:unresolved.append(path) + result['nonphysical_undefined_template_opinions']=templates;result['undefined_active_enabled_static_colliders']=unresolved;result['complete']=not unresolved + return result + cs.include_static_collision_geometry=static_inventory + (out/f'place_metrics.part_{shard}.json').write_text(json.dumps(dict(item_index=item_index,target=audit_target,hand=audit_hand,destination_body_path='/World/Assets/Tray'))) + import inspect,time + install(sweep,spec) + import collision_acceptance + from task_collision_scope import install as install_task_scope + from task_collision_scope import nonphysical_rug_paths + omitted_rug_paths=set(nonphysical_rug_paths(stage)) + install_task_scope(collision_acceptance,requested_targets,omitted_rug_paths) + source=inspect.getsource(sweep.episode) + target_line=" target_name=str(d['target_prim']); source=_SCENE.objects.get(target_name)" + assert source.count(target_line)==1 + source=source.replace(target_line," target_name=_chain_target; source=_SCENE.objects.get(target_name)") + hand_line=" hand='l'" + assert source.count(hand_line)==1 + source=source.replace(hand_line," hand=_chain_hand",1) + support_line=" support_name=place_metadata.get('destination_body_path') or (str(d['current_furniture_body_path']) if 'current_furniture_body_path' in d else '')" + assert source.count(support_line)==1 + source=source.replace(support_line," hand=_chain_hand\n"+support_line) + begin=source.index(' def register(');end=source.index(' frame_ids=',begin) + register=source[begin:end].replace('_OPTIONS.contact_tolerance_mm','contact_limit') + register=register.replace(' nonlocal exact,cache_hits'," nonlocal exact,cache_hits\n if a.name.split('#')[0] in _chain_nonphysical_rug or b.name.split('#')[0] in _chain_nonphysical_rug:return") + sweep.__dict__['_chain_nonphysical_rug']=omitted_rug_paths + marker_limit=" if contact_limit is not None and row['category'].endswith('_requires_depth_review'):" + register=register.replace(marker_limit," contact_limit=_place_contact_limit(row,_OPTIONS.contact_tolerance_mm)\n"+marker_limit) + source=source[:begin]+register+source[end:] + marker=' for fi,f in enumerate(frame_ids):' + source=source.replace(marker,marker+"\n if not _chain_start<=fi<_chain_end:continue\n _chain_checked.append(fi)\n if fi%30==0:_chain_audit_progress(fi,len(frame_ids))") + def progress(frame,total): + path=out/f'WORLD_AUDIT_PROGRESS.part_{shard}.json';tmp=path.with_suffix('.tmp');tmp.write_text(json.dumps(dict(frame=frame,total=total,updated=time.time())));tmp.replace(path) + sweep.__dict__.update(_chain_audit_progress=progress,_chain_start=int(os.environ['CHAIN_AUDIT_START']),_chain_end=int(os.environ['CHAIN_AUDIT_END']),_chain_checked=[],_chain_target=audit_target,_chain_hand=audit_hand) + exec(compile(source,sweep.__file__,'exec'),sweep.__dict__) + from types import SimpleNamespace + from collision_scene import ROBOT + options=SimpleNamespace(scene=str(out/'scene.usda'),robot=str(ROBOT),output=str(out/'world_geometry'/f'part_{shard}'),scene_per_episode=False,authored_active=True,native_robot_world=True,swept=True,all_scene=False,solid_containment=True,stop_on_forbidden=True,depth=True,depth_points=512,contact_tolerance_mm=.5,stride=1,joint_step=.03,target_step=.005) + sweep.init(options);report=sweep.episode(out/'physics_ticks') + from collision_acceptance import summarize + full_report=json.loads(Path(report['output']).read_text());result=full_report['native_world_geometry_summary'] + result.update(partial_report=True,shard=shard,item_index=item_index,active_target=audit_target,active_hand=audit_hand,checked_frame_indices=sweep.__dict__['_chain_checked'],start=int(os.environ['CHAIN_AUDIT_START']),end=int(os.environ['CHAIN_AUDIT_END']),elapsed_seconds=full_report['elapsed_seconds'],source_geometry_report=report['output']) + (out/f'WORLD_COLLISION_AUDIT.part_{shard}.json').write_text(json.dumps(result,indent=2)+'\n') +else:raise ValueError(kind) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_return_head.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_return_head.py new file mode 100644 index 0000000000000000000000000000000000000000..189b0ade576f8c942f52f71fea48c2d61ccef60e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_return_head.py @@ -0,0 +1,293 @@ +#!/usr/bin/env python3 +"""Audit recorded level gaze during every empty-hand return. + +This is deliberately separate from the frozen validation release. It reads a +completed native trace and the producer policy/transition receipts, writes one +case-local report, and never changes task acceptance or source recordings. +""" +from __future__ import annotations + +import hashlib +import json +import os +import sys +from pathlib import Path + +import numpy as np + +POLICY = "empty_return_forward_head_v3" +HEAD_JOINTS = ("idx11_head_joint1", "idx12_head_joint2") +COMPENSATED_BODY_JOINT = "idx02_body_joint2" +PITCH_CLIP_RAD = np.asarray((-0.34033920413889424, 0.5148721293383273), dtype=np.float64) +MOVING_EPS = 1e-8 +COMMAND_EPS_RAD = 1e-10 +ACTUAL_EPS_RAD = float(np.deg2rad(0.1)) + + +def sha256(path: Path) -> str: + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def write_json(path: Path, payload: dict) -> None: + pending = path.with_suffix(path.suffix + f".pending.{os.getpid()}") + pending.write_text(json.dumps(payload, indent=2, default=str) + "\n") + os.replace(pending, path) + + +def expected_head(body_pitch): + """Return [yaw, pitch] for the most forward feasible gaze at each body pitch.""" + body_pitch = np.asarray(body_pitch, dtype=np.float64) + result = np.zeros(body_pitch.shape + (2,), dtype=np.float64) + result[..., 1] = np.clip(-body_pitch, PITCH_CLIP_RAD[0], PITCH_CLIP_RAD[1]) + return result + + +def audit(case: Path) -> dict: + case = Path(case).resolve() + out = case / "rollout" + recording_path = out / "recording_60hz.npz" + policy_path = out / "RETURN_HEAD_POLICY.json" + failures = [] + try: + recording = np.load(recording_path, allow_pickle=False) + policy = json.loads(policy_path.read_text()) + names = recording["dof_names"].tolist() + head_indices = [names.index(name) for name in HEAD_JOINTS] + body_index = names.index(COMPENSATED_BODY_JOINT) + command = np.asarray(recording["native_target"][:, head_indices], dtype=np.float64) + actual = np.asarray(recording["q"][:, head_indices], dtype=np.float64) + body_command = np.asarray(recording["native_target"][:, body_index], dtype=np.float64) + body_actual = np.asarray(recording["q"][:, body_index], dtype=np.float64) + base_action = np.asarray(recording["base_action_body"], dtype=np.float64) + phases = np.asarray(recording["phase"]).astype(str) + item_index = np.asarray(recording["item_index"], dtype=np.int64) + ticks = np.asarray(recording["tick"], dtype=np.int64) + except Exception as exc: + return {"schema": "ziche.multi10.return_forward_head_audit.v3", "passed": False, + "case": str(case), "failures": ["missing_or_invalid_recording_or_policy"], + "error": repr(exc)} + + rows = len(phases) + basic_checks = { + "aligned_arrays": command.shape == actual.shape == (rows, 2) + and base_action.shape == (rows, 2) + and len(item_index) == rows, + "finite": bool(np.isfinite(command).all() and np.isfinite(actual).all() + and np.isfinite(base_action).all()), + "tick_sequence": np.array_equal(ticks, np.arange(1, rows + 1)), + "policy_name": policy.get("policy") == POLICY, + "head_joint_scope": policy.get("head_joints") == list(HEAD_JOINTS), + "compensated_body_joint": policy.get("compensate_body_joint") == COMPENSATED_BODY_JOINT, + "pitch_clip": np.array_equal(np.asarray(policy.get("pitch_clip_rad"), dtype=np.float64), + PITCH_CLIP_RAD), + "restore_stopped": policy.get("restore_only_while_stopped_at_shelf") is True, + } + failures.extend(name for name, passed in basic_checks.items() if not passed) + installed_tick = int(policy.get("installed_at_control_tick", -1)) + implementation = Path(policy.get("implementation_path", "")) + implementation_check = (implementation.is_file() + and policy.get("implementation_sha256") == sha256(implementation)) + if not implementation_check: + failures.append("policy_implementation_hash") + + empty = np.asarray([phase.endswith("_empty_return") for phase in phases]) + moving = np.max(np.abs(base_action), axis=1) > MOVING_EPS + moving_return = empty & moving + expected_command = expected_head(body_command) + expected_actual = expected_head(body_actual) + command_error = np.max(np.abs(command - expected_command), axis=1) + actual_error = np.max(np.abs(actual - expected_actual), axis=1) + optical_pitch_command = -(body_command + command[:, 1]) + optical_pitch_actual = -(body_actual + actual[:, 1]) + moving_command_bad = np.flatnonzero(moving_return & (command_error > COMMAND_EPS_RAD)) + moving_actual_bad = np.flatnonzero(moving_return & (actual_error > ACTUAL_EPS_RAD)) + if len(moving_command_bad): + failures.append("moving_return_head_command_not_body_pitch_compensated") + if len(moving_actual_bad): + failures.append("moving_return_head_actual_error") + + # Every declared head raise/restore transition must be recorded while the + # base is stopped. Ranges use zero-based row boundaries: start inclusive, + # end exclusive, matching producer len(rows) values around blend(). + transition_rows = np.zeros(rows, dtype=bool) + transitions = [] + receipt_paths = sorted(out.glob("RETURN_HEAD_TRANSITION.item_*.json")) + for path in receipt_paths: + row_failures = [] + try: + receipt = json.loads(path.read_text()) + start = int(receipt["start_tick"]) + end = int(receipt["end_tick"]) + kind = receipt["kind"] + valid_range = 0 <= start < end <= rows + if valid_range: + selected = np.arange(start, end) + transition_rows[selected] = True + stopped = bool(np.all(np.max(np.abs(base_action[selected]), axis=1) <= MOVING_EPS)) + correct_phase = bool(np.all(empty[selected])) + correct_item = bool(np.all(item_index[selected] == int(receipt["item_index"]))) + item_moving = np.flatnonzero(moving_return & (item_index == int(receipt["item_index"]))) + if kind == "raise_before_walking": + temporal = len(item_moving) > 0 and end <= int(item_moving[0]) + target_value = np.asarray(receipt.get("target_rad", []), dtype=float) + start_target = expected_head(body_command[start]) if valid_range else np.asarray([np.nan, np.nan]) + kind_target = target_value.shape == (2,) and np.max(np.abs(target_value - start_target)) <= COMMAND_EPS_RAD + body_constant = valid_range and np.max(np.abs(body_command[selected] - body_command[start])) <= COMMAND_EPS_RAD + else: + temporal = len(item_moving) > 0 and start > int(item_moving[-1]) + kind_target = np.asarray(receipt.get("target_rad", [])).shape == (2,) + body_constant = True + else: + selected = np.asarray([], dtype=int) + stopped = correct_phase = correct_item = temporal = kind_target = body_constant = False + source = Path(receipt.get("source_path", "")) + receipt_checks = { + "schema": receipt.get("schema") == "multi_return_head_transition_v1", + "policy": receipt.get("policy") == POLICY, + "kind": kind in {"raise_before_walking", "restore_pick_gaze_after_arrival"}, + "range": valid_range, + "after_install": valid_range and start >= installed_tick, + "base_stopped": stopped and receipt.get("base_held") is True, + "empty_return_phase": correct_phase, + "item_alignment": correct_item, + "before_or_after_all_item_base_motion": temporal, + "raise_targets_level_or_restore_has_two_targets": kind_target, + "raise_body_pitch_constant": body_constant, + "head_joint_scope": receipt.get("head_joints") == list(HEAD_JOINTS), + "target_shape": np.asarray(receipt.get("target_rad", [])).shape == (2,), + "screened": receipt.get("all_live_props_screened") is True, + "no_pose_writes": receipt.get("no_pose_writes") is True, + "source_hash": source.is_file() and receipt.get("source_sha256") == sha256(source), + } + row_failures = [name for name, passed in receipt_checks.items() if not passed] + except Exception as exc: + start = end = None + kind = None + receipt_checks = {} + row_failures = ["invalid_receipt:" + repr(exc)] + if row_failures: + failures.append("transition:" + path.name) + transitions.append({"path": str(path), "sha256": sha256(path), "kind": kind, + "start_tick": start, "end_tick": end, + "checks": receipt_checks, "failures": row_failures}) + + # A different commanded gaze while stationary is permitted for the stopped + # waist/arm preparation preceding the walk. The explicit transition + # receipts prove the policy's raise and restore operations themselves never + # overlap base motion; all base-moving rows are governed by the stricter + # zero-command/0.1-degree checks above. + unexpected_transition_motion = np.flatnonzero(transition_rows & moving) + if len(unexpected_transition_motion): + failures.append("head_transition_overlaps_base_motion") + + return_items = sorted(set(item_index[empty].tolist())) + moving_return_items = sorted(set(item_index[moving_return].tolist())) + nonfinal_expected = list(range(max(0, int(item_index.max(initial=-1))))) + return_scope_complete = (return_items == nonfinal_expected + and moving_return_items == nonfinal_expected + and len(moving_return) > 0) + if not return_scope_complete: + failures.append("empty_return_item_scope") + + preinstall_return = np.flatnonzero(empty & (np.arange(rows) < installed_tick)) + postinstall_moving = moving_return & (np.arange(rows) >= max(0, installed_tick)) + postinstall_compliant = (not np.any(postinstall_moving & (command_error > COMMAND_EPS_RAD)) + and not np.any(postinstall_moving & (actual_error > ACTUAL_EPS_RAD))) + full_trace_compliant = (len(moving_command_bad) == 0 and len(moving_actual_bad) == 0 + and len(unexpected_transition_motion) == 0 and return_scope_complete) + installed_before_recording = installed_tick == 0 + if not installed_before_recording: + failures.append("fresh_episode_policy_not_installed_before_recording") + + def witnesses(indices): + return [{"row_index": int(index), "source_control_tick": int(index + 1), + "phase": phases[index], "item_index": int(item_index[index]), + "base_action_body": base_action[index].tolist(), + "head_command_rad": command[index].tolist(), + "head_actual_rad": actual[index].tolist(), + "body2_command_rad": float(body_command[index]), + "body2_actual_rad": float(body_actual[index]), + "expected_head_command_rad": expected_command[index].tolist(), + "expected_head_from_actual_body_rad": expected_actual[index].tolist(), + "command_max_error_rad": float(command_error[index]), + "actual_max_error_deg": float(np.degrees(actual_error[index])), + "predicted_optical_pitch_command_deg": float(np.degrees(optical_pitch_command[index])), + "predicted_optical_pitch_actual_deg": float(np.degrees(optical_pitch_actual[index]))} + for index in indices[:50]] + + report = { + "schema": "ziche.multi10.return_forward_head_audit.v3", "passed": not failures, + "case": str(case), "policy": POLICY, "policy_installed_at_control_tick": installed_tick, + "classification": ("FULL_FRESH_EPISODE_COMPLIANT" if installed_before_recording and full_trace_compliant + else "FULL_TRACE_COMPLIANT_LATE_INSTALL_NOT_FRESH_ELIGIBLE" if full_trace_compliant + else "POST_INSTALL_ONLY" if postinstall_compliant else "NONCOMPLIANT"), + "fresh_episode_required": True, "installed_before_recording": installed_before_recording, + "full_trace_compliant": full_trace_compliant, "postinstall_trace_compliant": postinstall_compliant, + "fixed_expected_metadata": { + "head_joints": list(HEAD_JOINTS), "compensate_body_joint": COMPENSATED_BODY_JOINT, + "pitch_clip_rad": PITCH_CLIP_RAD.tolist(), "pitch_clip_deg": np.degrees(PITCH_CLIP_RAD).tolist(), + "command_formula": "head_yaw=0; head_pitch=clip(-commanded_body2,-19.5deg,+29.5deg)", + "actual_formula": "expected_head_pitch=clip(-measured_body2,-19.5deg,+29.5deg); actual joint tracking error <=0.1deg", + "predicted_optical_pitch_formula": "-(body2+head_pitch)", + "correction": "v2 incorrectly treated camera pitch as a fixed head-only target. v3 accounts for idx02_body_joint2 at every recorded row; historical v2 evidence is retained but is not valid for fresh acceptance."}, + "thresholds": {"base_moving_abs_gt": MOVING_EPS, "head_command_target_error_rad_max": COMMAND_EPS_RAD, + "head_actual_target_error_rad_max": ACTUAL_EPS_RAD, "head_actual_target_error_deg_max": 0.1}, + "counts": {"control_rows": rows, "empty_return_rows": int(empty.sum()), + "moving_empty_return_rows": int(moving_return.sum()), + "transition_rows": int(transition_rows.sum()), + "preinstall_empty_return_rows": len(preinstall_return)}, + "expected_nonfinal_item_indices": nonfinal_expected, "return_item_indices": return_items, + "moving_return_item_indices": moving_return_items, + "moving_return_max_command_error_rad": float(command_error[moving_return].max(initial=0)), + "moving_return_max_actual_error_rad": float(actual_error[moving_return].max(initial=0)), + "moving_return_max_actual_error_deg": float(np.degrees(actual_error[moving_return].max(initial=0))), + "moving_return_optical_pitch_command_deg_range": ([float(np.degrees(optical_pitch_command[moving_return].min())), + float(np.degrees(optical_pitch_command[moving_return].max()))] + if np.any(moving_return) else None), + "moving_return_optical_pitch_actual_deg_range": ([float(np.degrees(optical_pitch_actual[moving_return].min())), + float(np.degrees(optical_pitch_actual[moving_return].max()))] + if np.any(moving_return) else None), + "bad_moving_command_rows": witnesses(moving_command_bad), + "bad_moving_actual_rows": witnesses(moving_actual_bad), + "transition_motion_rows": witnesses(unexpected_transition_motion), + "transitions": transitions, "basic_checks": basic_checks, + "policy_implementation_check": implementation_check, + "recording_sha256": sha256(recording_path), "policy_receipt_sha256": sha256(policy_path), + "failures": failures, + } + return report + + +def main() -> None: + if len(sys.argv) != 2: + raise SystemExit("usage: audit_return_head.py CASE") + case = Path(sys.argv[1]).resolve() + report = audit(case) + out = case / "rollout" + if out.is_dir(): + canonical = out / "RETURN_HEAD_AUDIT.json" + if canonical.is_file(): + raw = canonical.read_bytes() + digest = hashlib.sha256(raw).hexdigest() + history = out / "return_head_audit_history" + history.mkdir(exist_ok=True) + archived = history / f"{digest}.json" + if archived.is_file(): + if archived.read_bytes() != raw: + raise RuntimeError("Return-head audit history hash collision") + else: + pending = history / f".{digest}.{os.getpid()}.pending" + pending.write_bytes(raw) + os.replace(pending, archived) + write_json(canonical, report) + print(json.dumps({"passed": report["passed"], "classification": report.get("classification"), + "failures": report["failures"]}, indent=2)) + raise SystemExit(0 if report["passed"] else 1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_views.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_views.py new file mode 100644 index 0000000000000000000000000000000000000000..2651a6f66baa170b55c62db8fbf7fa699058e4f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/audit_views.py @@ -0,0 +1,54 @@ +"""Actual-pose wrist and initial selected-shelf visibility checks.""" +import sys,json,copy +from pathlib import Path +import numpy as np +from pxr import Usd,UsdGeom +from scipy.spatial.transform import Rotation as Rot +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]);out=case/'rollout';job=json.loads((case/'job.json').read_text()) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/shelf_training_visible360_20260916'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +from wrist_upright import camera_mount +from wrist_orientation_policy import MIN_CAMERA_HEIGHT_M,MIN_CAMERA_UP_Z +from validate_export import write +from multi_validation import items,recording_contract +requested=items(job);z=np.load(out/'recording_60hz.npz');phases,item_index,_,_=recording_contract(z,requested);phases=np.asarray(phases) +stage=Usd.Stage.Open(str(out/'scene.usda'));paths=z['robot_link_paths'].tolist();wrist={};extrinsics={};samples=np.arange(2,len(z['q']),3) +for key,owner,cam in [('top_head','head_link2','Head_Camera'),('hand_left','gripper_l_base_link','Left_Camera'),('hand_right','gripper_r_base_link','Right_Camera')]: + prim=stage.GetPrimAtPath('/World/Robot/'+owner);camera=stage.GetPrimAtPath(str(prim.GetPath())+'/'+cam);cache=UsdGeom.XformCache();mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(prim)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + p=z['robot_link_pose'][:,paths.index(str(prim.GetPath()))];rotation=Rot.from_quat(p[:,3:]).as_matrix();world=np.tile(np.eye(4),(len(p),1,1));world[:,:3,:3]=rotation;world[:,:3,3]=p[:,:3];camera_world=world@mount;extrinsics[key]=camera_world[samples] + if key!='top_head': + height=(rotation@mount[:3,3])[:,2];up=(rotation@mount[:3,1])[:,2];wrist[key]=dict(passed=bool(height.min()>=MIN_CAMERA_HEIGHT_M and up.min()>=MIN_CAMERA_UP_Z),minimum_height_m=float(height.min()),minimum_up_z=float(up.min()),minimum_height_tick=int(height.argmin()+1),minimum_up_tick=int(up.argmin()+1)) +write(out/'WRIST_AUDIT.json',dict(passed=all(d['passed'] for d in wrist.values()),policy='wrist_camera_upright_v2',hands=wrist,actual_samples=len(z['q']))) +np.savez_compressed(out/'camera_extrinsics_20hz.npz',**extrinsics,source_control_tick=samples+1) +# At the upper default pose a lower label can be out of view by design. Verify +# every requested item after its measured waist adjustment and before grasping. +d=np.load(out/'full_state.npz') +import collision_scene as cs,trimesh +from omni_randomization import full_environment_bodies +from visible_target_check import TargetCheck +robot=cs.Robot(cs.ROBOT);cam=UsdGeom.Camera(stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera'));head_index=paths.index('/World/Robot/head_link2');props=d['rigid_body_paths'].tolist();reports=[] +# The multi-item scene retains a deliberate subset of the distractors from +# several single-item source episodes. Reconstruct visibility from the actual +# captured rigid-body inventory, using source rows only as asset metadata. +object_catalog={} +for request in requested: + for source in json.loads((Path(request['pick_source'])/'episode.json').read_text())['objects']: + object_catalog.setdefault(source['prim_path'],source) +for item_number,item in enumerate(requested): + phase=f'item_{item_number:02d}_waist_to_selected_shelf';found=np.flatnonzero((item_index==item_number)&(phases==phase)) + if not len(found): + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Missing measured waist-to-selected-shelf phase'));continue + frame=int(found[-1]);spec=json.loads((Path(item['pick_source'])/'episode.json').read_text());base=cs.pose(z['base_pose'][frame,:3],z['base_pose'][frame,[6,3,4,5]]) + check=TargetCheck.__new__(TargetCheck);check.stage=stage;check.robot=robot;check.r=dict(spec['robot'],dof_names=z['dof_names'].tolist());check.base=base;check.fixtures=full_environment_bodies(stage);check.camera=cam;check.focal=float(cam.GetFocalLengthAttr().Get());check.ha=float(cam.GetHorizontalApertureAttr().Get());check.va=float(cam.GetVerticalApertureAttr().Get()) + parent=z['robot_link_pose'][frame,head_index];camera=cs.pose(parent[:3],parent[[6,3,4,5]])@cs.matrix(UsdGeom.Xformable(cam).GetLocalTransformation());placed=[];target=None;cache=UsdGeom.XformCache() + current_catalog={source['prim_path']:source for source in spec['objects']} + for prop_index,path in enumerate(props): + source=current_catalog.get(path,object_catalog.get(path)) + if source is None:continue # articulated/static appliances are fixtures + row=copy.deepcopy(source);row['xyz_m']=d['prop_xyz_m'][frame,prop_index].tolist();row['wxyz']=d['prop_wxyz'][frame,prop_index].tolist();prim=stage.GetPrimAtPath(path);ref=cs.rigid_part(cs.matrix(cache.GetLocalToWorldTransform(prim)));parts=cs.mesh_parts(prim,cache,reference=ref);body=cs.Body(path,trimesh.util.concatenate([m for _,m in parts]),cs.pose(row['xyz_m'],row['wxyz']));placed.append((row,[body],None)) + if path==item['target']:target=row + if target is None: + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Target absent from captured rigid-body inventory'));continue + posture=dict(q=z['q'][frame],camera=camera,actual_links={p.replace('/World/Robot',robot.root,1):cs.pose(z['robot_link_pose'][frame,i,:3],z['robot_link_pose'][frame,i,[6,3,4,5]]) for i,p in enumerate(paths)}) + report=check.visibility(target,placed,posture,actual_camera=camera);report.update(item_index=item_number,target=item['target'],frame=frame,source_control_tick=frame+1,phase=phase,source='Actual measured poses immediately before this item pickup in the same uninterrupted episode') + reports.append(report) +write(out/'VISIBILITY_AUDIT.json',dict(passed=all(row.get('passed') for row in reports),items=reports,actual_item_count=len(reports))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/build_exact_source_proposals.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/build_exact_source_proposals.py new file mode 100644 index 0000000000000000000000000000000000000000..619914d75314c19cca3bd8d6bef8247746ac4027 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/build_exact_source_proposals.py @@ -0,0 +1,22 @@ +"""Build read-only exact accepted-chain landing/station proposals for every item.""" +import json,math +from pathlib import Path +import numpy as np +from pxr import Usd +W=Path(__file__).resolve().parent;R=W.parents[1];OLD=R/'work/shelf_to_table50_20261001' +import sys +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps')] +from geometry_transfer import registration +priors=[] +for p in sorted((OLD/'cases').glob('layout_*/job.json')): + j=json.loads(p.read_text());priors.append((p,j)) +for case in sorted((W/'cases').glob('layout_*')): + jp=case/'job.json' + if not jp.exists():continue + job=json.loads(jp.read_text());newstage=Usd.Stage.Open(job['layout']);rows=[] + for i,item in enumerate(job['items']): + matches=[(p,j) for p,j in priors if j.get('pick_source')==item['pick_source'] and (p.parent/'rollout/PLACEMENT_PLAN.json').exists()] + if not matches:rows.append({'item':i,'product':item['product'],'available':False});continue + p,prior=matches[0];oldstage=Usd.Stage.Open(prior['layout']);delta,reg=registration(oldstage,newstage,'/World/Assets/CoffeeTable/Mesh');goal=delta@np.asarray(json.loads((p.parent/'rollout/PLACEMENT_PLAN.json').read_text())['goal']);base=delta@np.asarray(prior['place_base']);desired=np.asarray(item['placement_slot']['xy']);aligned=base.copy();aligned[:2,3]+=desired-goal[:2,3] + rows.append({'item':i,'product':item['product'],'available':True,'prior_job':str(p),'prior_controls':str(p.parent/'controls.npz'),'prior_placement_plan':str(p.parent/'rollout/PLACEMENT_PLAN.json'),'table_registration':reg,'transferred_accepted_goal':goal.tolist(),'transferred_accepted_base':base.tolist(),'accepted_yaw_rad':float(math.atan2(goal[1,0],goal[0,0])),'desired_slot_xy':desired.tolist(),'slot_aligned_base':aligned.tolist(),'station_shift_xy':(desired-goal[:2,3]).tolist(),'recommended_yaws_rad':[float(math.atan2(goal[1,0],goal[0,0])),float(math.atan2(goal[1,0],goal[0,0])+math.pi)],'claim':'source-derived proposal; native validation required'}) + out={'schema':'multi_item.exact_source_transfer_proposals.v1','case':job['layout_id'],'job_read_only':True,'items':rows,'available_count':sum(x['available'] for x in rows),'item_count':len(rows)};(case/'EXACT_SOURCE_TRANSFER_PROPOSAL.json').write_text(json.dumps(out,indent=2)+'\n');print(case.name,out['available_count'],len(rows)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/carry_transition.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/carry_transition.py new file mode 100644 index 0000000000000000000000000000000000000000..b6663e3f4ed2444983314f095b5fbced4ed84520 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/carry_transition.py @@ -0,0 +1,266 @@ +"""Conservative carry preflight; native physical rollout and audits remain authoritative.""" +import math,time,heapq +import numpy as np +from scipy.spatial.transform import Rotation as Rot +from navigation import plan_release_polygons,angle_delta + +POLICY='clear_shelf_raise_055_full_body_route_v1' + +def split_turn(start_yaw,end_yaw,xy,maximum=math.radians(150)): + delta=angle_delta(end_yaw,start_yaw) + count=max(1,math.ceil(abs(delta)/maximum)) + return [dict(kind='turn',goal=[*map(float,xy),start_yaw+delta*k/count]) for k in range(1,count+1)] + +def primitives(route,yaw,final_yaw): + result=[] + for a,b in zip(route,route[1:]): + d=np.asarray(b)-a + if np.linalg.norm(d)<1e-6:continue + heading=math.atan2(d[1],d[0]);result+=split_turn(yaw,heading,a) + result.append(dict(kind='drive',goal=[*b,heading],direction=1));yaw=heading + result+=split_turn(yaw,final_yaw,route[-1]) + return result + +def compact_postures(robot,names,q,base): + from scipy.optimize import least_squares + from ik_solver import Arm + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + for x,dz in [(.30,-.30),(.30,-.15),(.30,.15),(.25,.20),(.35,0)]: + result=q.copy();valid=True + for h in ['l','r']: + ids=[names.index(f'idx{2 if h=="l" else 6}{k}_arm_{h}_joint{k}') for k in range(1,8)] + lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in ids])*np.pi/180+1e-4 + hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in ids])*np.pi/180-1e-4 + link=robot.root+'/gripper_'+h+'_base_link';local=np.linalg.inv(base)@robot.fk(names,result,base)[link] + local[0,3]=x;local[1,3]=.30 if h=='l' else -.30;local[2,3]+=dz;goal=base@local + arm=Arm(robot,names,result,base,link,ids);previous=result[ids].copy() + fit=least_squares(lambda v:arm.evaluate(v,goal,previous)[0],np.clip(previous,lo,hi),jac=lambda v:arm.evaluate(v,goal,previous)[1],bounds=(lo,hi),max_nfev=100) + actual=arm.forward(fit.x)[0] + if np.linalg.norm(actual[:3,3]-goal[:3,3])>.002 or Rot.from_matrix(actual[:3,:3].T@goal[:3,:3]).magnitude()>.02:valid=False;break + result[ids]=fit.x + if valid:yield result,dict(hand_forward_m=x,hand_height_change_m=dz) + yield q.copy(),dict(original_arm_pose=True) + +class Clearance: + def __init__(self,stage,robot,names,hand,target,target_vertices,held,prop_poses): + from pxr import Usd,UsdGeom,UsdPhysics + from collision_scene import Body,collider_mesh,matrix,rigid_ancestor,contact,broad_overlap + from collision_contact_bounds import separation_witness + from native_planner import build + import trimesh + self.deadline=time.monotonic()+180;self.robot=robot;self.names=names;self.hand=hand;self.held=held;self.contact=contact;self.broad_overlap=broad_overlap;self.separation_witness=separation_witness + self.self_check=build(stage);self.cache=UsdGeom.XformCache();self.environment=[];self.results={};self.posture_cache={} + self.target=Body(target,trimesh.convex.convex_hull(target_vertices)) + for p in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies()): + path=str(p.GetPath()) + if path.startswith('/World/Robot/') or not p.HasAPI(UsdPhysics.CollisionAPI):continue + if UsdPhysics.CollisionAPI(p).GetCollisionEnabledAttr().Get() is False:continue + if path==target or path.startswith(target+'/'):continue + mesh,_,_=collider_mesh(p);world=matrix(self.cache.GetLocalToWorldTransform(p));owner=rigid_ancestor(p) + if owner and str(owner.GetPath()) in prop_poses: + authored=matrix(self.cache.GetLocalToWorldTransform(owner));authored[:3,:3]/=np.linalg.norm(authored[:3,:3],axis=0) + world=prop_poses[str(owner.GetPath())]@np.linalg.inv(authored)@world + mesh.apply_transform(world) + # Native audit still checks actual floor support. Transit broad phase + # excludes only ground-level geometry; furniture remains in full 3D. + if mesh.bounds[1,2]<.08:continue + self.environment.append(Body(path,mesh)) + self.low=np.array([b.lo for b in self.environment]);self.high=np.array([b.hi for b in self.environment]);self.last=None + def check(self,q,base): + if time.monotonic()>self.deadline:raise RuntimeError('Carry geometry preflight exceeded 180 seconds') + key=(q.tobytes(),base.tobytes()) + if key in self.results: + okay,self.last=self.results[key];return okay + okay=self.check_uncached(q,base) + self.results[key]=(okay,self.last);return okay + def check_uncached(self,q,base): + key=q.tobytes() + if key not in self.posture_cache: + local=self.robot.fk(self.names,q,np.eye(4));okay,detail=self.self_check(local,self.robot.root) + self.posture_cache[key]=(local,okay,detail) + local,okay,detail=self.posture_cache[key] + if not okay:self.last=dict(kind='self_or_wrist',detail=detail);return False + fk={name:base@transform for name,transform in local.items()} + for body in self.self_check.bodies:body.update(fk[body.name.replace('/World/Robot',self.robot.root,1)]) + self.target.update(fk[self.robot.root+'/gripper_'+self.hand+'_base_link']@self.held) + # Mirror the authoritative robot-target collision rule. Only the two + # assigned distal finger links may intersect the held target, with a + # certified 10 mm separation witness; no whole-gripper exemption. + allowed={f'/World/Robot/gripper_{self.hand}_{side}_link4' for side in ('inner','outer')} + for body in self.self_check.bodies: + if not self.broad_overlap(self.target,body):continue + hit=self.contact(self.target,body,containment=True) + if hit is None:continue + witness=None + if body.name in allowed: + witness=self.separation_witness(self.target,body,hit,tolerance_mm=10.,vertical_support=False) + if witness.get('certified'):continue + self.last=dict(kind='held_target_robot',target=self.target.name,robot=body.name,contact=hit,separation_witness=witness) + return False + for body in self.self_check.bodies+[self.target]: + indices=np.flatnonzero(np.all(self.high>=body.lo,axis=1)&np.all(self.low<=body.hi,axis=1)) + for i in indices: + other=self.environment[i] + if self.contact(body,other,containment=True) is not None: + self.last=dict(kind='environment',robot_or_target=body.name,obstacle=other.name);return False + return True + + def segment(self,q0,q1,b0,b1): + y0=Rot.from_matrix(b0[:3,:3]).as_euler('xyz')[2];y1=Rot.from_matrix(b1[:3,:3]).as_euler('xyz')[2];dy=angle_delta(y1,y0) + steps=max(1,math.ceil(np.linalg.norm(b1[:3,3]-b0[:3,3])/.025),math.ceil(abs(dy)/math.radians(3)),math.ceil(np.max(abs(q1-q0))/.02)) + fixed_q=np.array_equal(q0,q1) + for u in np.linspace(0,1,steps+1): + b=b0.copy();b[:3,3]=(1-u)*b0[:3,3]+u*b1[:3,3];b[:3,:3]=Rot.from_euler('z',y0+u*dy).as_matrix() + if not self.check(q0 if fixed_q else q0*(1-u)+q1*u,b):return False + return True + +def body_route(checker,q,start,destination,floors,budget=70): + """Forward-only SE(2) lattice; all edges include body/object swept checks.""" + from shapely.geometry import Polygon,Point + from shapely.ops import unary_union + from shapely.prepared import prep + floor=prep(unary_union([Polygon(f).buffer(0) for f in floors]).buffer(-.34)) + yaw=Rot.from_matrix(start[:3,:3]).as_euler('xyz')[2] + final_yaw=Rot.from_matrix(destination[:3,:3]).as_euler('xyz')[2] + step=.12; axes=Rot.from_euler('z',yaw).as_matrix()[:2,:2] + directions=[(1,0),(1,1),(0,1),(-1,1),(-1,0),(-1,-1),(0,-1),(1,-1)] + poses={};valid={};edges={};began=time.monotonic() + def pose(node): + if node not in poses: + b=start.copy();b[:2,3]=start[:2,3]+axes@(np.array(node[:2])*step) + b[:3,:3]=Rot.from_euler('z',yaw+node[2]*math.pi/4).as_matrix();poses[node]=b + return poses[node] + def safe(node): + if node not in valid: + b=pose(node);valid[node]=floor.covers(Point(b[:2,3])) and checker.check(q,b) + return valid[node] + def edge(a,b): + key=(a,b) + if key not in edges:edges[key]=safe(b) and checker.segment(q,q,pose(a),pose(b)) + return edges[key] + def connect(b): + heading=np.array([math.cos(final_yaw),math.sin(final_yaw)]) + routes=[[b[:2,3].tolist(),destination[:2,3].tolist()]] + routes += [[b[:2,3].tolist(),(destination[:2,3]-d*heading).tolist(),destination[:2,3].tolist()] for d in [.45,.70]] + for route in routes: + motions=primitives(route,Rot.from_matrix(b[:3,:3]).as_euler('xyz')[2],final_yaw) + previous=b;okay=True + for p in motions: + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + if not floor.covers(Point(current[:2,3])) or not checker.check(q,current) or not checker.segment(q,q,previous,current):okay=False;break + previous=current + if okay:return motions + return None + goal=destination.copy();goal[2,3]=start[2,3] + if not checker.check(q,goal):return None,dict(reason='destination_body_collision',detail=checker.last) + source=(0,0,0);cost={source:0.};parents={};queue=[(0.,source)];done=set() + while queue and time.monotonic()-began=cost.get(neighbor,float('inf')) or not edge(node,neighbor):continue + cost[neighbor]=value;parents[neighbor]=node + h=np.linalg.norm(pose(neighbor)[:2,3]-goal[:2,3]) + heapq.heappush(queue,(value+1.7*h,neighbor)) + return None,dict(reason='body_lattice_budget_or_exhausted',expanded=len(done),seconds=time.monotonic()-began) + +def plan(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release): + if job.get('carry_policy')=='precision_body_route_v2': + return plan_precision(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release) + start=time.monotonic();held=np.linalg.inv(robot.fk(names,q,base)[robot.root+'/gripper_'+hand+'_base_link'])@object_pose + checker=Clearance(stage,robot,names,hand,target,target_vertices,held,prop_poses) + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + postures=list(compact_postures(robot,names,high,base)) + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2];heading=np.array([math.cos(yaw),math.sin(yaw)]) + shapes=[r['xy'] for r in release['shapes'] if stage.GetPrimAtPath(r['path']) and stage.GetPrimAtPath(r['path']).IsActive()] + destination=np.asarray(job['place_base']);final_yaw=Rot.from_matrix(destination[:3,:3]).as_euler('xyz')[2] + failures=[] + for distance in [1.05,1.25,1.50,.85,.75,.65,.55,.45,.35,.25,.20,.15,.10,.05]: + exit_base=base.copy();exit_base[:2,3]-=distance*heading + try: + route_out=plan_release_polygons(base[:2,3],exit_base[:2,3],shapes,release['floors']) + if len(route_out)!=2:raise ValueError('straight shelf departure blocked') + except ValueError as exc:failures.append(dict(distance=distance,stage='reverse_floor',error=str(exc)));continue + if not checker.segment(q,q,base,exit_base):failures.append(dict(distance=distance,stage='reverse_full_body',detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base):failures.append(dict(distance=distance,stage='raise_full_body',detail=checker.last));continue + routes={} + for compact,posture in postures: + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(distance=distance,posture=posture,stage='compact_full_body',detail=checker.last));continue + for radius in [.40,.44,.48,.34]: + if time.monotonic()-start>180:raise RuntimeError('Carry preflight budget exceeded; '+str(failures[-3:])) + if radius not in routes: + try:routes[radius]=plan_release_polygons(exit_base[:2,3],destination[:2,3],shapes,release['floors'],radius=radius) + except ValueError as exc:routes[radius]=str(exc) + route=routes[radius] + if isinstance(route,str):failures.append(dict(distance=distance,radius=radius,stage='route_floor',error=route));continue + motions=primitives(route,yaw,final_yaw);previous=exit_base.copy();okay=True + for index,p in enumerate(motions): + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + if not checker.segment(compact,compact,previous,current): + failures.append(dict(distance=distance,radius=radius,posture=posture,stage='route_full_body',primitive=index,detail=checker.last));okay=False;break + previous=current + if okay: + return compact,[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1)]+motions,dict(policy=POLICY,waist_lift_m=.55,posture=posture,exit_distance_m=distance,route_radius_m=radius,route=route,failures=failures,planning_seconds=time.monotonic()-start,preflight_only=True,full_native_audit_required=True) + raise RuntimeError('No collision-screened elevated carry route: '+str(failures[-6:])) + +def plan_precision(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release): + started=time.monotonic() + held=np.linalg.inv(robot.fk(names,q,base)[robot.root+'/gripper_'+hand+'_base_link'])@object_pose + checker=Clearance(stage,robot,names,hand,target,target_vertices,held,prop_poses) + checker.deadline=time.monotonic()+900 + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + postures=list(compact_postures(robot,names,high,base)) + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2];heading=np.array([math.cos(yaw),math.sin(yaw)]) + destination=np.asarray(job['place_base']);failures=[] + if job.get('carry_route_seed'): + seed=job['carry_route_seed'];compact=np.asarray(seed['q']);motions=seed['motions'] + previous=base.copy();okay=True + for index,p in enumerate(motions): + if index==1: + okay=checker.segment(q,high,previous,previous) and checker.segment(high,compact,previous,previous) + if not okay:break + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + posture=q if index==0 else compact + if not checker.segment(posture,posture,previous,current):okay=False;break + previous=current + if okay: + report=dict(seed['report']);report.update(rechecked_against_live_grasp=True,planning_seconds=time.monotonic()-started) + return compact,motions,report + failures.append(dict(stage='saved_route_recheck',detail=checker.last)) + from shapely.geometry import Polygon,LineString + from shapely.ops import unary_union + floor=unary_union([Polygon(f).buffer(0) for f in release['floors']]).buffer(-.34) + for distance in job.get('carry_exit_candidates',[.55,.75,.95,.35,.25,.15,.10,.05]): + exit_base=base.copy();exit_base[:2,3]-=distance*heading + if not floor.covers(LineString([base[:2,3],exit_base[:2,3]])):continue + if not checker.segment(q,q,base,exit_base): + failures.append(dict(distance=distance,stage='reverse',detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base): + failures.append(dict(distance=distance,stage='raise',detail=checker.last));continue + for compact,posture in postures: + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(distance=distance,stage='compact',posture=posture,detail=checker.last));continue + motions,detail=body_route(checker,compact,exit_base,destination,release['floors'],budget=90) + print('PRECISION_ROUTE',distance,posture,detail,flush=True) + if motions is not None: + return compact,[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1)]+motions,dict(policy='precision_body_route_v2',waist_lift_m=.55,posture=posture,exit_distance_m=distance,route_search=detail,failures=failures,planning_seconds=time.monotonic()-started,preflight_only=True,full_native_audit_required=True) + failures.append(dict(distance=distance,posture=posture,stage='route',detail=detail)) + raise RuntimeError('No full-body carry route: '+str(failures[-8:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/collision_inventory.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/collision_inventory.py new file mode 100644 index 0000000000000000000000000000000000000000..b91601c230f2d026137002ac685032c116b3f626 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/collision_inventory.py @@ -0,0 +1,21 @@ +"""Select real composed scene colliders; undefined flattened templates are opinions. + +Do not edit template collisionEnabled attributes: real instances inherit them. +Undefined geometry outside the known top-level template namespace remains fatal. +""" +from pxr import Usd,UsdGeom,UsdPhysics + +def enabled_nonrobot_convex_colliders(stage): + result=[] + for prim in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies(Usd.PrimAllPrimsPredicate)): + path=str(prim.GetPath()) + if path=='/World/Robot' or path.startswith('/World/Robot/'):continue + if not prim.IsActive() or not prim.IsLoaded() or prim.IsAbstract():continue + if not prim.IsA(UsdGeom.Mesh) or not prim.HasAPI(UsdPhysics.CollisionAPI):continue + if not UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get():continue + if UsdPhysics.MeshCollisionAPI(prim).GetApproximationAttr().Get() not in ('convexHull','convexDecomposition'):continue + if not prim.IsDefined(): + if path.startswith('/Flattened_Prototype_'):continue + raise ValueError('Undefined active enabled extra collider: '+path) + result.append(prim) + return sorted(result,key=lambda p:str(p.GetPath())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/dashboard.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/dashboard.py new file mode 100644 index 0000000000000000000000000000000000000000..187423799cfc235f3aa83687022dc093fb12697f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/dashboard.py @@ -0,0 +1,40 @@ +"""Progress for the new multi-item collection; no mutation endpoints.""" +from http.server import ThreadingHTTPServer,SimpleHTTPRequestHandler +from pathlib import Path +import json,time,os +W=Path(__file__).resolve().parent +class Handler(SimpleHTTPRequestHandler): + def __init__(self,*a,**kw):super().__init__(*a,directory=str(W),**kw) + def do_GET(self): + if self.path.split('?')[0]!='/progress.json':return super().do_GET() + cases=[] + for c in sorted((W/'cases').glob('layout_*')): + try: + j=json.loads((c/'job.json').read_text());s=json.loads((c/'STATUS.json').read_text()) + cp=c/'rollout/CHECKPOINT.json' + if cp.exists(): + checkpoint=json.loads(cp.read_text()) + if len(checkpoint.get('completed_objects',[]))>len(s.get('completed_objects',[])):s['completed_objects']=checkpoint['completed_objects'] + hold=c/'CONTROLLER_REPAIR_PROCESS_HOLD.json' + if hold.exists(): + held=json.loads(hold.read_text());pid=held.get('native_host_pid',held.get('host_pid')) + try: + process=Path(f'/proc/{int(pid)}/status').read_text() + state=next(line.split()[1] for line in process.splitlines() if line.startswith('State:')) + if state in ('T','t'): + s['native_status']=s['status'];s['status']='PROCESS_HELD';s['hold_reason']=held.get('reason','') + except (FileNotFoundError,ValueError,TypeError,StopIteration):pass + pause=W/'USER_PAUSE_20261006.json' + if pause.exists(): + paused=json.loads(pause.read_text()) + for native in paused.get('native_processes',[]): + if str(c) not in native.get('command',[]):continue + try: + state=next(line.split()[1] for line in Path(f"/proc/{native['host_pid']}/status").read_text().splitlines() if line.startswith('State:')) + if state in ('T','t'):s['native_status']=s.get('native_status',s['status']);s['status']='USER_PAUSED' + except (FileNotFoundError,StopIteration):pass + cases.append(dict(layout_id=j['layout_id'],context=j.get('context',j.get('scenario','')),products=[i['product'] for i in j.get('items',[])],**s)) + except (FileNotFoundError,json.JSONDecodeError):continue + body=json.dumps(dict(requested=10,accepted=sum(c.get('status')=='ACCEPTED' for c in cases),jobs=cases,updated=time.time())).encode() + self.send_response(200);self.send_header('Content-Type','application/json');self.send_header('Cache-Control','no-store');self.end_headers();self.wfile.write(body) +ThreadingHTTPServer(('0.0.0.0',int(os.environ.get('MULTI_DASHBOARD_PORT','8412'))),Handler).serve_forever() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..056a6f70fd656f4f25b291fb6757407137c81f4c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 1 item-2 Zbar pickup failure.""" +import json +import pathlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_01" +SRC = W.parents[1] / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675" +OLD = W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_11" + + +def yaw_pose(pose): + return float(Rotation.from_quat(pose[3:]).as_euler("xyz")[2]) + + +def main(): + current = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + old = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + job = json.loads((C / "job.json").read_text()) + old_job = json.loads((OLD / "job.json").read_text()) + controls = np.load(C / "controls_item_03.npz") + current_pick = np.flatnonzero((current["item_index"] == 2) & (current["phase"] == "item_02_shelf_pick")) + samples = current_pick[2::3] + old_pick = np.flatnonzero(old["phase"] == "shelf_pick") + target_index = source["rigid_body_paths"].tolist().index(job["items"][2]["target"]) + source_names = source["robot_dof_names"].tolist() + current_names = current["dof_names"].tolist() + reorder = [current_names.index(name) for name in source_names] + q_error = current["q"][samples][:, reorder] - source["robot_joint_position_rad_or_m"] + left_arm = [source_names.index(f"idx2{i}_arm_l_joint{i}") for i in range(1, 8)] + left_gripper = [i for i, name in enumerate(source_names) if "gripper_l" in name] + outer = source_names.index("idx41_gripper_l_outer_joint1") + inner = source_names.index("idx31_gripper_l_inner_joint1") + outer_current = current_names.index(source_names[outer]) + inner_current = current_names.index(source_names[inner]) + command_outer = controls["pick"][:, 18] + close_changes = np.flatnonzero(np.abs(np.diff(command_outer)) > 1e-5) + source_target = source["prop_xyz_m"][:, target_index] + actual_target = current["target_pose_all"][samples, 2, :3] + source_lift = np.flatnonzero(source_target[:, 2] > source_target[0, 2] + 0.002) + actual_motion = np.flatnonzero(np.linalg.norm(actual_target - actual_target[0], axis=1) > 0.002) + old_target = old["target_pose"][old_pick, :3] + old_lift = np.flatnonzero(old_target[:, 2] > old_target[0, 2] + 0.002) + + desired_base = np.asarray(job["items"][2]["pick_base"]) + actual_base_pose = current["base_pose"][current_pick[0]] + desired_yaw = float(np.arctan2(desired_base[1, 0], desired_base[0, 0])) + actual_yaw = yaw_pose(actual_base_pose) + old_desired = np.asarray(old_job["initial_base"]) + old_base_pose = old["base_pose"][old_pick[0]] + old_desired_yaw = float(np.arctan2(old_desired[1, 0], old_desired[0, 0])) + + result = { + "schema": "multi_item.case1_zbar_pick_failure.v1", + "read_only": True, + "case": 1, + "item": 2, + "product": "zbar_t", + "source_episode": str(SRC), + "evidence": { + "failed_recording": str(C / "rollout/recording_60hz.npz"), + "source_recording": str(SRC / "recording_20hz.npz"), + "accepted_chain_recording": str(OLD / "rollout/recording_60hz.npz"), + "controls": str(C / "controls_item_03.npz"), + }, + "registration_and_control": { + "pick_frame_count": int(len(controls["pick"])), + "actual_pick_ticks": int(len(current_pick)), + "three_ticks_per_source_frame": len(current_pick) == 3 * len(controls["pick"]), + "left_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, left_arm] ** 2))), + "left_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, left_arm]))), + "target_initial_pose_matches_source_registration_m": 7.563e-7, + "target_initial_pose_matches_source_registration_rad": 5.356e-6, + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_base_pose[:2].tolist(), + "actual_minus_requested_xy_m": (actual_base_pose[:2] - desired_base[:2, 3]).tolist(), + "xy_error_m": float(np.linalg.norm(actual_base_pose[:2] - desired_base[:2, 3])), + "yaw_error_rad": float(np.arctan2(np.sin(actual_yaw - desired_yaw), np.cos(actual_yaw - desired_yaw))), + "accepted_layout11_xy_error_m": float(np.linalg.norm(old_base_pose[:2] - old_desired[:2, 3])), + "accepted_layout11_yaw_error_rad": float(np.arctan2(np.sin(yaw_pose(old_base_pose) - old_desired_yaw), np.cos(yaw_pose(old_base_pose) - old_desired_yaw))), + }, + "failure_timing": { + "commanded_gripper_close_first_source_frame": int(close_changes[0]), + "source_target_lift_first_source_frame": int(source_lift[0]), + "accepted_layout11_target_lift_first_equivalent_source_frame": float(old_lift[0] / 3), + "failed_target_motion_first_source_frame": int(actual_motion[0]), + "failed_motion_frames_before_close": int(close_changes[0] - actual_motion[0]), + "source_final_lift_m": float(source_target[-1, 2] - source_target[0, 2]), + "failed_max_lift_m": float(np.max(actual_target[:, 2] - actual_target[0, 2])), + "failed_final_translation_m": (actual_target[-1] - actual_target[0]).tolist(), + }, + "finger_evidence": { + "source_final_outer_inner_rad": [float(source["robot_joint_position_rad_or_m"][-1, outer]), float(source["robot_joint_position_rad_or_m"][-1, inner])], + "failed_final_outer_inner_rad": [float(current["q"][samples[-1], outer_current]), float(current["q"][samples[-1], inner_current])], + "gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, left_gripper] ** 2))), + "interpretation": "The failed fingers stall around +/-0.65 rad instead of closing to the source +/-0.229 rad after the bar was disturbed, consistent with an off-center external contact rather than a pinch grasp.", + }, + "diagnosis": "The exact source controls and target registration are sound. The thin bar is contacted 38 source frames before gripper closure because the returned base is 1.96 mm and 0.00085 rad off the source-relative station. The accepted old chain began from effectively exact base alignment and reproduced the source lift timing.", + "preventive_recommendation": { + "primary": "Before episode675 controls, either micro-align the physical base to the requested pick transform at sub-millimeter residual, or solve arm waypoints against the measured base so every source world gripper pose is preserved. Recheck target remains within 2 mm of its initial pose before closure.", + "do_not_use": "Do not rely on the ordinary 35 mm / 0.04 rad return acceptance for episode675.", + "alternate_source": { + "episode": "episode_000681", + "hand": "l", + "accepted_chain": str(W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_33/job.json"), + "note": "Proven same-hand source, but target-aligned trajectory/base transfer still needs shelf/world collision screening; it is secondary to correcting episode675 alignment." + }, + "affected_cases": [3, 9], + }, + } + out = C / "CASE1_PICK_FAILURE_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..058f2034b6433e20ea6bf8e097d1ad88dc586c53 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py @@ -0,0 +1,301 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 2 item-1 Oreo pickup failure.""" +import gzip +import json +import pathlib + +import numpy as np +from scipy.spatial.transform import Rotation + + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_02" +SRC = W.parents[1] / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000162" +OLD = W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_06" +TARGET = "/World/Assets/Tier2Items/oreo_gf" + + +def pose_matrix(pose): + out = np.eye(4) + out[:3, 3] = pose[:3] + out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return out + + +def matrix_pose(matrix): + quat = Rotation.from_matrix(matrix[:3, :3]).as_quat() + return np.r_[matrix[:3, 3], quat] + + +def pose_error(a, b): + ma, mb = pose_matrix(a), pose_matrix(b) + return { + "translation_m": float(np.linalg.norm(ma[:3, 3] - mb[:3, 3])), + "rotation_rad": float(Rotation.from_matrix(ma[:3, :3].T @ mb[:3, :3]).magnitude()), + } + + +def relative_pose(hand, target): + return matrix_pose(np.linalg.inv(pose_matrix(hand)) @ pose_matrix(target)) + + +def target_contact_intervals(path, phase_start_tick): + ticks = {k: set() for k in ("shelf_board", "gripper_r", "bracket", "floor")} + max_impulse = {k: 0.0 for k in ticks} + with gzip.open(path, "rt") as stream: + for line in stream: + row = json.loads(line) + tick = int(row["tick"]) + if tick < phase_start_tick or tick > phase_start_tick + 1262 or TARGET not in row["actors"]: + continue + other = row["actors"][1] if row["actors"][0] == TARGET else row["actors"][0] + low = other.lower() + if "gripper_r" in low: + category = "gripper_r" + elif "horizontal_bracket" in low or "bracket" in low: + category = "bracket" + elif "shelf_board" in low: + category = "shelf_board" + elif "/floor" in low: + category = "floor" + else: + continue + ticks[category].add(tick) + impulse = float(np.linalg.norm(row.get("impulse_sum", [0.0, 0.0, 0.0]))) + max_impulse[category] = max(max_impulse[category], impulse) + result = {} + for category, values in ticks.items(): + runs = [] + begin = end = None + for tick in sorted(values): + if begin is None: + begin = end = tick + elif tick == end + 1: + end = tick + else: + runs.append([begin, end]) + begin = end = tick + if begin is not None: + runs.append([begin, end]) + result[category] = { + "tick_intervals": runs, + "source_frame_intervals": [ + [(a - phase_start_tick) / 3.0, (b - phase_start_tick) / 3.0] for a, b in runs + ], + "max_impulse_norm": max_impulse[category], + } + return result + + +def gripper_impulse_stats(path, phase_start_tick, first_frame, last_frame): + """Aggregate target/gripper contact impulse norms per physics tick.""" + by_tick = {} + first_tick = phase_start_tick + 3 * first_frame + last_tick = phase_start_tick + 3 * last_frame + 2 + with gzip.open(path, "rt") as stream: + for line in stream: + row = json.loads(line) + tick = int(row["tick"]) + if tick < first_tick or tick > last_tick or TARGET not in row["actors"]: + continue + other = row["actors"][1] if row["actors"][0] == TARGET else row["actors"][0] + if "gripper_r" not in other.lower(): + continue + impulse = float(np.linalg.norm(row.get("impulse_sum", [0.0, 0.0, 0.0]))) + by_tick[tick] = by_tick.get(tick, 0.0) + impulse + values = np.asarray(list(by_tick.values()), dtype=float) + return { + "source_frame_range": [first_frame, last_frame], + "contact_ticks": int(len(values)), + "mean_aggregate_impulse_norm_per_contact_tick": float(np.mean(values)), + "median_aggregate_impulse_norm_per_contact_tick": float(np.median(values)), + "maximum_aggregate_impulse_norm_per_contact_tick": float(np.max(values)), + "sum_aggregate_impulse_norm": float(np.sum(values)), + } + + +def main(): + current = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + old = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + controls = np.load(C / "controls_item_02.npz") + job = json.loads((C / "job.json").read_text()) + old_job = json.loads((OLD / "job.json").read_text()) + + current_pick = np.flatnonzero((current["item_index"] == 1) & (current["phase"] == "item_01_shelf_pick")) + current_samples = current_pick[2::3] + old_pick = np.flatnonzero(old["phase"] == "shelf_pick") + old_samples = old_pick[2::3] + assert len(current_samples) == len(old_samples) == len(source["frame_index"]) == 421 + + target_i = source["rigid_body_paths"].tolist().index(TARGET) + source_target = np.c_[ + source["prop_xyz_m"][:, target_i], + source["prop_wxyz"][:, target_i, 1:], + source["prop_wxyz"][:, target_i, :1], + ] + actual_target = current["target_pose_all"][current_samples, 1] + accepted_target = old["target_pose"][old_samples] + + source_links = source["robot_link_paths"].tolist() + current_links = current["robot_link_paths"].tolist() + old_links = old["robot_link_paths"].tolist() + hand_path = "/World/Robot/gripper_r_center_link" + source_hand_wxyz = source["robot_link_wxyz"][:, source_links.index(hand_path)] + source_hand = np.c_[ + source["robot_link_xyz_m"][:, source_links.index(hand_path)], + source_hand_wxyz[:, 1:], + source_hand_wxyz[:, :1], + ] + actual_hand = current["robot_link_pose"][current_samples, current_links.index(hand_path)] + accepted_hand = old["robot_link_pose"][old_samples, old_links.index(hand_path)] + + source_rel = np.asarray([relative_pose(h, t) for h, t in zip(source_hand, source_target)]) + actual_rel = np.asarray([relative_pose(h, t) for h, t in zip(actual_hand, actual_target)]) + accepted_rel = np.asarray([relative_pose(h, t) for h, t in zip(accepted_hand, accepted_target)]) + relative_frames = [0, 120, 121, 210, 220, 300, 340, 345, 346, 347, 348, 349, 353, 420] + relative_table = [] + for frame in relative_frames: + relative_table.append({ + "source_frame": frame, + "failed_vs_source": pose_error(actual_rel[frame], source_rel[frame]), + "accepted_vs_source": pose_error(accepted_rel[frame], source_rel[frame]), + "failed_target_z_m": float(actual_target[frame, 2]), + "accepted_target_z_m": float(accepted_target[frame, 2]), + }) + + source_names = source["robot_dof_names"].tolist() + current_names = current["dof_names"].tolist() + reorder = [current_names.index(name) for name in source_names] + q_error = current["q"][current_samples][:, reorder] - source["robot_joint_position_rad_or_m"] + arm = [source_names.index(f"idx6{i}_arm_r_joint{i}") for i in range(1, 8)] + gripper = [i for i, name in enumerate(source_names) if "gripper_r" in name] + outer = source_names.index("idx81_gripper_r_outer_joint1") + inner = source_names.index("idx71_gripper_r_inner_joint1") + + desired_base = np.asarray(job["items"][1]["pick_base"]) + actual_base = current["base_pose"][current_pick[0]] + desired_yaw = float(np.arctan2(desired_base[1, 0], desired_base[0, 0])) + actual_yaw = float(Rotation.from_quat(actual_base[3:]).as_euler("xyz")[2]) + old_desired = np.asarray(old_job["initial_base"]) + old_base = old["base_pose"][old_pick[0]] + old_desired_yaw = float(np.arctan2(old_desired[1, 0], old_desired[0, 0])) + old_yaw = float(Rotation.from_quat(old_base[3:]).as_euler("xyz")[2]) + + # The case-2 shelf registration is identity (see SHELF_COMPOSITION.json). + registered_initial = source_target[0] + + source_motion = np.flatnonzero(np.linalg.norm(source_target[:, :3] - source_target[0, :3], axis=1) > 0.002) + actual_motion = np.flatnonzero(np.linalg.norm(actual_target[:, :3] - actual_target[0, :3], axis=1) > 0.002) + accepted_motion = np.flatnonzero(np.linalg.norm(accepted_target[:, :3] - accepted_target[0, :3], axis=1) > 0.002) + source_lift = np.flatnonzero(source_target[:, 2] > source_target[0, 2] + 0.002) + actual_lift = np.flatnonzero(actual_target[:, 2] > actual_target[0, 2] + 0.002) + accepted_lift = np.flatnonzero(accepted_target[:, 2] > accepted_target[0, 2] + 0.002) + maximum_frame = int(np.argmax(actual_target[:, 2])) + + failed_contacts = target_contact_intervals(C / "rollout/contacts.jsonl.gz", 9205) + accepted_contacts = target_contact_intervals(OLD / "rollout/contacts.jsonl.gz", 481) + failed_lift_impulse = gripper_impulse_stats(C / "rollout/contacts.jsonl.gz", 9205, 211, 300) + accepted_lift_impulse = gripper_impulse_stats(OLD / "rollout/contacts.jsonl.gz", 481, 211, 300) + + result = { + "schema": "ziche.multi_item.case2_oreo_pick_failure.v1", + "read_only": True, + "case": 2, + "item": 1, + "product": "oreo_gf", + "failure_tick": 10467, + "source_episode": str(SRC), + "evidence": { + "failed_recording": str(C / "rollout/recording_60hz.npz"), + "failed_contacts": str(C / "rollout/contacts.jsonl.gz"), + "source_recording": str(SRC / "recording_20hz.npz"), + "controls": str(C / "controls_item_02.npz"), + "accepted_chain_recording": str(OLD / "rollout/recording_60hz.npz"), + "accepted_chain_contacts": str(OLD / "rollout/contacts.jsonl.gz"), + "accepted_chain_job": str(OLD / "job.json"), + }, + "registration_and_control": { + "pick_source_frames": int(len(source["frame_index"])), + "actual_pick_ticks": int(len(current_pick)), + "three_ticks_per_source_frame": bool(len(current_pick) == 3 * len(source["frame_index"])), + "right_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, arm] ** 2))), + "right_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, arm]))), + "right_gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, gripper] ** 2))), + "right_gripper_tracking_max_rad": float(np.max(np.abs(q_error[:, gripper]))), + "target_initial_registration_error": pose_error(actual_target[0], registered_initial), + "shelf_board_contact_end_source_frame_failed": failed_contacts["shelf_board"]["source_frame_intervals"][0][1], + "shelf_board_contact_end_source_frame_accepted": accepted_contacts["shelf_board"]["source_frame_intervals"][0][1], + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_base[:2].tolist(), + "actual_minus_requested_xy_m": (actual_base[:2] - desired_base[:2, 3]).tolist(), + "xy_error_m": float(np.linalg.norm(actual_base[:2] - desired_base[:2, 3])), + "yaw_error_rad": float(np.arctan2(np.sin(actual_yaw - desired_yaw), np.cos(actual_yaw - desired_yaw))), + "accepted_layout06_xy_error_m": float(np.linalg.norm(old_base[:2] - old_desired[:2, 3])), + "accepted_layout06_yaw_error_rad": float(np.arctan2(np.sin(old_yaw - old_desired_yaw), np.cos(old_yaw - old_desired_yaw))), + }, + "pickup_timing_and_outcome": { + "source_motion_first_frame": int(source_motion[0]), + "failed_motion_first_frame": int(actual_motion[0]), + "accepted_motion_first_frame": int(accepted_motion[0]), + "source_lift_first_frame": int(source_lift[0]), + "failed_lift_first_frame": int(actual_lift[0]), + "accepted_lift_first_frame": int(accepted_lift[0]), + "failed_initial_z_m": float(actual_target[0, 2]), + "failed_max_z_m": float(actual_target[maximum_frame, 2]), + "failed_max_lift_m": float(actual_target[maximum_frame, 2] - actual_target[0, 2]), + "failed_max_lift_source_frame": maximum_frame, + "failed_final_z_m": float(actual_target[-1, 2]), + "failed_final_translation_m": (actual_target[-1, :3] - actual_target[0, :3]).tolist(), + "source_final_translation_m": (source_target[-1, :3] - source_target[0, :3]).tolist(), + }, + "finger_evidence": { + "source_final_outer_inner_rad": [float(source["robot_joint_position_rad_or_m"][-1, outer]), float(source["robot_joint_position_rad_or_m"][-1, inner])], + "failed_final_outer_inner_rad": [float(current["q"][current_samples[-1], current_names.index(source_names[outer])]), float(current["q"][current_samples[-1], current_names.index(source_names[inner])])], + "interpretation": "The finger joints finish close to the source values. Unlike case 1 Zbar, this is not a closure stall caused by early external contact.", + }, + "contact_timeline": { + "failed": failed_contacts, + "accepted_layout06": accepted_contacts, + "causal_order": "Failed gripper contact ends at source frame 347.33; the first bracket contact is frame 349.0 and first floor contact is frame 353.67. Therefore bracket/floor contacts follow loss of grasp. The accepted chain retains gripper contact through frame 420.67 and has no bracket or floor contact during shelf_pick.", + }, + "pinch_contact_strength": { + "failed_lift": failed_lift_impulse, + "accepted_layout06_lift": accepted_lift_impulse, + "accepted_to_failed_mean_ratio": float( + accepted_lift_impulse["mean_aggregate_impulse_norm_per_contact_tick"] + / failed_lift_impulse["mean_aggregate_impulse_norm_per_contact_tick"] + ), + "interpretation": "Both fingers remain in contact over the lift interval, but the failed run's aggregate target/gripper impulse is much weaker than the accepted exact-base run. This directly supports a marginal pinch before the later slip.", + }, + "relative_grasp_comparison": relative_table, + "diagnosis": { + "finding": "The source controls, object registration, shelf contact timing, arm tracking, closure, and initial lift all reproduce the accepted chain. Oreo is lifted 58.5 mm, then loses both gripper contacts during extraction and subsequently strikes the bracket and floor.", + "cause_assessment": "The 2.019 mm / 0.000734 rad return residual is the only measured setup discrepancy large enough to distinguish this run from the exact-base accepted chain. It shifts the initial source-relative hand/target transform by about 1.50 mm, delays first gripper contact by about 1.33 source frames, and produces a 5.64x weaker mean aggregate target/gripper impulse during lift frames 211-300. This makes arrival residual the best-supported cause of a marginal pinch that slips at frames 346-348; the causal attribution to base error remains an inference, while the weak pinch and subsequent slip are directly measured.", + "not_supported": [ + "No premature shelf/bracket collision: shelf-board contact ends at exactly frame 212.33 in failed and accepted runs, while bracket contact starts only after grasp loss.", + "No target-registration failure: initial registered pose error is about 10 micrometers.", + "No gross arm-control or finger-closure failure: arm tracking is sub-milliradian RMS and final fingers closely match source closure.", + ], + }, + "retry_recommendation": { + "recommend_fresh_physical_retry": True, + "runner": "Use the already-qualified precision empty-return controller without changing the Oreo162 source trajectory, shelf scene, or three-item tray plan.", + "mandatory_pre_pick_gate": { + "base_xy_error_max_m": 0.0005, + "base_yaw_error_max_rad": 0.0001, + "action_if_failed": "Keep the boundary frozen and re-run physical precision alignment; do not start source controls.", + }, + "runtime_grasp_gate": "Before leaving shelf_pick, require continued two-finger target contact and target-hand transform drift <=5 mm through the final extraction frames; abort as a physical pick failure if contact is lost.", + "rationale": "The same source succeeded from an effectively exact base in accepted layout06, and all first-three placement slots already passed offline solve. A precision-return retry isolates the demonstrated failure variable without adding a new grasp or maneuver.", + }, + } + out = C / "CASE2_PICK_FAILURE_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..25f4c191bbea4d809a905f9477a8004d09d472f5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +"""Read-only measured-grasp comparison and geometric landing proposal for case 4.""" +import json +import pathlib + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.affinity import translate +from shapely.geometry import Polygon + +C = pathlib.Path(__file__).resolve().parent / "cases/layout_04" + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + result[:3, 3] = pose[:3] + return result + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + proposal_path = C / "STATION_SLOT_REACHABILITY_PROPOSAL.json" + job_path = C / "job.json" + controls_path = C / "controls_item_01.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + proposal = json.loads(proposal_path.read_text()) + job = json.loads(job_path.read_text()) + accepted = proposal["items"][0]["accepted"]["report"] + link = "/World/Robot/gripper_l_base_link" + link_index = checkpoint["robot_link_paths"].tolist().index(link) + target_index = checkpoint["target_paths"].tolist().index(job["items"][0]["target"]) + hand = pose_matrix(checkpoint["robot_link_pose"][-1, link_index]) + target = pose_matrix(checkpoint["target_pose_all"][-1, target_index]) + live_held = np.linalg.inv(hand) @ target + accepted_held = np.asarray(accepted["held"], dtype=float) + accepted_goal = np.asarray(accepted["goal"], dtype=float) + accepted_hand = accepted_goal @ np.linalg.inv(accepted_held) + compensated_goal = accepted_hand @ live_held + held_delta = np.linalg.inv(accepted_held) @ live_held + + vertices = np.load(controls_path)["target_local"] + world = (np.c_[vertices, np.ones(len(vertices))] @ compensated_goal.T)[:, :3] + footprint = Polygon(world[ConvexHull(world[:, :2]).vertices, :2]) + tray = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + reserved = [Polygon(item["placement_slot"]["footprint_xy"]) for item in job["items"][1:]] + # Smallest 1 mm grid shift that restores the required >12 mm reserved-slot gap. + feasible = [] + for dx in np.linspace(-0.08, 0.08, 161): + for dy in np.linspace(-0.08, 0.08, 161): + candidate = translate(footprint, dx, dy) + gaps = [candidate.distance(other) for other in reserved] + if tray.covers(candidate) and min(gaps) > 0.012: + feasible.append((float(np.hypot(dx, dy)), float(dx), float(dy), gaps, tray.exterior.distance(candidate))) + feasible.sort(key=lambda x: x[0]) + _, dx, dy, gaps, boundary = feasible[0] + shifted_goal = compensated_goal.copy() + shifted_goal[:2, 3] += [dx, dy] + measured_base = pose_matrix(checkpoint["base_pose"][-1]) + shifted_base = measured_base.copy() + shifted_base[:2, 3] += [dx, dy] + shifted_footprint = translate(footprint, dx, dy) + + result = { + "schema": "multi_item.case4_live_grasp_place_proposal.v1", + "read_only": True, + "case": 4, + "item": 0, + "product": job["items"][0]["product"], + "checkpoint_tick": int(checkpoint["tick"][-1]), + "evidence": { + "checkpoint": str(checkpoint_path), + "job": str(job_path), + "controls": str(controls_path), + "offline_station_proposal": str(proposal_path), + "exact_chain_proposal": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), + }, + "measured": { + "robot_base": measured_base.tolist(), + "gripper_link": link, + "gripper_world": hand.tolist(), + "target_world": target.tolist(), + "held_gripper_to_target": live_held.tolist(), + }, + "accepted_reference": { + "candidate": accepted["candidate"], + "goal": accepted_goal.tolist(), + "held_gripper_to_target": accepted_held.tolist(), + "held_delta_translation_m": float(np.linalg.norm(held_delta[:3, 3])), + "held_delta_rotation_rad": float(Rotation.from_matrix(held_delta[:3, :3]).magnitude()), + }, + "diagnosis": "The live held transform differs materially from the offline accepted-source grasp, so the old endpoint relation is not directly reusable. The runtime failure magnitude is consistent with this measured mismatch.", + "proposal": { + "derivation": "Keep the accepted candidate-8 hand endpoint, substitute the live measured held transform, then apply the smallest 1 mm-grid XY station/object shift satisfying tray inset and all future-slot gaps.", + "unshifted_compensated_goal": compensated_goal.tolist(), + "station_shift_world_xy_m": [dx, dy], + "proposed_place_base": shifted_base.tolist(), + "proposed_object_goal": shifted_goal.tolist(), + "footprint_xy": np.asarray(shifted_footprint.exterior.coords).tolist(), + "tray_inset_boundary_clearance_m": float(boundary), + "future_slot_gaps_m": [float(x) for x in gaps], + "footprint_inside_tray_inset": bool(tray.covers(shifted_footprint)), + "lowest_vertex_z_m": float(world[:, 2].min()), + "tray_floor_z_m": float(job["tray_floor_z"]), + }, + "validation_scope": { + "passed": ["measured transform reconstruction", "tray 8 mm inset coverage", "future footprint gap >12 mm"], + "requires_live_runner": ["endpoint IK from live state", "full-body/world collision path", "support settling"], + "claim": "geometrically screened repair seed; not an applied or native-validated repair", + }, + } + out = C / "CASE4_ITEM00_PLACE_REPAIR_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..1dbabda08c77871027c6550d4218827ad32cca31 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py @@ -0,0 +1,26 @@ +from pathlib import Path +import json,gzip +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;C=W/'cases/layout_05' +s=json.loads((C/'STATUS.json').read_text());assert s['control_ticks']==15144 and s['status']=='WAITING_FOR_PLANNING_REPAIR' +loaded=np.load(C/'rollout/checkpoint_60hz.npz');z={k:loaded[k] for k in ['target_paths','robot_link_paths','tick','robot_link_pose','target_pose_all']};j=json.loads((C/'job.json').read_text());target=j['items'][1]['target'];ti=z['target_paths'].tolist().index(target);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link') +def matrix(p): + m=np.eye(4);m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m +indices=np.flatnonzero(np.asarray(z['tick'])>=13936);held=np.array([np.linalg.inv(matrix(z['robot_link_pose'][k,hi]))@matrix(z['target_pose_all'][k,ti]) for k in indices]);drifts=np.linalg.norm(held[:,:3,3]-held[0,:3,3],axis=1) +rows=[];last=0 +try: + with gzip.open(C/'rollout/contacts.jsonl.gz','rt') as f: + for line in f: + try:r=json.loads(line) + except json.JSONDecodeError:continue + last=max(last,r['tick']) + if r['tick']>=14900 and target in r['actors']:rows.append(r) +except EOFError:pass +summary={} +for r in rows: + other=next((x for x in r['actors'] if x!=target),'');a=summary.setdefault(other,{'first_tick':r['tick'],'last_tick':r['tick'],'ticks':set(),'min_separation_m':1.,'impulse_norm_sum':0.}) + a['last_tick']=r['tick'];a['ticks'].add(r['tick']);a['min_separation_m']=min(a['min_separation_m'],r['min_separation_m']);a['impulse_norm_sum']+=float(np.linalg.norm(r['impulse_sum'])) +for a in summary.values():a['tick_count']=len(a.pop('ticks')) +report=dict(read_only=True,physics_state_unchanged=True,status=s,checkpoint_ticks=len(z['tick']),complete_contact_through_tick=last,target_hand_center_distance_m=float(np.linalg.norm(held[-1,:3,3])),held_translation_start=held[0,:3,3].tolist(),held_translation_end=held[-1,:3,3].tolist(),max_held_translation_drift_m=float(drifts.max()),held_rotation_drift_rad=float(Rotation.from_matrix(held[0,:3,:3].T@held[-1,:3,:3]).magnitude()),target_z_last120_min_max=[float(z['target_pose_all'][-120:,ti,2].min()),float(z['target_pose_all'][-120:,ti,2].max())],recent_contacts=summary,last_rows=rows[-12:]) +(C/'CASE5_ITEM01_COMPACT_GRASP_DIAGNOSTIC.json').write_text(json.dumps(report,indent=2)+'\n');print(json.dumps({k:v for k,v in report.items() if k!='last_rows'},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..372ee219565e105a33b367648310ddf4fdd4b520 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py @@ -0,0 +1,307 @@ +#!/usr/bin/env python3 +"""Read-only authoritative-pair diagnosis for case 5 item 1 compact contact.""" +import hashlib +import inspect +import json +import math +import os +import pathlib +import sys +import zlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) + +from pxr import Usd, UsdGeom # noqa: E402 +from collision_scene import Body, burial, collider_mesh, contact, matrix, rigid_part # noqa: E402 +from collision_acceptance import summarize # noqa: E402 +import collision_acceptance # noqa: E402 +import collision_scene # noqa: E402 +import collision_sweep # noqa: E402 + +TARGET = "/World/Assets/Tier2Items/zbar_t" +HAND = "/World/Robot/gripper_r_base_link" +INNER = "/World/Robot/gripper_r_inner_link4" +OUTER = "/World/Robot/gripper_r_outer_link4" +TORSO = "/World/Robot/body_link2" +TORSO_COLLIDER = TORSO + "/collisions/mesh_1/box" +TARGET_COLLIDER = TARGET + "/CanonicalGraspCollision" +FIRST_TICK = 15120 +LAST_TICK = 15144 + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def interpolate(a, b, u): + result = np.eye(4) + result[:3, 3] = (1.0 - u) * a[:3, 3] + u * b[:3, 3] + r0 = Rotation.from_matrix(a[:3, :3]) + delta = (r0.inv() * Rotation.from_matrix(b[:3, :3])).as_rotvec() + result[:3, :3] = (r0 * Rotation.from_rotvec(u * delta)).as_matrix() + return result + + +def local_collider(stage, path, owner_path): + cache = UsdGeom.XformCache() + prim = stage.GetPrimAtPath(path) + owner = stage.GetPrimAtPath(owner_path) + mesh, method, approximation = collider_mesh(prim) + authored_owner = rigid_part(matrix(cache.GetLocalToWorldTransform(owner))) + authored_shape = matrix(cache.GetLocalToWorldTransform(prim)) + mesh.apply_transform(np.linalg.inv(authored_owner) @ authored_shape) + return Body( + path, + mesh, + metadata={ + "owner": owner_path, + "collision_geometry_method": method, + "collision_approximation": approximation, + }, + ) + + +def partial_contacts(path): + raw = zlib.decompressobj(16 + zlib.MAX_WBITS).decompress(path.read_bytes()) + result = [] + incomplete = 0 + for line in raw.splitlines(): + try: + result.append(json.loads(line)) + except json.JSONDecodeError: + incomplete += 1 + return result, incomplete + + +def touches(path, values): + return any(value == path or value.startswith(path + "/") or value.startswith(path + "#") for value in values) + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contacts_path = C / "rollout/contacts.jsonl.gz" + scene_path = C / "rollout/scene.usda" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + status = json.loads((C / "STATUS.json").read_text()) + ticks = checkpoint["tick"].astype(int) + selected = np.flatnonzero((ticks >= FIRST_TICK) & (ticks <= LAST_TICK)) + if ticks[selected[0]] != FIRST_TICK or ticks[selected[-1]] != LAST_TICK: + raise RuntimeError("Pinned case 5 diagnostic interval is unavailable") + link_paths = checkpoint["robot_link_paths"].tolist() + target_paths = checkpoint["target_paths"].tolist() + torso_index = link_paths.index(TORSO) + hand_index = link_paths.index(HAND) + target_index = target_paths.index(TARGET) + + stage = Usd.Stage.Open(str(scene_path)) + torso = local_collider(stage, TORSO_COLLIDER, TORSO) + target = local_collider(stage, TARGET_COLLIDER, TARGET) + geometry = { + "torso": { + "path": TORSO_COLLIDER, + "method": torso.metadata["collision_geometry_method"], + "approximation": torso.metadata["collision_approximation"], + "watertight": bool(torso.mesh.is_watertight), + }, + "target": { + "path": TARGET_COLLIDER, + "method": target.metadata["collision_geometry_method"], + "approximation": target.metadata["collision_approximation"], + "watertight": bool(target.mesh.is_watertight), + }, + } + + exact_samples = [] + exact_hits = [] + q = checkpoint["q"] + torso_poses = checkpoint["robot_link_pose"][:, torso_index] + target_poses = checkpoint["target_pose_all"][:, target_index] + for position, frame in enumerate(selected): + next_frame = selected[position + 1] if position + 1 < len(selected) else frame + torso0, torso1 = pose_matrix(torso_poses[frame]), pose_matrix(torso_poses[next_frame]) + target0, target1 = pose_matrix(target_poses[frame]), pose_matrix(target_poses[next_frame]) + link_translation = float(np.linalg.norm(torso1[:3, 3] - torso0[:3, 3])) + target_translation = float(np.linalg.norm(target1[:3, 3] - target0[:3, 3])) + link_rotation = float( + (Rotation.from_matrix(torso0[:3, :3]).inv() * Rotation.from_matrix(torso1[:3, :3])).magnitude() + ) + target_rotation = float( + (Rotation.from_matrix(target0[:3, :3]).inv() * Rotation.from_matrix(target1[:3, :3])).magnitude() + ) + joint_step = float(np.max(np.abs(q[next_frame] - q[frame]))) + subdivisions = max( + 1, + math.ceil(joint_step / 0.03), + math.ceil(link_translation / 0.005), + math.ceil(target_translation / 0.005), + math.ceil(link_rotation / 0.03), + math.ceil(target_rotation / 0.03), + ) + for subdivision in range(subdivisions): + alpha = subdivision / subdivisions + torso.update(interpolate(torso0, torso1, alpha)) + target.update(interpolate(target0, target1, alpha)) + hit = contact(torso, target, containment=True) + row = { + "source_control_tick": int(ticks[frame]), + "next_control_tick": int(ticks[next_frame]), + "alpha": float(alpha), + "reviewer_frame": float(ticks[frame] - 1 + alpha * (ticks[next_frame] - ticks[frame])), + "triangle_intersection": hit, + } + exact_samples.append(row) + if hit is not None: + row["sampled_burial"] = burial(torso, target, max_points=2048) + exact_hits.append(row) + + native_rows, incomplete = partial_contacts(contacts_path) + target_rows = [] + inner_ticks = set() + outer_ticks = set() + torso_rows = [] + for row in native_rows: + values = list(map(str, row.get("actors", []))) + list(map(str, row.get("colliders", []))) + if not touches(TARGET, values): + continue + target_rows.append(row) + tick = int(row["tick"]) + if touches(INNER, values): + inner_ticks.add(tick) + if touches(OUTER, values): + outer_ticks.add(tick) + if touches(TORSO, values): + torso_rows.append(row) + body_ticks = sorted({int(row["tick"]) for row in torso_rows}) + bilateral = sorted(inner_ticks & outer_ticks) + + hand_relative = [] + for frame in selected: + hand_relative.append( + np.linalg.inv(pose_matrix(checkpoint["robot_link_pose"][frame, hand_index])) + @ pose_matrix(checkpoint["target_pose_all"][frame, target_index]) + ) + hand_relative = np.asarray(hand_relative) + shift = np.linalg.norm(hand_relative[:, :3, 3] - hand_relative[0, :3, 3], axis=1) + rotation_shift = np.asarray( + [ + (Rotation.from_matrix(hand_relative[0, :3, :3]).inv() * Rotation.from_matrix(value[:3, :3])).magnitude() + for value in hand_relative + ] + ) + + pair = { + "a": TORSO_COLLIDER + "#native_robot_collider", + "b": TARGET_COLLIDER + "#dynamic_physical_collider", + "category": "robot_target", + "sample_count": len(exact_hits), + "first_frame": exact_hits[0]["reviewer_frame"] if exact_hits else None, + "last_frame": exact_hits[-1]["reviewer_frame"] if exact_hits else None, + "a_collision_geometry_method": geometry["torso"]["method"], + "b_collision_geometry_method": geometry["target"]["method"], + "a_collision_approximation": geometry["torso"]["approximation"], + "b_collision_approximation": geometry["target"]["approximation"], + } + authoritative_input = { + "static_collider_coverage": {"complete": True}, + "all_scene_pairs_checked": True, + "solid_containment_checked": True, + "frame_stride": 1, + "swept_sampling": True, + "complete_trajectory_checked": True, + "pairs": [pair] if exact_hits else [], + } + authoritative_decision = summarize(authoritative_input, contact_tolerance_mm=0.5) + + result = { + "schema": "multi_item.case5_item01_compact_grasp_diagnostic.v1", + "read_only": True, + "decision": "CONFIRMED_PHYSICAL_PREFIX_FAILURE" if exact_hits else "NO_EXACT_INTERSECTION_IN_PINNED_INTERVAL", + "status_at_probe": status, + "item_index": 1, + "target": TARGET, + "interval_control_ticks": [FIRST_TICK, LAST_TICK], + "inputs": { + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "partial_contacts": str(contacts_path), + "partial_contacts_sha256": hashlib.sha256(contacts_path.read_bytes()).hexdigest(), + "discarded_incomplete_tail_rows": incomplete, + "scene": str(scene_path), + "scene_sha256": hashlib.sha256(scene_path.read_bytes()).hexdigest(), + }, + "native_contact_evidence": { + "target_torso_contact_tick_range": [body_ticks[0], body_ticks[-1]] if body_ticks else None, + "target_torso_distinct_control_ticks": len(body_ticks), + "target_torso_callback_rows": len(torso_rows), + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in torso_rows) if torso_rows else None, + "sum_impulse_norm_over_callback_rows": float(sum(np.linalg.norm(row["impulse_sum"]) for row in torso_rows)), + "bilateral_active_finger_ticks_in_interval": [tick for tick in bilateral if FIRST_TICK <= tick <= LAST_TICK], + "bilateral_active_finger_all_interval_ticks": all(tick in bilateral for tick in range(FIRST_TICK, LAST_TICK + 1)), + "target_to_hand_max_translation_shift_over_interval_m": float(np.max(shift)), + "target_to_hand_final_translation_shift_m": float(shift[-1]), + "target_to_hand_max_rotation_shift_rad": float(np.max(rotation_shift)), + }, + "authoritative_geometry_reproduction": { + "geometry": geometry, + "method": "The same collision_scene.collider_mesh exact authored cube boundaries, triangle contact/containment test, 5 mm literal-link/target translation step, 0.03 rad rotation/joint step, and collision_acceptance.summarize policy used by the native world reviewer.", + "sample_count": len(exact_samples), + "exact_intersection_count": len(exact_hits), + "exact_intersections": exact_hits, + "pair_category": "robot_target", + "acceptance_result": authoritative_decision, + }, + "policy_interpretation": { + "robot_target_is_forbidden": True, + "active_finger_10mm_policy_applies": False, + "default_0p5mm_contact_margin_applies": False, + "reason": "collision_acceptance treats robot_target as a forbidden non-contact category. The target/body_link2 pair is neither source/tray support nor the assigned distal link4 grasp pair; exact triangle crossing is a hard failure regardless of its shallow sampled depth.", + }, + "repair_decision": { + "retained_grasp": bool(all(tick in bilateral for tick in range(FIRST_TICK, LAST_TICK + 1))), + "safe_replan_may_continue_this_prefix_for_acceptance": False if exact_hits else None, + "recommended_action": "Preserve this native capture as a physical failure and use the screened proposal only in a fresh retry whose compact path avoids torso contact." if exact_hits else "No conclusion beyond the pinned interval.", + "no_active_case_write_or_motion_performed": True, + }, + "reviewer_sources": { + "collision_scene_sha256": hashlib.sha256(pathlib.Path(collision_scene.__file__).read_bytes()).hexdigest(), + "collision_sweep_sha256": hashlib.sha256(pathlib.Path(collision_sweep.__file__).read_bytes()).hexdigest(), + "collision_acceptance_sha256": hashlib.sha256(pathlib.Path(collision_acceptance.__file__).read_bytes()).hexdigest(), + }, + "limitations": [ + "Only the requested ticks 15120..15144 and the reported physical target/body_link2 collider pair are replayed here; the eventual independent reviewer still checks the whole episode and every in-scope pair.", + "Sampled burial is a lower bound. The acceptance decision relies on exact triangle crossing in exact authored cube boundaries, not on the burial magnitude.", + ], + } + output = W / "CASE5_ITEM01_COMPACT_GRASP_DIAGNOSTIC.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print( + json.dumps( + { + "output": str(output), + "decision": result["decision"], + "native": result["native_contact_evidence"], + "exact_intersection_count": len(exact_hits), + "exact_frames": [row["reviewer_frame"] for row in exact_hits], + "acceptance_geometry_status": authoritative_decision["geometry_status"], + "hard_failures": authoritative_decision["hard_failures"], + }, + indent=2, + ) + ) + raise SystemExit(0 if exact_hits else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..f203b8a79e747ad172f143d539105ab0dfbf7ed2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py @@ -0,0 +1,233 @@ +#!/usr/bin/env python3 +"""Reproduce the immutable case 9 HoneyMaid false-pick diagnosis.""" +import gzip +import hashlib +import json +import pathlib +import zlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_09" +SOURCE = pathlib.Path( + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_18/rollout" +) +TARGET = "/World/Assets/Tier2Items/honeymaid" +OREO = "/World/Assets/Tier2Items/oreo_gf" + + +def decode(value): + return value.decode() if isinstance(value, bytes) else str(value) + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def load_open_gzip(path): + raw = zlib.decompressobj(16 + zlib.MAX_WBITS).decompress(path.read_bytes()) + rows = [] + incomplete = 0 + for line in raw.splitlines(): + try: + rows.append(json.loads(line)) + except json.JSONDecodeError: + incomplete += 1 + return rows, incomplete + + +def load_closed_gzip(path): + with gzip.open(path, "rt") as stream: + return [json.loads(line) for line in stream] + + +def target_category(row): + other = next(actor for actor in row["actors"] if actor != TARGET) + if other.startswith("/World/Robot"): + collider = next(value for value in row["colliders"] if value.startswith("/World/Robot")) + if "gripper_r_inner_link4" in collider: + return "right_inner_link4" + if "gripper_r_outer_link4" in collider: + return "right_outer_link4" + return "robot_other" + if other == OREO: + return "oreo" + if "ShelvingUnit" in other: + return "source_shelf" + return other + + +def target_tick_categories(rows): + result = {} + for row in rows: + if TARGET not in row.get("actors", []): + continue + result.setdefault(int(row["tick"]), set()).add(target_category(row)) + return result + + +def range_for(categories, name): + ticks = sorted(tick for tick, values in categories.items() if name in values) + return { + "first_tick": ticks[0] if ticks else None, + "last_tick": ticks[-1] if ticks else None, + "distinct_control_ticks": len(ticks), + } + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contacts_path = C / "rollout/contacts.jsonl.gz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + phases = np.array([decode(value) for value in checkpoint["phase"]]) + ticks = checkpoint["tick"].astype(int) + item2 = np.flatnonzero(checkpoint["item_index"] == 2) + target_index = checkpoint["target_paths"].tolist().index(TARGET) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_pose = checkpoint["target_pose_all"][:, target_index] + hand_pose = checkpoint["robot_link_pose"][:, hand_index] + current_rows, incomplete = load_open_gzip(contacts_path) + current_categories = target_tick_categories(current_rows) + last_complete_tick = max(current_categories) + current_window = range(last_complete_tick - 29, last_complete_tick + 1) + simultaneous = sorted( + tick + for tick, values in current_categories.items() + if {"right_inner_link4", "right_outer_link4"} <= values + ) + current_relative = [ + np.linalg.inv(matrix(hand_pose[index])) @ matrix(target_pose[index]) for index in item2 + ] + final_relative = current_relative[-1] + relative_translation_drift = np.array( + [np.linalg.norm(value[:3, 3] - final_relative[:3, 3]) for value in current_relative] + ) + relative_rotation_drift = np.array( + [Rotation.from_matrix(value[:3, :3].T @ final_relative[:3, :3]).magnitude() for value in current_relative] + ) + + robot_oreo = [ + row + for row in current_rows + if OREO in row.get("actors", []) and any(actor.startswith("/World/Robot") for actor in row.get("actors", [])) + ] + outer_oreo = [ + row + for row in robot_oreo + if any("gripper_r_outer_link4" in collider for collider in row.get("colliders", [])) + ] + + source_recording_path = SOURCE / "recording_60hz.npz" + source_contacts_path = SOURCE / "contacts.jsonl.gz" + source_recording = np.load(source_recording_path, allow_pickle=True) + source_phases = np.array([decode(value) for value in source_recording["phase"]]) + source_pick = np.flatnonzero(source_phases == "shelf_pick") + source_pick_ticks = source_recording["tick"][source_pick].astype(int) + source_last30 = set(source_pick_ticks[-30:].tolist()) + source_rows = load_closed_gzip(source_contacts_path) + source_categories = target_tick_categories(source_rows) + + def window_count(categories, name, window): + return sum(name in categories.get(tick, set()) for tick in window) + + result = { + "schema": "multi_item.case9_item2_false_pick_diagnosis.v1", + "read_only": True, + "decision": "PHYSICAL_PICK_FAILURE_NOT_CARRY_PLANNING_BOUNDARY", + "case": "layout_09", + "item_index": 2, + "target": TARGET, + "obstructing_unrequested_prop": OREO, + "frozen_status": json.loads((C / "STATUS.json").read_text()), + "inputs": { + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "open_contact_stream": str(contacts_path), + "open_contact_stream_sha256": hashlib.sha256(contacts_path.read_bytes()).hexdigest(), + "discarded_incomplete_tail_rows": incomplete, + "accepted_source_recording": str(source_recording_path), + "accepted_source_contacts": str(source_contacts_path), + }, + "current_native_evidence": { + "item2_phase_tick_range": [int(ticks[item2[0]]), int(ticks[item2[-1]])], + "target_initial_z_m": float(target_pose[item2[0], 2]), + "target_maximum_z_m": float(np.max(target_pose[item2, 2])), + "target_final_z_m": float(target_pose[item2[-1], 2]), + "height_above_item2_initial_at_final_m": float(target_pose[item2[-1], 2] - target_pose[item2[0], 2]), + "right_inner_target_contact": range_for(current_categories, "right_inner_link4"), + "right_outer_target_contact": range_for(current_categories, "right_outer_link4"), + "simultaneous_bilateral_target_contact": { + "first_tick": simultaneous[0] if simultaneous else None, + "last_tick": simultaneous[-1] if simultaneous else None, + "distinct_control_ticks": len(simultaneous), + }, + "source_shelf_target_contact": range_for(current_categories, "source_shelf"), + "oreo_target_contact": range_for(current_categories, "oreo"), + "final_30_complete_contact_ticks": { + "range": [current_window.start, current_window.stop - 1], + "right_inner_ticks": window_count(current_categories, "right_inner_link4", current_window), + "right_outer_ticks": window_count(current_categories, "right_outer_link4", current_window), + "simultaneous_bilateral_ticks": sum( + {"right_inner_link4", "right_outer_link4"} <= current_categories.get(tick, set()) + for tick in current_window + ), + "source_shelf_ticks": window_count(current_categories, "source_shelf", current_window), + "oreo_ticks": window_count(current_categories, "oreo", current_window), + }, + "right_outer_gripper_oreo_contact": { + "first_tick": min(int(row["tick"]) for row in outer_oreo), + "last_tick": max(int(row["tick"]) for row in outer_oreo), + "rows": len(outer_oreo), + "precedes_oreo_target_contact": min(int(row["tick"]) for row in outer_oreo) + < range_for(current_categories, "oreo")["first_tick"], + }, + "target_to_hand_nonrigidity_during_item2": { + "median_translation_drift_from_final_m": float(np.median(relative_translation_drift)), + "maximum_translation_drift_from_final_m": float(np.max(relative_translation_drift)), + "median_rotation_drift_from_final_rad": float(np.median(relative_rotation_drift)), + "maximum_rotation_drift_from_final_rad": float(np.max(relative_rotation_drift)), + }, + }, + "accepted_honeymaid_source_baseline": { + "source_case": "shelf_to_table50_20261001/layout_18", + "final_30_shelf_pick_tick_range": [min(source_last30), max(source_last30)], + "right_inner_ticks": window_count(source_categories, "right_inner_link4", source_last30), + "right_outer_ticks": window_count(source_categories, "right_outer_link4", source_last30), + "simultaneous_bilateral_ticks": sum( + {"right_inner_link4", "right_outer_link4"} <= source_categories.get(tick, set()) + for tick in source_last30 + ), + "source_shelf_ticks": window_count(source_categories, "source_shelf", source_last30), + "bilateral_continues_through_shelf_exit": True, + }, + "causal_sequence": [ + "Right outer gripper first contacts the unrequested Oreo at tick 21549.", + "Oreo first contacts HoneyMaid at tick 21601.", + "A one-sided HoneyMaid/right-inner contact begins at tick 21763; the later right-outer contact does not overlap it.", + "All HoneyMaid/gripper contact ends by tick 22239 while HoneyMaid remains in shelf and Oreo contact through the final complete callback tick 22901.", + "The height-only lift signal therefore came from obstructed object motion, not a retained grasp.", + ], + "repair_recommendation": { + "initial_scene": "Deactivate/remove the unrequested Oreo distractor before a fresh native retry; preserve every requested prop and physical setting.", + "prelaunch": "Screen every transferred pick approach/closure/lift path against all live non-target props plus robot/self/wrist geometry in the actual composed scene.", + "runtime_pick_gate": "Require sustained active-gripper contact and loss of source support in addition to retained lift; store the evidence window in ITEM_EVENTS/CHECKPOINT.", + "no_local_carry_repair": True, + "no_reset_or_active_case_write_performed": True, + }, + "limitations": [ + "The open native contact gzip ends with one incomplete JSON row; only complete rows are counted.", + "The failed capture remains authoritative evidence; this report does not alter or replay it.", + ], + } + output = W / "CASE09_ITEM02_FALSE_PICK_DIAGNOSIS.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"output": str(output), "decision": result["decision"], "current": result["current_native_evidence"]["final_30_complete_contact_ticks"], "source": result["accepted_honeymaid_source_baseline"]}, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py new file mode 100644 index 0000000000000000000000000000000000000000..3bb6d277d547c873b89331651153546a87f88741 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py @@ -0,0 +1,150 @@ +#!/usr/bin/env python3 +"""Read-only audit of multi-item pickup stations against their source shelf frames.""" +import glob +import json +import math +import pathlib +import sys + +import numpy as np +from pxr import Usd, UsdGeom +from scipy.spatial import ConvexHull +from shapely.geometry import Point, Polygon +from shapely.ops import nearest_points + +W = pathlib.Path(__file__).resolve().parent +ROOT = W.parents[1] +OLD = ROOT / "work/shelf_to_table50_20261001" +ACTIVE = (1, 3, 4, 6, 7, 8, 9) +sys.path.insert(0, str(W)) +from geometry_transfer import board_path, registration # noqa: E402 +from place_tray_layout import mesh_world_points # noqa: E402 + + +def matrix(stage, path): + value = UsdGeom.Xformable(stage.GetPrimAtPath(path)).ComputeLocalToWorldTransform(Usd.TimeCode.Default()) + return np.asarray(value, dtype=float).T + + +def polygon(stage, path): + points = mesh_world_points(stage, stage.GetPrimAtPath(path))[:, :2] + return Polygon(points[ConvexHull(points).vertices]).buffer(0) + + +def rigid_error(a, b): + delta = np.linalg.inv(a) @ b + return { + "translation_m": float(np.linalg.norm(delta[:3, 3])), + "yaw_rad": float(abs(math.atan2(delta[1, 0], delta[0, 0]))), + "max_abs_matrix": float(np.max(np.abs(a - b))), + } + + +def main(): + old_jobs = [] + for path in sorted((OLD / "cases").glob("layout_*/job.json")): + data = json.loads(path.read_text()) + old_jobs.append((path, data)) + summary = { + "schema": "multi_item.pick_base_registration_audit.v1", + "read_only": True, + "active_cases": list(ACTIVE), + "method": "Recompute each raw source->released shelf rigid registration; independently transfer every accepted old-chain initial_base sharing the exact pick_source; compare current target/base relative transforms. Measure pickup-base point clearance to the released CoffeeTable hull.", + "cases": [], + } + for case_id in ACTIVE: + case = W / "cases" / f"layout_{case_id:02d}" + job_path = case / "job.json" + job = json.loads(job_path.read_text()) + room = Usd.Stage.Open(job["layout"]) + composed = Usd.Stage.Open(job["scene"]) + table = polygon(room, "/World/Assets/CoffeeTable/Mesh") + shelf = polygon(room, board_path(room)) + row = { + "case": case_id, + "job": str(job_path), + "layout": job["layout"], + "source_layout_id": job.get("source_layout_id"), + "coffee_table_hull_xy": np.asarray(table.exterior.coords).tolist(), + "shelf_hull_xy": np.asarray(shelf.exterior.coords).tolist(), + "items": [], + } + for index, item in enumerate(job["items"]): + source_path = pathlib.Path(item["pick_source"]) + source = Usd.Stage.Open(str(source_path / "scene.usda")) + spec = json.loads((source_path / "episode.json").read_text()) + shelf_delta, shelf_reg = registration(source, room, board_path(source)) + source_base = matrix(source, "/World/Robot") + expected_base = shelf_delta @ source_base + current_base = np.asarray(item["pick_base"], dtype=float) + current_target = matrix(composed, item["target"]) + source_target = matrix(source, spec["target"]["prim_path"]) + expected_target = shelf_delta @ source_target + p = Point(current_base[:2, 3]) + closest = nearest_points(table, p)[0] + escape = current_base[:2, 3] - np.asarray(closest.coords[0]) + escape_norm = float(np.linalg.norm(escape)) + if escape_norm > 1e-12: + escape /= escape_norm + yaw = math.atan2(current_base[1, 0], current_base[0, 0]) + side_plus = np.array([-math.sin(yaw), math.cos(yaw)]) + exact_matches = [] + for prior_path, prior in old_jobs: + if prior.get("pick_source") != item["pick_source"]: + continue + prior_stage = Usd.Stage.Open(prior["layout"]) + accepted_delta, accepted_reg = registration(prior_stage, room, board_path(prior_stage)) + transferred = accepted_delta @ np.asarray(prior["initial_base"], dtype=float) + exact_matches.append({ + "prior_job": str(prior_path), + "prior_layout": prior["layout"], + "transferred_initial_base": transferred.tolist(), + "current_error": rigid_error(current_base, transferred), + "registration": accepted_reg, + }) + direct_error = rigid_error(current_base, expected_base) + target_error = rigid_error(current_target, expected_target) + rel_source = np.linalg.inv(source_base) @ source_target + rel_current = np.linalg.inv(current_base) @ current_target + relation_error = rigid_error(rel_current, rel_source) + row["items"].append({ + "item": index, + "product": item["product"], + "target": item["target"], + "pick_source": item["pick_source"], + "current_pick_base": current_base.tolist(), + "recomputed_pick_base": expected_base.tolist(), + "direct_source_registration_error": direct_error, + "target_source_registration_error": target_error, + "target_relative_to_base_error": relation_error, + "source_registration_correct": max(direct_error["max_abs_matrix"], target_error["max_abs_matrix"], relation_error["max_abs_matrix"]) < 1e-6, + "exact_accepted_chain_matches": exact_matches, + "coffee_table_point_clearance_m": float(table.distance(p)), + "coffee_table_nearest_xy": list(closest.coords[0]), + "coffee_table_escape_unit_xy": escape.tolist(), + "escape_dot_local_side_plus": float(escape @ side_plus), + "preferred_local_side_sign": "+" if float(escape @ side_plus) >= 0 else "-", + "shelf_point_clearance_m": float(shelf.distance(p)), + "shelf_registration": shelf_reg, + }) + row["all_source_registrations_correct"] = all(x["source_registration_correct"] for x in row["items"]) + (case / "PICK_BASE_REGISTRATION_DIAGNOSTIC.json").write_text(json.dumps(row, indent=2) + "\n") + summary["cases"].append(row) + (W / "PICK_BASE_REGISTRATION_AUDIT.json").write_text(json.dumps(summary, indent=2) + "\n") + concise = [] + for r in summary["cases"]: + items = [] + for x in r["items"]: + items.append({ + "item": x["item"], "product": x["product"], + "table_clearance_m": x["coffee_table_point_clearance_m"], + "side": x["preferred_local_side_sign"], + "direct_err": x["direct_source_registration_error"]["max_abs_matrix"], + "accepted_errs": [m["current_error"]["max_abs_matrix"] for m in x["exact_accepted_chain_matches"]], + }) + concise.append({"case": r["case"], "all_correct": r["all_source_registrations_correct"], "items": items}) + print(json.dumps({"report": str(W / "PICK_BASE_REGISTRATION_AUDIT.json"), "cases": concise}, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/geometry_transfer.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/geometry_transfer.py new file mode 100644 index 0000000000000000000000000000000000000000..0c02bfb9306e2705a148761d223642b94f21ee05 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/geometry_transfer.py @@ -0,0 +1,43 @@ +"""Rigid geometry registration; never replace released furniture or scale props.""" +import numpy as np +from pxr import Usd,UsdGeom +from shapely.geometry import Polygon +from scipy.spatial import ConvexHull +from place_tray_layout import mesh_world_points + +def board_path(stage): + return next(str(p.GetPath()) for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Assets/ShelvingUnit')) if p.IsA(UsdGeom.Mesh) and 'shelf_boards' in str(p.GetPath())) + +def registration(source,destination,path): + a=mesh_world_points(source,source.GetPrimAtPath(path));b=mesh_world_points(destination,destination.GetPrimAtPath(path)) + if a.shape!=b.shape:raise ValueError('Furniture mesh correspondence changed') + ca=a.mean(0);cb=b.mean(0);u,_,vt=np.linalg.svd((a[:,:2]-ca[:2]).T@(b[:,:2]-cb[:2]));rotation=vt.T@u.T + if np.linalg.det(rotation)<0:raise ValueError('Furniture registration reflected') + m=np.eye(4);m[:2,:2]=rotation;m[:3,3]=cb-m[:3,:3]@ca + return m,dict(source_centroid=ca.tolist(),released_centroid=cb.tolist(),source_extents=np.ptp(a,axis=0).tolist(),released_extents=np.ptp(b,axis=0).tolist(),matrix=m.tolist(),furniture_preserved=True) + +def fit_inventory(stage,objects,target,rng,get_matrix,set_matrix): + """Scene-first supported packing, preserving identities, scales and rotations.""" + boards=mesh_world_points(stage,stage.GetPrimAtPath(board_path(stage)));rows=[];footprints={};bylayer={} + for obj in objects: + path=obj['prim_path'];v=mesh_world_points(stage,stage.GetPrimAtPath(path));bottom=v[:,2].min();z=boards[:,2][np.argmin(abs(boards[:,2]-bottom))] + if abs(z-bottom)>.006:raise ValueError('Source item height not supported in released shelf') + layer=round(float(z),4);surface=boards[abs(boards[:,2]-z)<1e-4,:2];floor=Polygon(surface[ConvexHull(surface).vertices]).buffer(-.004) + poly=Polygon(v[ConvexHull(v[:,:2]).vertices,:2]);footprints[path]=(poly,floor,layer);bylayer.setdefault(layer,[]).append(path) + for layer,paths in bylayer.items(): + placed=[] + paths.sort(key=lambda p:p!=target) + for path in paths: + poly,floor,_=footprints[path];original=get_matrix(stage,path);chosen=None + for attempt in range(4000): + if attempt==0:shift=np.zeros(2) + elif path==target:break + else: + lo=np.array(floor.bounds[:2]);hi=np.array(floor.bounds[2:]);shift=rng.uniform(lo,hi)-np.array(poly.centroid.coords[0]) + from shapely.affinity import translate + proposed=translate(poly,*shift) + if floor.covers(proposed) and all(proposed.distance(p)>.012 for p in placed):chosen=(shift,proposed);break + if chosen is None:raise ValueError('Released shelf cannot support sampled inventory: '+path) + shift,proposed=chosen;updated=original.copy();updated[:2,3]+=shift;set_matrix(stage,path,updated);placed.append(proposed) + rows.append(dict(path=path,xy_shift=shift.tolist(),support_layer=layer,attempt=attempt)) + return dict(policy='scene_first_supported_inventory_no_scaling_v1',items=rows,target_pose_preserved=True) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/grasp_stability.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/grasp_stability.py new file mode 100644 index 0000000000000000000000000000000000000000..cae3f6f9bcdba8840ac201d4af1c174740814f22 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/grasp_stability.py @@ -0,0 +1,73 @@ +"""Measured held-object slip and high-frequency hand motion for every item cycle.""" +import hashlib +import json +import sys +from pathlib import Path + +import numpy as np +from scipy.ndimage import uniform_filter1d +from scipy.spatial.transform import Rotation + +from multi_validation import items, recording_contract + + +def _one(z, phases, item_index, target_pose_all, item, index): + carry = { + f"item_{index:02d}_shelf_exit_reverse", + f"item_{index:02d}_carry_raise", + f"item_{index:02d}_carry_compact", + f"item_{index:02d}_forward_navigation", + } + ids = np.flatnonzero((item_index == index) & np.isin(phases, list(carry))) + if len(ids) < 10: + return dict(item_index=index, target=item["target"], passed=False, reason="Missing item navigation samples") + path = "/World/Robot/gripper_" + item["hand"] + "_base_link" + paths = z["robot_link_paths"].tolist() + if path not in paths: + return dict(item_index=index, target=item["target"], passed=False, reason=f"Missing hand link {path}") + hp = z["robot_link_pose"][ids, paths.index(path)] + tp = target_pose_all[ids, index] + bp = z["base_pose"][ids] + relative = Rotation.from_quat(hp[:, 3:]).inv().apply(tp[:, :3] - hp[:, :3]) + slip = np.linalg.norm(relative - relative[0], axis=1) + hand_in_base = Rotation.from_quat(bp[:, 3:]).inv().apply(hp[:, :3] - bp[:, :3]) + residual = hand_in_base - uniform_filter1d(hand_in_base, size=7, axis=0, mode="nearest") + amplitude = np.linalg.norm(residual, axis=1) + relative_hand = Rotation.from_quat(bp[:, 3:]).inv() * Rotation.from_quat(hp[:, 3:]) + angles = (relative_hand[0].inv() * relative_hand).as_rotvec() + angular_residual = np.linalg.norm(angles - uniform_filter1d(angles, size=7, axis=0, mode="nearest"), axis=1) + bad = (amplitude > .005) | (angular_residual > np.deg2rad(3)) + run = longest = 0 + for value in bad: + run = run + 1 if value else 0 + longest = max(longest, run) + return dict( + item_index=index, target=item["target"], hand=item["hand"], + passed=bool(slip.max() <= .025 and longest < 6), native_hz=60, + navigation_samples=len(ids), first_source_control_tick=int(ids[0] + 1), + last_source_control_tick=int(ids[-1] + 1), + maximum_object_in_hand_translation_drift_m=float(slip.max()), + maximum_hand_highpass_residual_m=float(amplitude.max()), + maximum_hand_highpass_angular_residual_rad=float(angular_residual.max()), + angular_highpass_limit_rad=float(np.deg2rad(3)), + hand_highpass_p99_m=float(np.percentile(amplitude, 99)), + maximum_consecutive_highpass_exceedance_ticks=longest, + slip_limit_m=.025, hand_highpass_limit_m=.005, + sustained_threshold_ticks=6, filter_window_ticks=7) + + +def metrics(z, requested): + phases, item_index, _, target_pose_all = recording_contract(z, requested) + phases = np.asarray(phases) + rows = [_one(z, phases, item_index, target_pose_all, item, i) for i, item in enumerate(requested)] + return dict(passed=all(row["passed"] for row in rows), items=rows, + semantics="Measured hand pose relative to moving base and each active target pose relative to its assigned hand; all item carries use the unchanged single-item thresholds.") + + +if __name__ == "__main__": + case = Path(sys.argv[1]); out = case / "rollout"; path = out / "recording_60hz.npz" + job = json.loads((case / "job.json").read_text()) + report = metrics(np.load(path, allow_pickle=False), items(job)) + report["recording_sha256"] = hashlib.sha256(path.read_bytes()).hexdigest() + (out / "GRASP_STABILITY_AUDIT.json").write_text(json.dumps(report, indent=2) + "\n") + sys.exit(0 if report["passed"] else 1) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/launch.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/launch.py new file mode 100644 index 0000000000000000000000000000000000000000..727c3e0a0179c694c662fc62728c02efcacab992 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/launch.py @@ -0,0 +1,63 @@ +"""Launch one isolated continuous episode without disturbing preserved old attempts.""" +import fcntl,hashlib,json,os,subprocess,sys,time +from pathlib import Path +W=Path(__file__).resolve().parent;R=W.parents[1] +OLD=R/'work/shelf_to_table_multi10_20261005' +C=R/'work/throughput_12h_20260912' +layout,gpu=map(int,sys.argv[1:]);assert gpu in range(8) +case=W/'cases'/f'layout_{layout:02d}';owner=f'multi10-stable-layout{layout}-pid{os.getpid()}' +container=f'ziche_shelf_chain50_gpu{gpu}' +(W/'leases').mkdir(exist_ok=True) +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) +def read(p):return json.loads(p.read_text()) +def frozen_owned(pid): + try: + proc=Path('/proc')/str(pid);state=next(x for x in (proc/'status').read_text().splitlines() if x.startswith('State:')) + cmd=(proc/'cmdline').read_bytes().replace(b'\0',b' ').decode() + return 'T (stopped)' in state and str(OLD) in cmd or 'T (stopped)' in state and pid==875607 and 'run_precision_return_diagnostic_v2.py' in cmd + except (FileNotFoundError,StopIteration):return False +lock=(C/f'locks/gpu{gpu}.lock').open('a+');reservation=C/f'reservations/gpu{gpu}.json' +lease=W/f'leases/gpu{gpu}.json';shared_claim=False +while True: + fcntl.flock(lock,fcntl.LOCK_EX) + live=read(reservation) + uuid=subprocess.check_output(['nvidia-smi','-i',str(gpu),'--query-gpu=uuid','--format=csv,noheader'],text=True).strip() + apps=subprocess.check_output(['nvidia-smi','--query-compute-apps=gpu_uuid,pid','--format=csv,noheader'],text=True) + pids=[int(line.split(',')[1]) for line in apps.splitlines() if line.split(',')[0].strip()==uuid] + free=int(subprocess.check_output(['nvidia-smi','-i',str(gpu),'--query-gpu=memory.free','--format=csv,noheader,nounits'],text=True).strip()) + preserved_reservation=bool(live.get('reserved') and str(live.get('scope','')).startswith(str(OLD)+'/')) + own_busy=lease.exists() and read(lease).get('active',False) + if not own_busy and (not live.get('reserved') or preserved_reservation) and all(frozen_owned(pid) for pid in pids) and free>=16000: + if subprocess.check_output(['docker','inspect','--format','{{.State.Running}}',container],text=True).strip()!='true':subprocess.run(['docker','start',container],check=True,timeout=60) + visible=subprocess.check_output(['docker','exec',container,'nvidia-smi','--query-gpu=uuid','--format=csv,noheader'],text=True).strip();assert visible==uuid + if not preserved_reservation: + write(reservation,dict(reserved=True,physical_gpu=gpu,container=container,owner=owner,pid=os.getpid(),scope=str(case),started_unix=time.time()));shared_claim=True + write(lease,dict(active=True,physical_gpu=gpu,owner=owner,pid=os.getpid(),case=str(case),preserved_stopped_pids=pids,preserved_global_reservation=live if preserved_reservation else None,free_mib_at_start=free,started_unix=time.time())) + fcntl.flock(lock,fcntl.LOCK_UN);break + fcntl.flock(lock,fcntl.LOCK_UN) + write(case/'STATUS.json',dict(status='WAIT_GPU',phase='gpu_reservation',gpu=gpu,updated=time.time(),current_pids=pids,free_mib=free)) + time.sleep(15) +try: + if (case/'rollout').exists():raise RuntimeError('Existing attempt is preserved; fresh launch may not overwrite a rollout.') + (case/'repairs').mkdir(exist_ok=True) + snapshot=case/'code_snapshot';snapshot.mkdir(exist_ok=False) + for p in W.glob('*.py'):(snapshot/p.name).write_bytes(p.read_bytes()) + write(case/'CODE_HASHES.json',{p.name:hashlib.sha256(p.read_bytes()).hexdigest() for p in snapshot.glob('*.py')}) + subprocess.run([sys.executable,'-m','py_compile',*[str(p) for p in snapshot.glob('*.py')]],check=True) + cmd=['docker','exec','--user','0:0','-e','CHAIN_PROJECT_ROOT='+str(R),'-e','CHAIN_RENDER=1','-e','OMP_NUM_THREADS=2','-e','OPENBLAS_NUM_THREADS=1','-e','MKL_NUM_THREADS=1',container,'/isaac-sim/python.sh',str(snapshot/'run_episode.py'),str(case)] + write(case/'COMMAND.json',cmd);write(case/'STATUS.json',dict(status='INITIALIZING_PHYSICS',phase='startup',gpu=gpu,updated=time.time())) + with (case/'simulator.log').open('w') as stream:result=subprocess.run(cmd,stdout=stream,stderr=subprocess.STDOUT) + status=read(case/'STATUS.json') + if result.returncode or status.get('status') not in ['FAILED','PHYSICS_COMPLETE_UNVERIFIED','PLANNING_BLOCKED']: + write(case/'STATUS.json',dict(status='FAILED',phase='simulator_exit',error=f'Exit {result.returncode}; inspect simulator.log',gpu=gpu,updated=time.time())) +except Exception as error: + write(case/'STATUS.json',dict(status='FAILED',phase='launcher',error=repr(error),gpu=gpu,updated=time.time()));raise +finally: + subprocess.run(['docker','exec','--user','0:0',container,'/bin/chown','-R',f'{os.getuid()}:{os.getgid()}',str(case)],check=False) + fcntl.flock(lock,fcntl.LOCK_EX) + live=read(reservation) + if shared_claim and live.get('owner')==owner:write(reservation,dict(reserved=False,physical_gpu=gpu,container=container,owner=None,pid=None,previous_owner=owner,released_unix=time.time())) + owned=read(lease) + if owned.get('owner')==owner:owned.update(active=False,released_unix=time.time());write(lease,owned) + fcntl.flock(lock,fcntl.LOCK_UN) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/motion_limits.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/motion_limits.py new file mode 100644 index 0000000000000000000000000000000000000000..b59d93b1743935eb9afd69fb28ad70eb241a2e72 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/motion_limits.py @@ -0,0 +1,4 @@ +"""Reference command envelope; does not change authored drive or joint parameters.""" +import numpy as np +LOWER=np.array([-3.139847,-2.089159,-3.099705,-1.480039,-3.099705,-1.740093,-3.099705,-3.139847,-1.480039,-3.099705,-1.480039,-3.099705,-1.740093,-3.099705,0,0,-np.pi/2,-.349066,0,0]) +UPPER=np.array([3.139847,1.480039,3.099705,1.480039,3.099705,1.740093,3.099705,3.139847,2.089159,3.099705,1.480039,3.099705,1.740093,3.099705,.55,np.pi/2,np.pi/2,.523599,np.pi/4,np.pi/4]) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_motion.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_motion.py new file mode 100644 index 0000000000000000000000000000000000000000..f68d248ca26a527b8ace9614bcc494dca99fc78e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_motion.py @@ -0,0 +1,168 @@ +"""Collision-screened empty-hand return motion for continuous multi-item runs.""" +import math,time +import numpy as np +from scipy.spatial.transform import Rotation as Rot + +from carry_transition import body_route,compact_postures +from navigation import angle_delta + + +class EmptyClearance: + """The carry full-body checker without an attached-object surrogate.""" + def __init__(self,stage,robot,names,prop_poses,deadline_s=900): + from pxr import Usd,UsdGeom,UsdPhysics + from collision_scene import Body,collider_mesh,matrix,rigid_ancestor,contact + from native_planner import build + + self.deadline=time.monotonic()+deadline_s + self.robot=robot;self.names=names;self.contact=contact + self.self_check=build(stage);self.cache=UsdGeom.XformCache() + self.environment=[];self.results={};self.posture_cache={};self.last=None + for prim in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies()): + path=str(prim.GetPath()) + if path.startswith('/World/Robot/') or not prim.HasAPI(UsdPhysics.CollisionAPI):continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False:continue + mesh,_,_=collider_mesh(prim);world=matrix(self.cache.GetLocalToWorldTransform(prim));owner=rigid_ancestor(prim) + if owner and str(owner.GetPath()) in prop_poses: + authored=matrix(self.cache.GetLocalToWorldTransform(owner));authored[:3,:3]/=np.linalg.norm(authored[:3,:3],axis=0) + world=prop_poses[str(owner.GetPath())]@np.linalg.inv(authored)@world + mesh.apply_transform(world) + # Match carry preflight: the real floor is checked by the released + # floor polygon while raised furniture remains full 3-D geometry. + if mesh.bounds[1,2]<.08:continue + self.environment.append(Body(path,mesh)) + self.low=np.array([b.lo for b in self.environment]);self.high=np.array([b.hi for b in self.environment]) + + def check(self,q,base): + if time.monotonic()>self.deadline:raise RuntimeError('Empty-hand geometry preflight exceeded its budget') + q=np.asarray(q);base=np.asarray(base);key=(q.tobytes(),base.tobytes()) + if key in self.results: + okay,self.last=self.results[key];return okay + okay=self.check_uncached(q,base);self.results[key]=(okay,self.last);return okay + + def check_uncached(self,q,base): + key=q.tobytes() + if key not in self.posture_cache: + local=self.robot.fk(self.names,q,np.eye(4));okay,detail=self.self_check(local,self.robot.root) + self.posture_cache[key]=(local,okay,detail) + local,okay,detail=self.posture_cache[key] + if not okay:self.last=dict(kind='self_or_wrist',detail=detail);return False + fk={name:base@transform for name,transform in local.items()} + for body in self.self_check.bodies:body.update(fk[body.name.replace('/World/Robot',self.robot.root,1)]) + for body in self.self_check.bodies: + indices=np.flatnonzero(np.all(self.high>=body.lo,axis=1)&np.all(self.low<=body.hi,axis=1)) + for index in indices: + other=self.environment[index] + if self.contact(body,other,containment=True) is not None: + self.last=dict(kind='environment',robot=body.name,obstacle=other.name);return False + self.last=None;return True + + def segment(self,q0,q1,b0,b1): + y0=Rot.from_matrix(b0[:3,:3]).as_euler('xyz')[2];y1=Rot.from_matrix(b1[:3,:3]).as_euler('xyz')[2] + dy=angle_delta(y1,y0) + steps=max(1,math.ceil(np.linalg.norm(b1[:3,3]-b0[:3,3])/.025),math.ceil(abs(dy)/math.radians(3)),math.ceil(np.max(abs(q1-q0))/.02)) + fixed=np.array_equal(q0,q1) + for u in np.linspace(0,1,steps+1): + b=b0.copy();b[:3,3]=(1-u)*b0[:3,3]+u*b1[:3,3];b[:3,:3]=Rot.from_euler('z',y0+u*dy).as_matrix() + if not self.check(q0 if fixed else q0*(1-u)+q1*u,b):return False + return True + + +def _behind(base,distance): + result=np.asarray(base,dtype=float).copy();yaw=Rot.from_matrix(result[:3,:3]).as_euler('xyz')[2] + result[:2,3]-=distance*np.array([math.cos(yaw),math.sin(yaw)]) + return result + + +def _lateral_transfers(next_pick_base,job): + """Yield shelf transfer poses that can approach around nearby furniture.""" + yaw=Rot.from_matrix(next_pick_base[:3,:3]).as_euler('xyz')[2] + heading=np.array([math.cos(yaw),math.sin(yaw)]) + lateral=np.array([-heading[1],heading[0]]) + offsets=job.get('return_lateral_transfer_offsets',[ + [0.,0.],[0.,-.10],[.25,.10],[-.25,.10], + [.35,.35],[-.35,.35],[.50,.35],[-.50,.35], + [.35,.55],[-.35,.55],[.55,.55],[-.55,.55], + [.40,.75],[-.40,.75],[.65,.75],[-.65,.75], + [.35,-.10],[-.35,-.10],[.50,0.],[-.50,0.], + ]) + for side,back in offsets: + result=next_pick_base.copy() + result[:2,3]=next_pick_base[:2,3]-float(back)*heading+float(side)*lateral + yield result,dict(side_m=float(side),back_m=float(back)) + + +def plan_return(stage,robot,names,q,base,prop_poses,next_pick_base,next_pick_q,release,job): + """Plan table retreat, raised transit, bridge, and exact shelf approach. + + Every segment uses EmptyClearance. The returned primitives carry a + ``bridge_before`` marker on the final shelf approach; execution must stop + at that boundary and move from the compact posture to ``next_pick_q``. + """ + from shapely.geometry import Polygon,LineString,Point + from shapely.ops import unary_union + + started=time.monotonic();q=np.asarray(q,dtype=float);base=np.asarray(base,dtype=float) + next_pick_base=np.asarray(next_pick_base,dtype=float);next_pick_q=np.asarray(next_pick_q,dtype=float) + checker=EmptyClearance(stage,robot,names,prop_poses,deadline_s=float(job.get('return_plan_budget_s',900))) + floor=unary_union([Polygon(f).buffer(0) for f in release['floors']]).buffer(-.34) + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + failures=[] + for retreat_distance in job.get('return_exit_candidates',[.45,.60,.80,.30,.20,.10,.05]): + exit_base=_behind(base,retreat_distance) + if not floor.covers(LineString([base[:2,3],exit_base[:2,3]])):continue + if not checker.segment(q,q,base,exit_base): + failures.append(dict(stage='table_retreat',distance=retreat_distance,detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base): + failures.append(dict(stage='raise',distance=retreat_distance,detail=checker.last));continue + for compact,posture in compact_postures(robot,names,high,exit_base): + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(stage='compact',distance=retreat_distance,posture=posture,detail=checker.last));continue + for standoff_distance in job.get('shelf_standoff_candidates',[.40,.30,.50,.65,.80,1.0]): + standoff=_behind(next_pick_base,standoff_distance) + if not floor.covers(Point(standoff[:2,3])):continue + # These endpoint gates do not depend on the room route. Check + # them first so an impossible pickup posture/approach does not + # consume a full lattice-search budget. + if not checker.segment(compact,next_pick_q,standoff,standoff): + failures.append(dict(stage='pickup_posture_bridge',distance=retreat_distance,standoff=standoff_distance,detail=checker.last));continue + if not checker.segment(next_pick_q,next_pick_q,standoff,next_pick_base): + failures.append(dict(stage='pickup_base_approach',distance=retreat_distance,standoff=standoff_distance,detail=checker.last));continue + route,detail=body_route(checker,compact,exit_base,standoff,release['floors'],budget=float(job.get('return_route_budget_s',120))) + if route is None: + failures.append(dict(stage='room_route',distance=retreat_distance,standoff=standoff_distance,detail=detail));continue + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2] + approach_yaw=Rot.from_matrix(next_pick_base[:3,:3]).as_euler('xyz')[2] + primitives=[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1,return_stage='table_retreat')] + primitives += [dict(p,return_stage='room_navigation') for p in route] + primitives.append(dict(kind='drive',goal=[*next_pick_base[:2,3],approach_yaw],direction=1,return_stage='shelf_approach',bridge_before=True)) + report=dict(policy='empty_hand_full_body_return_v1',table_retreat_m=retreat_distance,shelf_standoff_m=standoff_distance,standoff_base=standoff.tolist(),posture=posture,route_search=detail,failures=failures,planning_seconds=time.monotonic()-started,all_live_props_checked=True,no_attached_object=True) + return compact,primitives,report + # A coffee table can block every collinear shelf standoff even + # though the exact pickup station itself is valid. In that case, + # route to a lateral transfer pose, bridge there to the next pickup + # posture, and plan a second fully screened route to the exact base. + lateral_budget=float(job.get('return_lateral_route_budget_s',60)) + for transfer,offset in _lateral_transfers(next_pick_base,job): + if not floor.covers(Point(transfer[:2,3])):continue + if not checker.check(compact,transfer): + failures.append(dict(stage='lateral_transfer_compact',distance=retreat_distance,offset=offset,detail=checker.last));continue + if not checker.check(next_pick_q,transfer): + failures.append(dict(stage='lateral_transfer_pick_posture',distance=retreat_distance,offset=offset,detail=checker.last));continue + if not checker.segment(compact,next_pick_q,transfer,transfer): + failures.append(dict(stage='lateral_transfer_bridge',distance=retreat_distance,offset=offset,detail=checker.last));continue + route,route_detail=body_route(checker,compact,exit_base,transfer,release['floors'],budget=lateral_budget) + if route is None: + failures.append(dict(stage='lateral_transfer_route',distance=retreat_distance,offset=offset,detail=route_detail));continue + approach,approach_detail=body_route(checker,next_pick_q,transfer,next_pick_base,release['floors'],budget=lateral_budget) + if approach is None: + failures.append(dict(stage='lateral_pickup_route',distance=retreat_distance,offset=offset,detail=approach_detail));continue + if not approach:raise RuntimeError('Lateral pickup route unexpectedly returned no primitives') + approach=[dict(p) for p in approach];approach[0]['bridge_before']=True + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2] + primitives=[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1,return_stage='table_retreat')] + primitives += [dict(p,return_stage='room_navigation') for p in route] + primitives += [dict(p,return_stage='shelf_approach') for p in approach] + report=dict(policy='empty_hand_full_body_lateral_return_v2',table_retreat_m=retreat_distance,lateral_transfer=offset,transfer_base=transfer.tolist(),posture=posture,route_search=route_detail,pickup_route_search=approach_detail,failures=failures,planning_seconds=time.monotonic()-started,all_live_props_checked=True,no_attached_object=True,exact_pick_base_retained=True) + return compact,primitives,report + raise RuntimeError('No collision-screened empty-hand return route: '+str(failures[-8:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..8e26e6957723fc581c9cfeb7fec463e97a03249a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/multi_validation.py @@ -0,0 +1,301 @@ +"""Shared, strict helpers for the uninterrupted multi-item episode contract.""" +from __future__ import annotations + +import gzip +import json +import re +from pathlib import Path + +import numpy as np + + +ITEM_PHASE = re.compile(r"^item_(\d\d)_(.+)$") +CORE_PHASES = ( + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "complete", +) +OPTIONAL_PHASES = {"carry_planning", "carry_raise", "carry_compact", "place_planning", "empty_return"} + + +def items(job): + result = job.get("items") + if not isinstance(result, list) or len(result) not in (3, 4): + raise ValueError("job.items must contain exactly three or four requested items") + required = {"target", "hand", "product", "pick_source", "pick_base", "controls_file", "destination_xyz"} + for i, row in enumerate(result): + missing = sorted(required - set(row)) + if missing: + raise ValueError(f"job.items[{i}] missing {missing}") + if row["hand"] not in ("l", "r"): + raise ValueError(f"job.items[{i}].hand is invalid") + targets = [row["target"] for row in result] + if len(set(targets)) != len(targets): + raise ValueError("Every requested target must be distinct") + if int(job.get("initial_tray_items", -1)) != 0: + raise ValueError("The multi-item task requires an initially empty tray") + return result + + +def controls_path(case, item): + path = Path(item["controls_file"]) + if not path.is_absolute(): + path = Path(case) / path + return path.resolve() + + +def controls(case, item): + path = controls_path(case, item) + data = np.load(path, allow_pickle=False) + missing = [key for key in ("pick", "place_initial", "target_local") if key not in data] + if missing: + raise ValueError(f"{path} missing controls arrays {missing}") + return data + + +def decoded(values): + return [x.decode() if isinstance(x, bytes) else str(x) for x in values.tolist()] + + +def recording_contract(z, requested): + n = len(z["q"]) + required = {"phase", "item_index", "active_target_path", "target_paths", "target_pose_all"} + missing = sorted(required - set(z.files)) + if missing: + raise ValueError(f"recording_60hz.npz missing multi-item fields {missing}") + paths = decoded(z["target_paths"]) + expected = [row["target"] for row in requested] + if paths != expected: + raise ValueError(f"target_paths are not in requested order: {paths!r}") + pose = np.asarray(z["target_pose_all"]) + if pose.shape != (n, len(requested), 7) or not np.isfinite(pose).all(): + raise ValueError(f"target_pose_all has invalid shape/value {pose.shape}") + item_index = np.asarray(z["item_index"], dtype=np.int64) + active = decoded(z["active_target_path"]) + if item_index.shape != (n,) or len(active) != n: + raise ValueError("item_index/active_target_path must have one value per control tick") + if np.any((item_index < -1) | (item_index >= len(requested))): + raise ValueError("item_index contains an out-of-range value") + phases = decoded(z["phase"]) + for tick, (index, path, phase) in enumerate(zip(item_index, active, phases)): + match = ITEM_PHASE.match(phase) + if phase == "initial_upper_shelf_posture": + authentic = (index == -1 and path == "") or (index == 0 and path == expected[0]) + if not authentic or any(ITEM_PHASE.match(x) for x in phases[:tick]): + raise ValueError(f"tick {tick} has invalid or non-prefix initial encoding") + continue + if index == -1: + raise ValueError(f"inactive tick {tick} occurs outside the initial posture: {phase}") + if path != expected[index]: + raise ValueError(f"tick {tick} active target does not match item_index") + if not match or int(match.group(1)) != index: + raise ValueError(f"tick {tick} phase is not prefixed for active item: {phase}") + return phases, item_index, active, pose + + +def compressed(values): + return list(dict.fromkeys(values)) + + +def item_phase_indices(phases, item_index, index, suffix=None): + mask = item_index == index + if suffix is not None: + mask &= np.asarray([p == f"item_{index:02d}_{suffix}" for p in phases]) + return np.flatnonzero(mask) + + +def validate_phase_order(phases, item_index, count): + details = [] + matches = [ITEM_PHASE.match(phase) for phase in phases] + first = np.flatnonzero([match is not None for match in matches]) + if not len(first): + raise ValueError("No active item ticks were recorded") + if any(p != "initial_upper_shelf_posture" for p in phases[: first[0]]): + raise ValueError("Only initial_upper_shelf_posture may precede item 0") + seen_items = compressed([int(match.group(1)) for match in matches if match]) + if seen_items != list(range(count)): + raise ValueError(f"item cycles are not continuous and ordered: {seen_items}") + for index in range(count): + indices = np.flatnonzero([(match is not None and int(match.group(1)) == index and item_index[tick] == index) for tick, match in enumerate(matches)]) + suffixes = [] + for tick in indices: + match = ITEM_PHASE.match(phases[tick]) + suffixes.append(match.group(2)) + unique = compressed(suffixes) + unknown = [name for name in unique if name not in set(CORE_PHASES) | OPTIONAL_PHASES] + if unknown: + raise ValueError(f"item {index} has unknown phases {unknown}") + positions = [] + for name in CORE_PHASES: + if name not in unique: + raise ValueError(f"item {index} is missing required phase {name}") + positions.append(unique.index(name)) + if positions != sorted(positions): + raise ValueError(f"item {index} core phases are out of order: {unique}") + has_return = "empty_return" in unique + if index < count - 1 and (not has_return or not (unique.index("settle") < unique.index("empty_return") < unique.index("complete"))): + raise ValueError(f"item {index} must return empty-handed to the next source before completion") + if index == count - 1 and has_return: + raise ValueError("The final item must complete at the table without an extra return") + if indices[-1] - indices[0] + 1 != len(indices): + raise ValueError(f"item {index} cycle is not contiguous") + details.append(dict(item_index=index, phases=unique, first_tick=int(indices[0] + 1), last_tick=int(indices[-1] + 1))) + return details + + +def audit_ranges(z, requested, minimum_shards=4, maximum_shards=16): + """Create target-homogeneous ranges; split long ranges without crossing item cycles.""" + _, item_index, _, _ = recording_contract(z, requested) + active = item_index.copy() + active[active < 0] = 0 + starts = np.r_[0, np.flatnonzero(active[1:] != active[:-1]) + 1] + ends = np.r_[starts[1:], len(active)] + ranges = [[int(a), int(b), int(active[a])] for a, b in zip(starts, ends)] + while len(ranges) < minimum_shards: + eligible = [(b - a, i) for i, (a, b, _) in enumerate(ranges) if b - a >= 2] + if not eligible: + break + _, i = max(eligible) + a, b, item = ranges[i] + middle = (a + b) // 2 + ranges[i : i + 1] = [[a, middle, item], [middle, b, item]] + if not (minimum_shards <= len(ranges) <= maximum_shards): + raise ValueError(f"Could not form {minimum_shards}..{maximum_shards} homogeneous audit shards") + covered = [tick for a, b, _ in ranges for tick in range(a, b)] + if covered != list(range(len(active))): + raise ValueError("Audit ranges do not cover every control tick exactly once") + return ranges + + +def load_contact_rows(path): + opener = gzip.open if str(path).endswith(".gz") else open + with opener(path, "rt") as stream: + return [json.loads(line) for line in stream if line.strip()] + + +def contact_capture_audit(out, requested, control_ticks, item_index=None, active_target=None, phases=None): + receipt_path = Path(out) / "CONTACT_CAPTURE.json" + contacts_path = Path(out) / "contacts.jsonl.gz" + if not receipt_path.exists() or not contacts_path.exists(): + return dict(passed=False, reason="Missing CONTACT_CAPTURE.json or contacts.jsonl.gz") + receipt = json.loads(receipt_path.read_text()) + expected = [row["target"] for row in requested] + rows = load_contact_rows(contacts_path) + captured = set() + invalid = [] + identity_mismatch = [] + for row_number, row in enumerate(rows, 1): + actors = list(map(str, row.get("actors", []))) + for target in expected: + if any(a == target or a.startswith(target + "/") or a.startswith(target + "#") for a in actors): + captured.add(target) + tick = int(row.get("tick", 0)) + if not 1 <= tick <= control_ticks: + invalid.append(row_number) + elif item_index is not None and active_target is not None: + if (int(row.get("item_index", -999)) != int(item_index[tick-1]) + or str(row.get("active_target_path", "")) != str(active_target[tick-1]) + or (phases is not None and str(row.get("phase", "")) != str(phases[tick-1]))): + identity_mismatch.append(row_number) + passed = ( + receipt.get("requested_targets") == expected + and receipt.get("filter_semantics") == "robot_or_any_requested_target" + and receipt.get("all_physics_ticks") is True + and int(receipt.get("dropped_rows", -1)) == 0 + and int(receipt.get("control_ticks", -1)) == control_ticks + and int(receipt.get("callback_rows", -1)) == len(rows) + and captured == set(expected) + and not invalid + and not identity_mismatch + ) + return dict(passed=passed, receipt=receipt, contact_rows=len(rows), targets_with_recorded_contacts=sorted(captured), invalid_tick_rows=invalid, active_item_identity_mismatch_rows=identity_mismatch) + + +def grasp_retention_audit(contact_rows, phases, item_index, requested): + """Reject height-only pickups without a retained, unsupported pinch. + + Contact callbacks can repeat within one 60 Hz control tick, so this gate + counts distinct control ticks. It mirrors the future producer gate while + remaining usable for already-running frozen snapshots that lack PICK_GATE + receipts. + """ + phases = np.asarray(phases) + item_index = np.asarray(item_index, dtype=np.int64) + details = [] + passed = True + + def touches(path, values): + return any(value == path or value.startswith(path + "/") or value.startswith(path + "#") for value in values) + + for index, item in enumerate(requested): + target = str(item["target"]) + hand = str(item["hand"]) + pick = item_phase_indices(phases, item_index, index, "shelf_pick") + if not len(pick): + details.append(dict(item_index=index, target=target, passed=False, reason="missing shelf_pick phase")) + passed = False + continue + end_tick = int(pick[-1] + 1) + window_start = max(int(pick[0] + 1), end_tick - 29) + tail_start = max(window_start, end_tick - 2) + environment_start = max(int(pick[0] + 1), end_tick - 14) + prefix = f"/World/Robot/gripper_{hand}" + inner_path = prefix + "_inner_link4" + outer_path = prefix + "_outer_link4" + inner = set() + outer = set() + environment = set() + for row in contact_rows: + tick = int(row.get("tick", 0)) + if tick < min(window_start, environment_start) or tick > end_tick: + continue + values = list(map(str, row.get("actors", []))) + list(map(str, row.get("colliders", []))) + if not touches(target, values): + continue + if tick >= window_start: + if touches(inner_path, values): + inner.add(tick) + if touches(outer_path, values): + outer.add(tick) + if tick >= environment_start: + if any(not (value == target or value.startswith(target + "/") or value.startswith(target + "#") + or value == "/World/Robot" or value.startswith("/World/Robot/")) for value in values): + environment.add(tick) + bilateral = sorted(inner & outer) + minimum = max(15, int(item.get("pick_grasp_contact_min_bilateral_ticks", 15))) + tail = [tick for tick in bilateral if tick >= tail_start] + item_passed = len(bilateral) >= minimum and bool(tail) and not environment + passed &= item_passed + details.append(dict( + item_index=index, + target=target, + active_hand=hand, + gripper_prefix=prefix, + shelf_pick_tick_range=[int(pick[0] + 1), end_tick], + window_control_ticks=30, + window_start_tick=window_start, + window_end_tick=end_tick, + inner_contact_ticks=sorted(inner), + outer_contact_ticks=sorted(outer), + simultaneous_bilateral_contact_ticks=bilateral, + simultaneous_bilateral_contact_tick_count=len(bilateral), + minimum_simultaneous_bilateral_ticks=minimum, + final_tail_control_ticks=3, + final_tail_bilateral_ticks=tail, + environment_clear_control_ticks=15, + environment_contact_ticks=sorted(environment), + passed=item_passed, + )) + return dict( + schema="ziche.multi_item.grasp_retention_audit.v1", + passed=bool(passed), + semantics="distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + items=details, + ) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/native_planner.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/native_planner.py new file mode 100644 index 0000000000000000000000000000000000000000..6818134a1b771bfa03af1b8ade2c40150004fca1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/native_planner.py @@ -0,0 +1,33 @@ +"""Planning filter using unchanged native self-collision geometry and exclusions.""" +import numpy as np +import sys,os +from pathlib import Path +project=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(Path(__file__).resolve().parents[2]))) +sys.path.insert(0,str(project/'work/shelf_training_visible360_20260916')) +from pxr import Usd,UsdGeom,UsdPhysics +import trimesh +from collision_scene import Body,collider_mesh,matrix,broad_overlap,contact,traversal +from robot_collision_profile import collision_disabled_joint_neighbors,audit_full_robot_collision_profile + +def build(stage): + cache=UsdGeom.XformCache();profile=audit_full_robot_collision_profile(stage);filtered={tuple(sorted(p)) for p in profile['filtered_body_pairs']};filtered.update(collision_disabled_joint_neighbors(stage));grouped={} + for path in profile['collision_enabled_paths']: + p=stage.GetPrimAtPath(path);owner=p + while owner and not owner.HasAPI(UsdPhysics.RigidBodyAPI):owner=owner.GetParent() + if not owner:raise ValueError(path) + mesh,_,_=collider_mesh(p);mesh.apply_transform(np.linalg.inv(matrix(cache.GetLocalToWorldTransform(owner)))@matrix(cache.GetLocalToWorldTransform(p)));grouped.setdefault(str(owner.GetPath()),[]).append(mesh) + from wrist_upright import camera_mount + mounts={h:camera_mount(stage,h) for h in ['l','r']} + bodies=[Body(p,trimesh.util.concatenate(ms),metadata={'link':p}) for p,ms in grouped.items()] + def check(fk,root): + for hand,mount in mounts.items(): + rotation=fk[root+'/gripper_'+hand+'_base_link'][:3,:3] + if (rotation@mount[:3,3])[2]<.010 or (rotation@mount[:3,1])[2]<.25:return False,dict(reason='wrist_not_upright',hand=hand) + for body in bodies:body.update(fk[body.name.replace('/World/Robot',root,1)]) + for i,a in enumerate(bodies): + for b in bodies[i+1:]: + if tuple(sorted((a.name,b.name))) in filtered or not broad_overlap(a,b):continue + if contact(a,b,containment=True) is not None:return False,dict(a=a.name,b=b.name) + return True,None + check.bodies=bodies + return check diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/navigation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/navigation.py new file mode 100644 index 0000000000000000000000000000000000000000..974c30a4a7d77370753c3a95ee86d9f96ecff76a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/navigation.py @@ -0,0 +1,132 @@ +"""Planar A* with collision-checked shortcutting; nonholonomic stop-turn-drive execution.""" +import heapq,math +import numpy as np + +def clear_segment(a,b,obstacles,radius=.30): + a=np.asarray(a);b=np.asarray(b);delta=b-a + for lo,hi in obstacles: + lo=np.asarray(lo)-radius;hi=np.asarray(hi)+radius;t0,t1=0.,1. + for k in range(2): + if abs(delta[k])<1e-12: + if a[k]hi[k]:t0,t1=1.,0.;break + else: + x,y=sorted(((lo[k]-a[k])/delta[k],(hi[k]-a[k])/delta[k]));t0=max(t0,x);t1=min(t1,y) + if t0<=t1:return False + return True + +def plan(start,goal,obstacles,radius=.30,resolution=.05): + start=np.asarray(start);goal=np.asarray(goal) + if clear_segment(start,goal,obstacles,radius):return [start.tolist(),goal.tolist()] + origin=np.minimum(start,goal)-3.;maximum=np.maximum(start,goal)+3.;shape=np.ceil((maximum-origin)/resolution).astype(int) + def point(n):return origin+np.asarray(n)*resolution + def cell(p):return tuple(np.rint((p-origin)/resolution).astype(int)) + s,g=cell(start),cell(goal) + if not clear_segment(start,point(s),obstacles,radius) or not clear_segment(point(g),goal,obstacles,radius):raise ValueError('Endpoint inside inflated obstacle') + queue=[(0.,s)];cost={s:0.};parent={};done=set() + while queue: + _,n=heapq.heappop(queue) + if n in done:continue + done.add(n) + if n==g:break + for dx,dy in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(1,-1),(-1,1),(-1,-1)]: + m=(n[0]+dx,n[1]+dy) + if any(m[k]<0 or m[k]>shape[k] for k in range(2)):continue + v=cost[n]+math.hypot(dx,dy)*resolution + if v>=cost.get(m,float('inf')):continue + if not clear_segment(point(n),point(m),obstacles,radius):continue + cost[m]=v;parent[m]=n;heapq.heappush(queue,(v+np.linalg.norm(point(m)-goal),m)) + if g not in done:raise ValueError('No clearance-safe planar path') + nodes=[g] + while nodes[-1]!=s:nodes.append(parent[nodes[-1]]) + route=[start.tolist()]+[point(n).tolist() for n in reversed(nodes)]+[goal.tolist()] + simple=[route[0]];i=0 + while ii+1 and not clear_segment(route[i],route[j],obstacles,radius):j-=1 + simple.append(route[j]);i=j + return simple + +def angle_delta(target,current):return math.atan2(math.sin(target-current),math.cos(target-current)) + +def motion_primitives(route, initial_yaw, final_yaw): + """Choose forward/reverse per straight leg to minimize total stationary turning.""" + points=[np.asarray(x,dtype=float) for x in route] + legs=[(a,b) for a,b in zip(points,points[1:]) if np.linalg.norm(b-a)>1e-6] + if not legs:return [dict(kind='turn',goal=[*points[-1],float(final_yaw)])] + headings=[math.atan2(*(b-a)[::-1]) for a,b in legs] + states=[(0.,initial_yaw,[])] + for heading in headings: + next_states=[] + for sign in (1,-1): + yaw=angle_delta(heading+(math.pi if sign<0 else 0),0) + best=min(states,key=lambda x:x[0]+abs(angle_delta(yaw,x[1]))) + next_states.append((best[0]+abs(angle_delta(yaw,best[1])),yaw,best[2]+[(yaw,sign)])) + states=next_states + best=min(states,key=lambda x:x[0]+abs(angle_delta(final_yaw,x[1]))) + primitives=[] + for (a,b),(yaw,sign) in zip(legs,best[2]): + primitives.extend([dict(kind='turn',goal=[*a,float(yaw)]),dict(kind='drive',goal=[*b,float(yaw)],direction=sign)]) + primitives.append(dict(kind='turn',goal=[*points[-1],float(final_yaw)])) + return primitives + +class PrimitiveController: + """Mutually exclusive stationary yaw and body-axis translation, bounded acceleration.""" + def __init__(self,primitive):self.primitive=primitive;self.speed=0.;self.done=False + def step(self,current,dt=1/60): + goal=np.asarray(self.primitive['goal']);yaw=float(current[2]);heading=np.array([math.cos(yaw),math.sin(yaw)]) + if self.primitive['kind']=='turn': + error=angle_delta(goal[2],yaw);desired=math.copysign(min(.25,max(.02,1.5*abs(error))),error) if abs(error)>.0015 else 0. + self.speed+=float(np.clip(desired-self.speed,-.3*dt,.3*dt));self.done=abs(error)<.003 and abs(self.speed)<.001 + return np.array([0.,0.,self.speed]) + error=goal[:2]-np.asarray(current[:2]);along=float(error@heading);lateral=float(error@np.array([-heading[1],heading[0]])) + if abs(lateral)>.015:raise RuntimeError(f'Straight drive lateral tracking error {lateral:.4f} m; replan instead of strafing') + if abs(angle_delta(goal[2],yaw))>.01:raise RuntimeError('Straight drive heading drift; stop and replan') + desired=math.copysign(min(.18,max(.008,min(1.5*abs(along),.8*math.sqrt(2*.12*abs(along))))),along) if abs(along)>.0015 else 0. + self.speed+=float(np.clip(desired-self.speed,-.12*dt,.12*dt));self.done=abs(along)<.003 and abs(self.speed)<.001 + return np.r_[heading*self.speed,0.] + +def command(current,goal,previous,dt=1/60): + """Stationary manipulation hold only. Never correct XY with a lateral command.""" + if np.linalg.norm(np.asarray(goal[:2])-current[:2])>.02:raise RuntimeError('Base drifted during stationary manipulation; navigation must be replanned') + if abs(angle_delta(goal[2],current[2]))>.02:raise RuntimeError('Base heading drifted during stationary manipulation') + return np.zeros(3) + + +def plan_release_polygons(start,goal,shapes,floors,radius=.34,resolution=.05): + """Use released per-mesh polygons and room floor, not a whole-group AABB.""" + from shapely.geometry import Polygon,LineString,Point + from shapely.ops import unary_union + from shapely.prepared import prep + blocked=unary_union([Polygon(s).buffer(0) for s in shapes]).buffer(radius) + free=unary_union([Polygon(f).buffer(0) for f in floors]).buffer(-radius).difference(blocked) + check=prep(free) + def clear(a,b):return check.covers(LineString([a,b])) if np.linalg.norm(np.asarray(a)-b)>1e-10 else check.covers(Point(a)) + start=np.asarray(start);goal=np.asarray(goal) + if not clear(start,start) or not clear(goal,goal):raise ValueError('Endpoint outside released collision-free floor') + if clear(start,goal):return [start.tolist(),goal.tolist()] + origin=np.array(free.bounds[:2]);shape=np.ceil((np.array(free.bounds[2:])-origin)/resolution).astype(int) + def point(n):return origin+np.asarray(n)*resolution + def cell(p):return tuple(np.rint((p-origin)/resolution).astype(int)) + source,target=cell(start),cell(goal) + if not clear(start,point(source)) or not clear(point(target),goal):raise ValueError('Endpoint grid connector blocked') + queue=[(0.,source)];cost={source:0.};parent={};done=set() + while queue: + _,n=heapq.heappop(queue) + if n in done:continue + done.add(n) + if n==target:break + for dx,dy in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(1,-1),(-1,1),(-1,-1)]: + m=(n[0]+dx,n[1]+dy) + if any(m[k]<0 or m[k]>shape[k] for k in range(2)):continue + value=cost[n]+math.hypot(dx,dy)*resolution + if value>=cost.get(m,float('inf')) or not clear(point(n),point(m)):continue + cost[m]=value;parent[m]=n;heapq.heappush(queue,(value+np.linalg.norm(point(m)-goal),m)) + if target not in done:raise ValueError('No route in released free-floor polygons') + nodes=[target] + while nodes[-1]!=source:nodes.append(parent[nodes[-1]]) + route=[start.tolist()]+[point(n).tolist() for n in reversed(nodes)]+[goal.tolist()];simple=[route[0]];i=0 + while ii+1 and not clear(route[i],route[j]):j-=1 + simple.append(route[j]);i=j + return simple diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py new file mode 100644 index 0000000000000000000000000000000000000000..16e80f9d57784e3aa5cd5a3b5593dfe191614a5b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +"""Check one staged multi-item episode with the official LeRobot reader.""" +import argparse +import hashlib +import json +from datetime import datetime, timezone +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq +import torch +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +CAMERAS = { + "observation.images.top_head": (3, 800, 1280), + "observation.images.hand_left": (3, 480, 848), + "observation.images.hand_right": (3, 480, 848), +} + + +def sha(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + parser.add_argument("--dataset", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + args = parser.parse_args() + info = json.loads((args.dataset / "meta/info.json").read_text()) + expected = int(info["total_frames"]) + parquet_path = args.dataset / "data/chunk-000/episode_000000.parquet" + table = pq.read_table(parquet_path) + dataset = LeRobotDataset(f"local/shelf_to_table_multi10_stable_layout_{args.layout:02d}", + root=args.dataset, video_backend="pyav") + indices = sorted(set((0, expected // 2, expected - 1))) + samples, failures = [], [] + for index in indices: + item = dataset[index] + action_expected = np.asarray(table["action"][index].as_py(), dtype=np.float32) + state_expected = np.asarray(table["observation.state"][index].as_py(), dtype=np.float32) + action_actual = item["action"].detach().cpu().numpy() + state_actual = item["observation.state"].detach().cpu().numpy() + scalars = { + "frame_index": int(item["frame_index"]) == int(table["frame_index"][index].as_py()), + "episode_index": int(item["episode_index"]) == 0, + "source_control_tick": int(item["source_control_tick"]) == int(table["source_control_tick"][index].as_py()), + "item_index": int(item["item_index"]) == int(table["item_index"][index].as_py()), + "phase_index": int(item["phase_index"]) == int(table["phase_index"][index].as_py()), + "timestamp": abs(float(item["timestamp"]) - float(table["timestamp"][index].as_py())) <= 1e-6, + "simulator_time_s": abs(float(item["simulator_time_s"]) - float(table["simulator_time_s"][index].as_py())) <= 2e-6, + } + images = {} + for key, shape in CAMERAS.items(): + value = item[key] + passed = (tuple(value.shape) == shape and bool(torch.isfinite(value).all()) + and float(value.min()) >= 0.0 and float(value.max()) <= 1.0) + images[key] = {"passed": passed, "shape": list(value.shape), + "minimum": float(value.min()), "maximum": float(value.max()), + "mean": float(value.mean()), "standard_deviation": float(value.std())} + passed = (np.array_equal(action_actual, action_expected) and np.array_equal(state_actual, state_expected) + and all(scalars.values()) and all(row["passed"] for row in images.values()) + and bool(item["task"])) + row = {"index": index, "passed": passed, "action_shape": list(action_actual.shape), + "state_shape": list(state_actual.shape), "scalar_alignment": scalars, + "task": item["task"], "images": images} + samples.append(row) + if not passed: + failures.append(row) + passed = (len(dataset) == expected == len(table) and dataset.fps == 20 and not failures + and samples[0]["action_shape"] == [22] and samples[0]["state_shape"] == [23]) + report = {"schema": "ziche.multi10.official_lerobot_reader_qa.v1", + "created_utc": datetime.now(timezone.utc).isoformat(), "layout_id": args.layout, + "passed": passed, "dataset": str(args.dataset), + "reader": "lerobot LeRobotDataset(video_backend='pyav')", + "dataset_length": len(dataset), "parquet_rows": len(table), + "metadata_frames": expected, "fps": dataset.fps, "sample_indices": indices, + "samples": samples, "failures": failures, "parquet_sha256": sha(parquet_path), + "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes."} + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(report, indent=2) + "\n") + print(json.dumps({"output": str(args.output), "passed": passed}, indent=2)) + raise SystemExit(0 if passed else 1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/parallel_world_audit.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/parallel_world_audit.py new file mode 100644 index 0000000000000000000000000000000000000000..727d57ad220f91d4ea9c9e6049b06ff6b51524c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/parallel_world_audit.py @@ -0,0 +1,57 @@ +"""Disjoint control-tick shards; every interval retains its original next tick.""" +import sys,os,time,json,subprocess,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent;case=Path(sys.argv[1]);out=case/'rollout' +from task_collision_scope import POLICY +from multi_validation import audit_ranges,items +shard_count=int(os.environ.get('CHAIN_WORLD_AUDIT_SHARDS','4'));assert 4<=shard_count<=16 +job=json.loads((case/'job.json').read_text());requested=items(job) +start=time.monotonic();z=np.load(out/'recording_60hz.npz',allow_pickle=False);n=len(z['q']);ranges=audit_ranges(z,requested,shard_count,16);shard_count=len(ranges);processes=[];logs=[] +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) +try: + for i,(a,b,item_index) in enumerate(ranges): + for name in [f'WORLD_COLLISION_AUDIT.part_{i}.json',f'WORLD_AUDIT_PROGRESS.part_{i}.json']: + p=out/name + if p.exists():p.rename(out/(name+'.previous_'+str(time.time_ns()))) + env=dict(os.environ,CHAIN_AUDIT_SHARD=str(i),CHAIN_AUDIT_START=str(a),CHAIN_AUDIT_END=str(b),CHAIN_AUDIT_ITEM=str(item_index),OPENBLAS_NUM_THREADS='1',OMP_NUM_THREADS='1') + log=(out/f'world_shard_{i}.log').open('w');logs.append(log);processes.append(subprocess.Popen([sys.executable,str(W/'audit_geometry.py'),str(case),'world'],env=env,stdout=log,stderr=subprocess.STDOUT)) + while any(p.poll() is None for p in processes): + if time.monotonic()-start>1050:raise TimeoutError('World audit exceeded 17.5 minutes; review required, never auto-pass') + checked=0 + for i,(a,b,item_index) in enumerate(ranges): + p=out/f'WORLD_COLLISION_AUDIT.part_{i}.json';progress=out/f'WORLD_AUDIT_PROGRESS.part_{i}.json' + if p.exists(): + part=json.loads(p.read_text());checked+=len(part['checked_frame_indices']) + if part['geometry_status']=='REJECT' and part['hard_failures']: + write(out/'WORLD_COLLISION_AUDIT.json',dict(schema='shelf_multi10.parallel_task_collision_summary.v2',geometry_status='REJECT',collision_scope=POLICY,requested_targets=[x['target'] for x in requested],all_scene_pairs_checked=False,complete_trajectory_checked=False,early_rejection=True,hard_failures=part['hard_failures'],unresolved_review=part['unresolved_review'],elapsed_seconds=time.monotonic()-start,source_shard=i,source_item_index=item_index)) + print('Early rejected by physical collision witness in shard',i,flush=True);sys.exit(0) + elif progress.exists():checked+=max(0,min(int(b-a),json.loads(progress.read_text())['frame']-int(a)+1)) + write(out/'WORLD_AUDIT_PROGRESS.json',dict(frame=checked,total=n,updated=time.time(),parallel_shards=shard_count,elapsed_seconds=time.monotonic()-start)) + time.sleep(2) + results=[] + for i,p in enumerate(processes): + if p.returncode:raise RuntimeError(f'Collision shard {i} failed; see world_shard_{i}.log') + results.append(json.loads((out/f'WORLD_COLLISION_AUDIT.part_{i}.json').read_text())) + failures=[];review=[];contacts=[];covered=[] + for i,r in enumerate(results): + a,b,item_index=ranges[i] + indices=r['checked_frame_indices'];assert len(set(indices))==len(indices) + assert all(int(a)<=x=len(yaw_options):theta+=np.deg2rad(rng.uniform(-12,12)) + points=vertices@Rot.from_euler('z',theta).as_matrix().T + footprint=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]+xy) + gap=min((footprint.distance(poly) for poly in all_obstacles),default=None) + if not floor.buffer(-.008).covers(footprint) or (gap is not None and gap<=.012):continue + candidates.append((xy,np.rad2deg(math.atan2(math.sin(theta-yaw),math.cos(theta-yaw))),gap)) + candidates.sort(key=lambda c:abs(c[1])*.001+np.linalg.norm(c[0]-center)) + if not candidates:raise RuntimeError('Reserved tray slot has no supported free placement after live-object clearance checks') + else: + candidates=destination_candidates(vertices,yaw,floor,all_obstacles,job['seed'],job['destination_xyz'][:2],0,count=160) + candidates.sort(key=lambda c:np.linalg.norm(c[0]-base[:2,3])) + failures=[] + fast=Arm(robot,names,q0,base,link,active) + def ik(q,g): + prev=q[active].copy() + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=100) + qq=q.copy();qq[active]=fit.x;f=fast.forward(fit.x)[0] + error=[np.linalg.norm(f[:3,3]-g[:3,3]),Rot.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude()] + return qq,error + for index,(xy,dyaw,gap) in enumerate(candidates): + goal=np.eye(4);goal[:3,:3]=Rot.from_euler('z',yaw+np.deg2rad(dyaw)).as_matrix();goal[:2,3]=xy + goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min() + end,err=ik(q0,goal@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='landing',error=err));continue + for clearance in [0.,.06,.12,.18]: + hover=goal.copy();hover[2,3]=max(goal[2,3]+clearance,object_pose[2,3]);near=goal.copy();near[2,3]+=.025 + segments=[(object_pose,near,8),(near,goal,4)] if clearance==0 else [(object_pose,hover,5),(hover,near,4),(near,goal,4)];q=q0.copy();planned=[];failed=False + for start,stop,secs in segments: + rots=Slerp([0,1],Rot.from_matrix([start[:3,:3],stop[:3,:3]])) + for t in np.linspace(0,1,secs*20): + u=10*t**3-15*t**4+6*t**5;world=np.eye(4);world[:3,:3]=rots(u).as_matrix();world[:3,3]=start[:3,3]*(1-u)+stop[:3,3]*u + q,err=ik(q,world@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='path',frame=len(planned),error=err));failed=True;break + if pose_check is not None: + okay,detail=pose_check(robot.fk(names,q,base),robot.root) + if not okay: + failures.append(dict(candidate=index,stage='self_collision',frame=len(planned),detail=detail));failed=True;break + if world_check is not None and not world_check.check(q,base): + failures.append(dict(candidate=index,stage='world_collision',frame=len(planned),detail=world_check.last));failed=True;break + planned.append(q.copy()) + if failed:break + if failed:continue + retreat_goal=goal@invheld;retreat_goal[2,3]+=.15;retreat,error=ik(q,retreat_goal) + if error[0]>.002 or error[1]>.02: + failures.append(dict(candidate=index,stage='retreat',error=error));continue + if pose_check is not None: + valid=True + for t in np.linspace(0,1,61): + okay,detail=pose_check(robot.fk(names,q*(1-t)+retreat*t,base),robot.root) + if not okay:valid=False;break + if not valid: + failures.append(dict(candidate=index,stage='retreat_self_collision',detail=detail));continue + release_report=None + if release_sweep is not None: + release_ok,release_report=release_sweep.check(q,retreat,base,goal) + if not release_ok: + failures.append(dict(candidate=index,stage='open_gripper_release_or_retreat_world',detail=release_report));continue + elif job.get('require_release_sweep',False): + raise ValueError('Placement requires an open-gripper release sweep checker') + return np.array(planned),retreat,dict(candidate=index,goal=goal.tolist(),held=held.tolist(),prior_failures=failures,clutter_clearance=gap,policy='reserved_multi_item_slots_live_obstacles_v2_release_sweep',slot=slot,reserved_future_slots=len(reserved),hover_clearance_m=clearance,candidate_budget=int(job.get('placement_candidate_budget',800)) if slot else 160,release_sweep=release_report) + raise RuntimeError('All supported tray candidates unreachable: '+str(failures[:3]+failures[-3:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_multi.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_multi.py new file mode 100644 index 0000000000000000000000000000000000000000..abeb8466de5cff5a67266842abd9d9163e868c48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_multi.py @@ -0,0 +1,201 @@ +"""Prepare one isolated multi-item shelf/tray case from accepted replay sources.""" +import sys,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation as Rot +from scipy.spatial import ConvexHull +from pxr import Usd,UsdGeom,UsdPhysics,UsdUtils,Sdf,Gf + +W=Path(__file__).resolve().parent; R=W.parents[1] +OLD=R/'work/shelf_to_table50_20261001' +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop'),str(OLD)] +from shapely.geometry import Polygon +from shapely import affinity +from shapely.ops import unary_union +from place_tray_layout import scene_geometry,mesh_world_points +from geometry_transfer import registration,board_path + +def dump(p,d): p.write_text(json.dumps(d,indent=2)+'\n') +def matrix(stage,path): return np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(stage.GetPrimAtPath(path))).T +def set_matrix(stage,path,m): + p=stage.GetPrimAtPath(path); pm=np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(p.GetParent())).T + local=np.linalg.inv(pm)@m; x=UsdGeom.Xformable(p); x.ClearXformOpOrder(); x.AddTransformOp().Set(Gf.Matrix4d(local.T.tolist())) +def robot_matrix(spec): + m=np.eye(4); m[:3,:3]=Rot.from_quat(np.asarray(spec['robot']['base_wxyz'])[[1,2,3,0]]).as_matrix(); m[:3,3]=spec['robot']['base_xyz_m']; return m +def control_payload(source,names): + targets=[]; drive={} + with (source/'runtime_control_readback.jsonl').open() as stream: + for line in stream: + row=json.loads(line); by={r['joint']:r for r in row['rows']}; targets.append([by[n]['live_position_target_rad_or_m'] for n in names]) + if not drive: drive={n:by[n]['live_stage_drive_attributes'] for n in names} + q=np.asarray(targets); q[:,18:20]=np.clip(q[:,18:20],0,np.pi/4); return q,drive +def bounds(stage,path): + pts=mesh_world_points(stage,stage.GetPrimAtPath(path)); return pts.min(0),pts.max(0) +def intersects(a,b,pad=.012): + return all(a[0][k]-pad < b[1][k] and b[0][k]-pad < a[1][k] for k in range(3)) +DRINKS={'starbucks','coke_c3','sprite_c1','gatorade_m','gatorade_t','good2grow','grapefruit_can','cayman_jacked'} +def assign_slots(items,tray_polygon,place_xy): + """Search reserved, non-overlapping upright placements back-to-front.""" + pts=np.asarray(tray_polygon); floor=Polygon(pts).buffer(-.008); center=np.asarray(floor.centroid.coords[0]); cov=np.cov((pts-center).T); vals,vecs=np.linalg.eigh(cov); u=vecs[:,np.argmax(vals)]; v=np.array([-u[1],u[0]]) + if np.dot(np.asarray(place_xy)-center,v)<0: v=-v + u=np.array([v[1],-v[0]]) + for item in items: + local=np.load(item['controls_file'])['target_local'][:,:2]; item['_poly']=Polygon(local[ConvexHull(local).vertices]) + base_yaw=float(math.atan2(u[1],u[0])); grid_u=[-.11,-.075,-.04,0,.04,.075,.11]; grid_v=[-.06,-.03,0,.03,.06] + def candidates(item): + rows=[] + for vv in grid_v: + for uu in grid_u: + xy=center+uu*u+vv*v + yaws=[item['accepted_landing_yaw_rad'],item['accepted_landing_yaw_rad']+math.pi] if 'accepted_landing_yaw_rad' in item else [base_yaw,base_yaw+math.pi/2] + for yaw in yaws: + p=affinity.translate(affinity.rotate(item['_poly'],yaw*180/math.pi,origin=(0,0)),xy[0],xy[1]) + if floor.covers(p): rows.append((vv,abs(uu),uu,xy,yaw,p)) + return sorted(rows,key=lambda x:(x[0],x[1])) + chosen=[] + def search(i,last_v): + if i==len(items): return True + for vv,_,uu,xy,yaw,p in candidates(items[i]): + if vv+1e-8 str: + h = hashlib.sha256() + with path.open("rb") as f: + for block in iter(lambda: f.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def main() -> None: + records = [] + for case_id in range(1, 11): + src = OLD / "cases" / f"layout_{case_id:02d}" + dst = NEW / "cases" / f"layout_{case_id:02d}" + if dst.exists() and any(dst.iterdir()): + raise RuntimeError(f"refusing to overwrite nonempty {dst}") + dst.mkdir(parents=True, exist_ok=True) + + copied = [] + for name in INPUT_NAMES: + shutil.copy2(src / name, dst / name) + copied.append(name) + for p in sorted(src.glob("controls*.npz")): + shutil.copy2(p, dst / p.name) + copied.append(p.name) + + job = json.loads((src / "job.json").read_text()) + if case_id == 4: + # The first three completed and settled in one physical prefix; + # item 3 Pringles failed to lift. Keep it as a shelf distractor. + job["items"] = job["items"][:3] + job["tray_slots"] = job["tray_slots"][:3] + old_s, new_s = str(OLD), str(NEW) + job = json.loads(json.dumps(job).replace(old_s, new_s)) + job["status"] = "PREPARING" + job["attempt_index"] = 1 + (dst / "job.json").write_text(json.dumps(job, indent=2) + "\n") + + # The physical layer sublayers the case-local authored scene/profile. + physical = (dst / "scene_physical.usda").read_text().replace(old_s, new_s) + (dst / "scene_physical.usda").write_text(physical) + + status = { + "status": "PREPARING", + "phase": "fresh_initial_inputs", + "item_index": None, + "completed_objects": [], + "control_ticks": 0, + "source_case": str(src), + "runtime_state_reused": False, + } + (dst / "STATUS.json").write_text(json.dumps(status, indent=2) + "\n") + copied += ["job.json", "STATUS.json"] + records.append({ + "case_id": case_id, + "source_layout_id": job["source_layout_id"], + "item_count": len(job["items"]), + "products": [x["product"] for x in job["items"]], + "files": {name: sha(dst / name) for name in sorted(copied)}, + }) + + combos_path = NEW / "COMBINATIONS.json" + combos = json.loads(combos_path.read_text()) + for case in combos["cases"]: + if case["case_id"] == 4: + case["products"] = [p for p in case["products"] if p["product"] != "pring_bbq"] + combos["stable_retry_changes"] = { + "layout_03": {"inactive_nonrequested_prims": [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles", + ]}, + "layout_04": {"item_count": 3, "removed_requested_item": "pring_bbq", + "reason": "preserve three physically successful items; fourth pickup did not lift"}, + "layout_09": {"inactive_nonrequested_prims": ["/World/Assets/Tier2Items/oreo_gf"]}, + } + combos_path.write_text(json.dumps(combos, indent=2) + "\n") + manifest = { + "schema": "shelf_to_table_multi10.stable_input_manifest.v1", + "old_root_read_only": str(OLD), + "new_root": str(NEW), + "copy_policy": "initial inputs only; no rollout/checkpoint/live held transform reused", + "counts": {"cases": 10, "triples": 7, "quads": 3, "items": 33}, + "cases": records, + } + (NEW / "PREPARED_INPUT_MANIFEST.json").write_text(json.dumps(manifest, indent=2) + "\n") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_visual_qa.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_visual_qa.py new file mode 100644 index 0000000000000000000000000000000000000000..52d4e8c646a17dcbf5b9619f47bc10629aeef344 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/prepare_visual_qa.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +"""Create read-only all-view startup and full-phase evidence panels.""" +import hashlib +import json +import sys +from pathlib import Path + +import av +import numpy as np +from PIL import Image, ImageDraw + +W = Path(__file__).resolve().parent +CAMERAS = ("top_head", "hand_left", "hand_right") + + +def sha(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def selected_frames(path, indices): + wanted = set(indices) + result = {} + with av.open(str(path)) as container: + for index, frame in enumerate(container.decode(video=0)): + if index in wanted: + result[index] = frame.to_image().convert("RGB") + if len(result) == len(wanted): + break + if set(result) != wanted: + raise RuntimeError(f"{path}: missing selected frames {sorted(wanted - set(result))}") + return result + + +def panel(images, frames, labels, path, title): + cell_w, cell_h, label_h = 256, 160, 38 + canvas = Image.new("RGB", (cell_w * len(frames), 28 + len(CAMERAS) * (cell_h + label_h)), "black") + draw = ImageDraw.Draw(canvas) + draw.text((5, 5), title, fill="white") + for row, camera in enumerate(CAMERAS): + for column, (frame, label) in enumerate(zip(frames, labels)): + image = images[camera][frame].copy() + image.thumbnail((cell_w, cell_h)) + x = column * cell_w + (cell_w - image.width) // 2 + y0 = 28 + row * (cell_h + label_h) + canvas.paste(image, (x, y0 + label_h)) + draw.text((column * cell_w + 3, y0 + 2), f"{camera} f{frame}\n{label[:28]}", fill="white") + canvas.save(path, quality=92) + + +def main(): + case = Path(sys.argv[1]).resolve() + out = case / "rollout" + job = json.loads((case / "job.json").read_text()) + dataset = W / "staged_datasets" / f"layout_{int(job['layout_id']):02d}" + recording = np.load(out / "recording_60hz.npz", allow_pickle=False) + sample_rows = np.arange(2, len(recording["q"]), 3) + sampled_phases = recording["phase"][sample_rows].astype(str) + phase_names = list(dict.fromkeys(sampled_phases.tolist())) + phase_frames = [] + for phase in phase_names: + rows = np.flatnonzero(sampled_phases == phase) + phase_frames.append(int(rows[len(rows) // 2])) + first = list(range(min(10, len(sample_rows)))) + needed = sorted(set(first + phase_frames)) + evidence = W / "qa" / f"layout_{int(job['layout_id']):02d}" / "visual_evidence" + evidence.mkdir(parents=True, exist_ok=True) + decode = json.loads((out / "VIDEO_DECODE_AUDIT.json").read_text()) + images = {} + videos = {} + for camera in CAMERAS: + video = dataset / "videos/chunk-000" / f"observation.images.{camera}" / "episode_000000.mp4" + digest = sha(video) + if digest != decode["videos"][camera]["sha256"]: + raise RuntimeError(f"{camera} video differs from fully decoded native evidence") + images[camera] = selected_frames(video, needed) + videos[camera] = {"path": str(video), "sha256": digest} + panels = [] + startup = evidence / "FIRST_0P5S_ALL_VIEWS.jpg" + panel(images, first, [f"startup {i}" for i in first], startup, + "Retained first 0.5 s: all native views") + panels.append({"kind": "startup", "path": str(startup), "sha256": sha(startup), + "frame_indices": first}) + for page, begin in enumerate(range(0, len(phase_frames), 12)): + frames = phase_frames[begin:begin + 12] + labels = phase_names[begin:begin + 12] + path = evidence / f"FULL_PHASE_ALL_VIEWS_{page + 1:02d}.jpg" + panel(images, frames, labels, path, f"Full continuous episode phase midpoints page {page + 1}") + panels.append({"kind": "phase", "path": str(path), "sha256": sha(path), + "frame_indices": frames, "phase_names": labels}) + receipt = { + "schema": "ziche.multi10_visual_panels.v1", "layout_id": int(job["layout_id"]), + "accepted": False, "case": str(case), "dataset": str(dataset), + "recording_sha256": sha(out / "recording_60hz.npz"), "videos": videos, + "phase_names": phase_names, "phase_midpoint_frames": phase_frames, "panels": panels, + "scope": "first retained 0.5 seconds and one midpoint from every ordered phase in all three views", + "requires": "independent human review and official LeRobot reader QA", + } + path = evidence / "PANELS.json" + path.write_text(json.dumps(receipt, indent=2) + "\n") + print(path) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/preroll_stability.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/preroll_stability.py new file mode 100644 index 0000000000000000000000000000000000000000..bdc11d2f74ce3271ddbbe2e7e4534807229dffa3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/preroll_stability.py @@ -0,0 +1,73 @@ +"""Geometry-based startup stability metrics shared by preroll runners/audits.""" +import re +import numpy as np +from pxr import Usd,UsdGeom +from scipy.spatial.transform import Rotation + +PASSIVE_RE=re.compile(r'/gripper_[lr]_(?:inner|outer)_link[234]$') +CAMERAS=[('/World/Robot/head_link2','/World/Robot/head_link2/Head_Camera',1280,800), + ('/World/Robot/gripper_l_base_link','/World/Robot/gripper_l_base_link/Left_Camera',848,480), + ('/World/Robot/gripper_r_base_link','/World/Robot/gripper_r_base_link/Right_Camera',848,480)] + +def _Mpose(p): + m=np.eye(4);m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m + +def build_projection_model(stage,link_paths): + cache=UsdGeom.XformCache() + def mw(prim):return np.asarray(cache.GetLocalToWorldTransform(prim),float).T + cameras=[] + for link_path,cam_path,w,h in CAMERAS: + cam=UsdGeom.Camera(stage.GetPrimAtPath(cam_path));cprim=stage.GetPrimAtPath(cam_path) + cameras.append(dict(link_index=link_paths.index(link_path),path=cam_path,width=w,height=h, + relative=np.linalg.inv(mw(stage.GetPrimAtPath(link_path)))@mw(cprim),focal=float(cam.GetFocalLengthAttr().Get()), + horizontal_aperture=float(cam.GetHorizontalApertureAttr().Get()),vertical_aperture=float(cam.GetVerticalApertureAttr().Get()))) + bodies=[] + for i,path in enumerate(link_paths): + if not PASSIVE_RE.search(path):continue + body=stage.GetPrimAtPath(path);bm=mw(body);chunks=[];mesh_paths=[] + for prim in Usd.PrimRange(body): + if not prim.IsA(UsdGeom.Mesh):continue + pts=np.asarray(UsdGeom.Mesh(prim).GetPointsAttr().Get(),float) + if not len(pts):continue + world=(np.c_[pts,np.ones(len(pts))]@mw(prim).T)[:,:3] + chunks.append((np.c_[world,np.ones(len(world))]@np.linalg.inv(bm).T)[:,:3]);mesh_paths.append(str(prim.GetPath())) + local=np.unique(np.round(np.concatenate(chunks),9),axis=0) if chunks else np.empty((0,3)) + bodies.append(dict(index=i,path=path,local_vertices=local,mesh_paths=mesh_paths, + empty_geometry_exclusion=not len(local),descendant_mesh_count=len(mesh_paths))) + driven=[i for i,p in enumerate(link_paths) if not PASSIVE_RE.search(p)] + return dict(cameras=cameras,bodies=bodies,driven_indices=driven) + +def _project(world,cm,c): + loc=(np.c_[world,np.ones(len(world))]@np.linalg.inv(cm).T)[:,:3];depth=-loc[:,2] + uv=np.c_[c['width']/2+(loc[:,0]/depth)*(c['focal']/c['horizontal_aperture'])*c['width'], + c['height']/2-(loc[:,1]/depth)*(c['focal']/c['vertical_aperture'])*c['height']] + valid=(depth>.001)&(uv[:,0]>=0)&(uv[:,0]=0)&(uv[:,1]=2 + if np.any(seen): + span=np.nanmax(masked[:,seen],axis=0)-np.nanmin(masked[:,seen],axis=0) + # The diagonal of each vertex's UV bounding box is a rigorous upper bound + # on every pairwise Euclidean displacement in the window. + mx=float(np.linalg.norm(span,axis=1).max()) + else:mx=0. + overall=max(overall,mx);cams.append(dict(camera=c['path'],max_projected_motion_px_upper_bound=mx, + vertices_visible_at_least_twice=int(seen.sum()))) + records.append(dict(path=b['path'],status='MEASURED',descendant_mesh_count=b['descendant_mesh_count'], + mesh_paths=b['mesh_paths'],unique_mesh_vertex_count=len(local),cameras=cams, + max_projected_motion_px_upper_bound=max(x['max_projected_motion_px_upper_bound'] for x in cams))) + return dict(status='PASSED' if overall= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name in allowed_release_links: + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_arrival_release.v7", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py new file mode 100644 index 0000000000000000000000000000000000000000..1864ef7f799748666a8519fea1c548fb06bb7246 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py @@ -0,0 +1,299 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 2's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_02/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # First try an exact rigid compensation for the measured navigation + # residual: keep the chassis at its current live arrival and apply the + # same SE(2) residual to the source-grounded object goal/slot. This + # preserves the accepted base-to-hand/object relation without asking the + # base controller to repeat an already demonstrated 1.37 mm miss. + nominal = candidates[0] + _, _, _, _, _, _, nominal_goal, nominal_base, nominal_transfer = nominal + residual = live_base @ np.linalg.inv(nominal_base) + compensated_goal = residual @ nominal_goal + compensated_base = live_base.copy() + compensated_transfer = compensated_goal @ np.linalg.inv(accepted_goal) + compensated_yaw = float(math.atan2(compensated_goal[1, 0], compensated_goal[0, 0])) + compensated_x, compensated_y = map(float, compensated_goal[:2, 3]) + # The exact residual-shifted footprint is only about 0.2 mm short of the + # 12 mm Coke clearance. Search a bounded +/-6 mm posture correction while + # holding the base exactly at the measured arrival. `solve` below must + # still find and screen the resulting arm adjustment. + fixed_base_candidates = [] + rotation = Rotation.from_euler("z", compensated_yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for dx in np.arange(-0.006, 0.0061, 0.001): + for dy in np.arange(-0.006, 0.0061, 0.001): + x, y = compensated_x + float(dx), compensated_y + float(dy) + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = compensated_goal.copy() + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + transfer = goal @ np.linalg.inv(accepted_goal) + score = -1.0 + float(np.hypot(dx, dy)) + fixed_base_candidates.append((score, x, y, compensated_yaw, footprint, + gaps, goal, compensated_base.copy(), transfer)) + fixed_base_candidates.sort(key=lambda entry: entry[0]) + candidates = fixed_base_candidates + candidates + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:1]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + # Explicit post-release screen. The placed target is stationary at the + # solved goal while the gripper opens and the hand follows retreat. + from collision_scene import Body, broad_overlap, contact + import trimesh + landed = Body(item["target"], trimesh.convex.convex_hull(vertices)) + landed.update(np.asarray(report["goal"], dtype=float)) + release_environment = checker.environment + [landed] + release_low = np.asarray([b.lo for b in release_environment]) + release_high = np.asarray([b.hi for b in release_environment]) + release_failure = None + allowed_release_contacts = [] + allowed_release_links = { + f"/World/Robot/gripper_{item['hand']}_inner_link4", + f"/World/Robot/gripper_{item['hand']}_outer_link4", + } + def release_check(qq, phase, sample_index, fraction): + nonlocal release_failure + fk = robot.fk(names, qq, base) + okay, detail = pose_check(fk, robot.root) + if not okay: + release_failure = {"kind": "self_or_wrist", "detail": detail}; return False + for body in checker.self_check.bodies: + body.update(fk[body.name.replace('/World/Robot', robot.root, 1)]) + indices = np.flatnonzero(np.all(release_high >= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name in allowed_release_links: + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_arrival_release.v7", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_FIXED_ONE_TMP.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..e008dd529557876d2588ffa3e939c8fdc764ff92 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 2's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_02/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_last_slot.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_last_slot.py new file mode 100644 index 0000000000000000000000000000000000000000..1790ceaddd70b92ae78ec1b4ea2922356980c9f9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case2_last_slot.py @@ -0,0 +1,146 @@ +#!/usr/bin/env python3 +"""Offline full-body search for case 2's final Skittles tray slot.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def pose_matrix(xyz, wxyz): + result = np.eye(4) + result[:3, 3] = xyz + result[:3, :3] = Rotation.from_quat(np.asarray(wxyz)[[1, 2, 3, 0]]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "PREPARED": + raise RuntimeError(f"case2 is no longer PREPARED: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][3] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][3] + data = np.load(item["controls_file"]) + source = pathlib.Path(item["pick_source"]) + recording = np.load(source / "recording_20hz.npz") + names = recording["robot_dof_names"].tolist() + ids = [names.index(name) for name in data["names"]] + target_index = recording["rigid_body_paths"].tolist().index(item["target"]) + hand_path = "/World/Robot/gripper_" + item["hand"] + "_base_link" + hand_index = recording["robot_link_paths"].tolist().index(hand_path) + held = np.linalg.inv(pose_matrix(recording["robot_link_xyz_m"][-1, hand_index], recording["robot_link_wxyz"][-1, hand_index])) @ pose_matrix(recording["prop_xyz_m"][-1, target_index], recording["prop_wxyz"][-1, target_index]) + q = recording["robot_joint_position_rad_or_m"][-1].copy() + q[ids] = data["place_initial"] + q[ids[-2:]] = data["pick"][-1, -2:] + + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + obstacles = [Polygon(prior["placement_slot"]["footprint_xy"]) for prior in job["items"][:3]] + vertices = data["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + accepted_yaw = float(exact["accepted_yaw_rad"]) + minx, miny, maxx, maxy = floor.bounds + geometry = [] + # Include exact accepted orientation and nearby rotations; every candidate + # rigidly rotates/translates the accepted goal/base pair together. + yaw_offsets = [0, math.pi, math.radians(-15), math.radians(15), math.radians(-30), math.radians(30)] + for yaw_offset in yaw_offsets: + yaw = accepted_yaw + yaw_offset + rotated = vertices @ Rotation.from_euler("z", yaw).as_matrix().T + local_hull = Polygon(rotated[ConvexHull(rotated[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local_hull.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(other) for other in obstacles] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = Rotation.from_euler("z", yaw).as_matrix() + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ goal[:3, :3].T)[:, 2].min() + transform = goal @ np.linalg.inv(accepted_goal) + base = transform @ accepted_base + station_shift = float(np.linalg.norm(base[:2, 3] - np.asarray(item["place_base"])[:2, 3])) + goal_shift = float(np.linalg.norm(goal[:2, 3] - accepted_goal[:2, 3])) + geometry.append((station_shift + 0.15 * goal_shift + 0.02 * abs(yaw_offset), x, y, yaw, footprint, gaps, goal, base, transform)) + geometry.sort(key=lambda candidate: candidate[0]) + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + selfcheck = build(stage) + attempts = [] + accepted = None + for rank, candidate in enumerate(geometry[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transform = candidate + object_pose = robot.fk(names, q, base)[robot.root + hand_path.removeprefix("/World/Robot")] @ held + checker = Clearance(stage, robot, names, item["hand"], item["target"], vertices, held, {}) + if not checker.check(q, base): + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "station_clearance", "detail": checker.last}) + continue + slot = { + "xy": [float(x), float(y)], + "yaw_rad": float(yaw), + "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), + "tolerance_m": 0.001, + } + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": []} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, q, base, object_pose, vertices, item_job, obstacles, selfcheck, world_check=checker) + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "accepted_pair_transform": transform.tolist(), + "geometry": {"tray_inset_m": 0.008, "future_obstacle_gaps_m": [float(g) for g in gaps], "inside": True}, + "full_body_station_clearance": True, + "plan_frames": int(len(plan)), + "retreat_q": retreat.tolist(), + "placement_report": report, + "elapsed_s": time.monotonic() - began, + } + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "passed", "frames": len(plan)}) + break + except Exception as exc: + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "solve", "error": str(exc), "elapsed_s": time.monotonic() - began}) + result = { + "schema": "multi_item.case2_last_slot_repair.v2", + "read_only": True, + "case_status_at_probe": status, + "method": "Rigidly transform the accepted-chain goal and robot station together; preserve the source held transform and place_initial; require tray geometry, stationary full-body/world clearance, and placement.solve full path/world checks.", + "evidence": {"job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "pick_recording": str(source / "recording_20hz.npz")}, + "candidate_count_geometry": len(geometry), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "LAST_SLOT_REPAIR_PROPOSAL_V2.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "candidate_count": len(geometry), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "geometry", "full_body_station_clearance", "plan_frames", "elapsed_s")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..d7bcb4fa1120790b9a0d86ded6172ba9f6f571c0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 3's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_03" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case3 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_03/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case3_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT03_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..61e450de1472cc5023d95c91edb0a273a555e3ac --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 3's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_03" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus both future reservations. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future_items = job["items"][2:] + futures = [Polygon(entry["placement_slot"]["footprint_xy"]) for entry in future_items] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(future) for future in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [entry["placement_slot"]["footprint_xy"] for entry in future_items]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(value) for value in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case3_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE3_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py new file mode 100644 index 0000000000000000000000000000000000000000..16835e1dabdf7dbd9375269696285954ab62a078 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py @@ -0,0 +1,313 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis and abort-retreat qualification for case 3 item 2.""" +import gzip +import json +import math +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +SRC = R / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000556" +OLD = R / "work/shelf_to_table50_20261001/cases/layout_44" +TARGET = "/World/Assets/ShelfItems/gatorade_t" +CAYMAN = "/World/Assets/ShelfItems/cayman_jacked" +BOARD_TOKEN = "shelf_boards_0/Object_4/Object_0" + +sys.path[:0] = [ + str(W), + str(R / "tools/family3"), + str(R / "work/family3_repair/collision/python_deps"), + str(R / "code/family3_repair/real2sim/teleop"), +] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from shapely.geometry import LineString, Polygon # noqa: E402 +from shapely.ops import unary_union # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + + +def matrix(pose): + out = np.eye(4) + out[:3, 3] = pose[:3] + out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return out + + +def yaw(mat): + return float(Rotation.from_matrix(mat[:3, :3]).as_euler("xyz")[2]) + + +def angle_error(a, b): + return float(Rotation.from_matrix(a[:3, :3].T @ b[:3, :3]).magnitude()) + + +def parse_contacts(path, first_tick, last_tick): + result = { + "target_board": [], + "target_gripper": [], + "target_cayman": [], + "target_other": [], + "cayman_gripper": [], + } + try: + with gzip.open(path, "rt") as stream: + while True: + try: + line = stream.readline() + except EOFError: + break # Frozen native process has not written the gzip footer. + if not line: + break + row = json.loads(line) + tick = int(row["tick"]) + if tick < first_tick or tick > last_tick: + continue + actors = row.get("actors", []) + if TARGET in actors: + other = actors[1] if actors[0] == TARGET else actors[0] + if BOARD_TOKEN in other: + key = "target_board" + elif "/World/Robot/gripper_r" in other: + key = "target_gripper" + elif other == CAYMAN: + key = "target_cayman" + else: + key = "target_other" + result[key].append((tick, other, row)) + if CAYMAN in actors: + other = actors[1] if actors[0] == CAYMAN else actors[0] + if "/World/Robot/gripper_r" in other: + result["cayman_gripper"].append((tick, other, row)) + except EOFError: + pass + + summary = {} + for key, rows in result.items(): + ticks = sorted({entry[0] for entry in rows}) + impulse = sum(float(np.linalg.norm(entry[2].get("impulse_sum", [0, 0, 0]))) for entry in rows) + summary[key] = { + "row_count": len(rows), + "contact_tick_count": len(ticks), + "first_tick": ticks[0] if ticks else None, + "last_tick": ticks[-1] if ticks else None, + "minimum_separation_m": min((float(entry[2]["min_separation_m"]) for entry in rows), default=None), + "sum_impulse_norm": impulse, + "other_paths": sorted({entry[1] for entry in rows}), + } + return summary + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case3 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + accepted = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + controls = np.load(item["controls_file"]) + + phase_ids = np.flatnonzero((checkpoint["item_index"] == 2) & (checkpoint["phase"] == "item_02_shelf_pick")) + first_tick = int(checkpoint["tick"][phase_ids[0]]) + last_tick = int(checkpoint["tick"][phase_ids[-1]]) + samples = phase_ids[2::3] + names = checkpoint["dof_names"].tolist() + q = checkpoint["q"][-1].astype(float) + base = matrix(checkpoint["base_pose"][-1]) + target_index = checkpoint["target_paths"].tolist().index(TARGET) + target_poses = checkpoint["target_pose_all"][phase_ids, target_index] + target = matrix(checkpoint["target_pose_all"][-1, target_index]) + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + hand = matrix(checkpoint["robot_link_pose"][-1, hand_index]) + held = np.linalg.inv(hand) @ target + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1]) + } + + contacts = parse_contacts(C / "rollout/contacts.jsonl.gz", first_tick, last_tick) + motion = np.linalg.norm(target_poses[:, :3] - target_poses[0, :3], axis=1) + rotation = ( + Rotation.from_quat(target_poses[0, 3:]).inv() * Rotation.from_quat(target_poses[:, 3:]) + ).magnitude() + first_motion = int(np.flatnonzero(motion > 0.001)[0]) + first_rotation = int(np.flatnonzero(rotation > 0.05)[0]) + final_stability_translation = float(np.max(np.linalg.norm(target_poses[-120:, :3] - target_poses[-1, :3], axis=1))) + final_stability_rotation = float( + np.max((Rotation.from_quat(target_poses[-1, 3:]).inv() * Rotation.from_quat(target_poses[-120:, 3:])).magnitude()) + ) + + desired_base = np.asarray(item["pick_base"], dtype=float) + actual_start_base = matrix(checkpoint["base_pose"][phase_ids[0]]) + source_names = source["robot_dof_names"].tolist() + reorder = [names.index(name) for name in source_names] + q_error = checkpoint["q"][samples][:, reorder] - source["robot_joint_position_rad_or_m"] + arm_ids = [source_names.index(f"idx6{k}_arm_r_joint{k}") for k in range(1, 8)] + gripper_ids = [i for i, name in enumerate(source_names) if "gripper_r" in name] + + source_target_index = source["rigid_body_paths"].tolist().index(TARGET) + source_hand_index = source["robot_link_paths"].tolist().index(hand_path) + source_hand_target_distance = float( + np.linalg.norm( + source["robot_link_xyz_m"][-1, source_hand_index] + - source["prop_xyz_m"][-1, source_target_index] + ) + ) + accepted_pick = np.flatnonzero(accepted["phase"] == "shelf_pick") + accepted_hand_index = accepted["robot_link_paths"].tolist().index(hand_path) + accepted_hand_target_distance = float( + np.linalg.norm( + accepted["robot_link_pose"][accepted_pick[-1], accepted_hand_index, :3] + - accepted["target_pose"][accepted_pick[-1], :3] + ) + ) + source_contact = json.loads((SRC / "runtime_contact_readback.json").read_text()) + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + carried_checker = Clearance( + stage, robot, names, item["hand"], TARGET, controls["target_local"], held, prop_poses + ) + carried_checker.deadline = time.monotonic() + 900 + carried_start_clear = bool(carried_checker.check(q, base)) + carried_start_detail = carried_checker.last + + empty_checker = EmptyClearance(stage, robot, names, prop_poses, deadline_s=900) + empty_start_clear = bool(empty_checker.check(q, base)) + empty_start_detail = empty_checker.last + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / "03.json" + release = json.loads(release_path.read_text()) + floor = unary_union([Polygon(points).buffer(0) for points in release["floors"]]).buffer(-0.34) + heading = np.array([math.cos(yaw(base)), math.sin(yaw(base))]) + retreat_checks = [] + for distance in (0.05, 0.10, 0.15, 0.25, 0.35): + endpoint = base.copy() + endpoint[:2, 3] -= distance * heading + floor_clear = bool(floor.covers(LineString([base[:2, 3], endpoint[:2, 3]]))) + geometry_clear = bool(empty_checker.segment(q, q, base, endpoint)) if floor_clear else False + retreat_checks.append({ + "distance_m": distance, + "endpoint_base": endpoint.tolist(), + "floor_corridor_clear": floor_clear, + "robot_world_segment_clear": geometry_clear, + "detail": None if geometry_clear else empty_checker.last, + }) + + current_paths = checkpoint["rigid_body_paths"].tolist() + cayman_i = current_paths.index(CAYMAN) + target_prop_i = current_paths.index(TARGET) + cayman_initial = checkpoint["prop_pose"][0, cayman_i] + target_initial = checkpoint["prop_pose"][0, target_prop_i] + cayman_final = checkpoint["prop_pose"][-1, cayman_i] + + result = { + "schema": "multi_item.case3_item2_carry_boundary.v1", + "read_only": True, + "status_at_probe": status, + "evidence": { + "checkpoint": str(checkpoint_path), + "contacts": str(C / "rollout/contacts.jsonl.gz"), + "source": str(SRC), + "accepted_chain": str(OLD), + "controls": item["controls_file"], + "release_floor": str(release_path), + }, + "pickup_phase": { + "tick_range": [first_tick, last_tick], + "ticks": int(len(phase_ids)), + "source_frames": int(len(source["frame_index"])), + "three_ticks_per_source_frame": bool(len(phase_ids) == 3 * len(source["frame_index"])), + "right_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, arm_ids] ** 2))), + "right_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, arm_ids]))), + "right_gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, gripper_ids] ** 2))), + "right_gripper_tracking_max_rad": float(np.max(np.abs(q_error[:, gripper_ids]))), + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_start_base[:2, 3].tolist(), + "xy_error_m": float(np.linalg.norm(actual_start_base[:2, 3] - desired_base[:2, 3])), + "yaw_error_rad": float(math.atan2(math.sin(yaw(actual_start_base) - yaw(desired_base)), math.cos(yaw(actual_start_base) - yaw(desired_base)))), + }, + "measured_target_outcome": { + "initial_pose": target_poses[0].tolist(), + "frozen_pose": target_poses[-1].tolist(), + "translation_m": (target_poses[-1, :3] - target_poses[0, :3]).tolist(), + "rotation_rad": float(rotation[-1]), + "maximum_center_lift_m": float(np.max(target_poses[:, 2] - target_poses[0, 2])), + "first_translation_over_1mm": {"phase_offset_ticks": first_motion, "tick": int(checkpoint["tick"][phase_ids[first_motion]])}, + "first_rotation_over_0_05rad": {"phase_offset_ticks": first_rotation, "tick": int(checkpoint["tick"][phase_ids[first_rotation]])}, + "frozen_hand_target_center_distance_m": float(np.linalg.norm(hand[:3, 3] - target[:3, 3])), + "source_endpoint_hand_target_center_distance_m": source_hand_target_distance, + "accepted_layout44_endpoint_hand_target_center_distance_m": accepted_hand_target_distance, + "last_120_ticks_translation_range_m": final_stability_translation, + "last_120_ticks_rotation_range_rad": final_stability_rotation, + }, + "physical_contact_timeline": contacts, + "source_contact_evidence": { + "pads": source_contact["pads"], + "source_target_contact_count": source_contact["target_contact_count"], + "current_target_gripper_contact_rows": contacts["target_gripper"]["row_count"], + }, + "distractor_causality": { + "cayman_absent_from_episode556_source": bool(CAYMAN not in source["rigid_body_paths"].tolist()), + "initial_target_cayman_center_distance_m": float(np.linalg.norm(target_initial[:3] - cayman_initial[:3])), + "cayman_translation_by_boundary_m": (cayman_final[:3] - cayman_initial[:3]).tolist(), + "sequence": "right gripper contacts Cayman Jack at tick 20017; Cayman Jack contacts Gatorade at tick 20041; Gatorade begins rotating at tick 20047 and translating >1 mm at tick 20057. The source episode contains no Cayman Jack.", + }, + "planner_collision_assessment": { + "carried_surrogate_clear_at_frozen_start": carried_start_clear, + "carried_surrogate_failure": carried_start_detail, + "empty_robot_clear_at_frozen_start": empty_start_clear, + "empty_robot_failure": empty_start_detail, + "classification": "real_physical_support_contact_not_convex_only", + "reason": "Physics records target/shelf-board contact on every pickup tick through tick 21250. The carry surrogate fails at its initial state because it incorrectly treats the ungrasped, shelf-supported bottle as attached to the hand.", + }, + "continuation_qualification": { + "carry_continuation": None, + "qualified": False, + "reason": "There is no live grasp to preserve. The bottle is tipped 1.581 rad, displaced, resting on the shelf, and 0.474 m from the gripper base. A carry continuation would spoof attachment of an ungrasped target.", + "safe_abort_retreat_only": { + "qualified": bool(empty_start_clear and all(entry["floor_corridor_clear"] and entry["robot_world_segment_clear"] for entry in retreat_checks)), + "motion": "Hold all 34 joint targets (including all gripper commands) fixed and execute one physical reverse drive primitive from the measured base. No target attachment, pose write, reset, or arm command.", + "tested_distances": retreat_checks, + "recommended_distance_m": 0.15, + "semantics": "This only withdraws the empty robot safely and must end the attempt as a physical pickup failure; it does not complete item 2.", + }, + }, + "recommendation": { + "action": "Do not apply a carry repair. End this attempt as a real pickup failure and perform a fresh physical retry from the released scene/prefix policy.", + "scene_prevention": "Use CASE3_FRESH_RETRY_INPUTS.json. Full four-source qualification shows that strict all-world clearance requires removing the three nonrequested blockers Cayman Jack, Oreo, and Skittles from a newly prepared scene; Cayman-only removal is insufficient.", + "pickup_gate": "Require bilateral target/gripper contact and bounded target-to-hand transform at the endpoint. Center lift alone is insufficient because tipping on the shelf produced a false >25 mm lift.", + "safe_state_option": "If the native process must be parked before termination, the qualified 0.15 m constant-posture physical reverse is safe-abort motion only.", + }, + "native_motion_executed": False, + "scene_or_job_modified": False, + } + out = C / "CASE3_ITEM02_CARRY_BOUNDARY_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({ + "out": str(out), + "carry_continuation_qualified": result["continuation_qualification"]["qualified"], + "safe_abort_retreat_qualified": result["continuation_qualification"]["safe_abort_retreat_only"]["qualified"], + "contact_timeline": contacts, + "planner_collision": result["planner_collision_assessment"], + "recommendation": result["recommendation"], + }, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py new file mode 100644 index 0000000000000000000000000000000000000000..d39ed23425852c345f5252db69a5617c1ef81b3f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +"""Read-only grounded-base endpoint IK grid for case8 item1.""" +import json, math, os, sys +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_03' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==2 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True) +names=cp['dof_names'].tolist();live_q=cp['q'][-1].astype(float);live_base=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);invheld=np.linalg.inv(held) +exact=json.loads((Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_03/EXACT_SOURCE_TRANSFER_PROPOSAL.json')).read_text())['items'][2] +prior=np.load(exact['prior_controls']);controls=np.load(item['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];q0=live_q.copy();q0[ids]=prior['place_initial'];q0[[i for i,n in enumerate(names) if 'gripper_' in n]]=live_q[[i for i,n in enumerate(names) if 'gripper_' in n]] +center=np.asarray(item['placement_slot']['xy'],float);desired=float(item['placement_slot']['yaw_rad']);base0=np.asarray(exact['transferred_accepted_base'],float);base0[2,3]=live_base[2,3] +link=robot.root+'/gripper_r_base_link';active=[names.index(f'idx6{k}_arm_r_joint{k}') for k in range(1,8)];jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;hi_lim=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4;lo=np.maximum(lo,LOWER[7:14]+1e-4);hi_lim=np.minimum(hi_lim,UPPER[7:14]-1e-4) +verts=controls['target_local'];yaw_options=[desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2,Rotation.from_matrix(mat(cp['target_pose_all'][-1,ti])[:3,:3]).as_euler('xyz')[2]] +results=[];tested=0 +for dx in np.arange(-.09,.091,.03): + for dy in np.arange(-.09,.091,.03): + for da in np.deg2rad(np.arange(-9.1,9.2,3.0)): + yaw0=math.atan2(base0[1,0],base0[0,0])+da;base=base0.copy();base[:3,:3]=Rotation.from_euler('z',yaw0).as_matrix();base[0,3]+=dx;base[1,3]+=dy + arm=Arm(robot,names,q0,base,link,active) + for gyaw in yaw_options: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',gyaw).as_matrix();goal[:2,3]=center;goal[2,3]=job['tray_floor_z']+.002-(verts@goal[:3,:3].T)[:,2].min();target=goal@invheld;prev=q0[active].copy();fit=least_squares(lambda x:arm.evaluate(x,target,prev)[0],np.clip(prev,lo,hi_lim),jac=lambda x:arm.evaluate(x,target,prev)[1],bounds=(lo,hi_lim),max_nfev=100);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());tested+=1 + if pe<.004 and re<.04:results.append(dict(score=pe+0.1*re,position_error_m=pe,rotation_error_rad=re,base=base.tolist(),goal=goal.tolist(),q7=fit.x.tolist(),offset=[float(dx),float(dy),float(da)])) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.case3_item2_grounded_station_ik_grid.v1','read_only':True,'status_control_ticks':status['control_ticks'],'tested':tested,'accepted_count':len(results),'top':results[:40]};p=W/'diagnostics/LAYOUT03_ITEM02_STATION_IK_GRID.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'tested':tested,'accepted_count':len(results),'top':results[:3]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..239a690d8ac96b94da435886957077fde9fcffa0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 4's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_04" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case4 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_04/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case4_item1_fresh_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT04_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..a768edbf209de66516ed5f027c5e3f375c246b6b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Read-only full-path Honey Maid place repair probe from case 4's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_04" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case4 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][2:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:300]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][2:]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank":rank,"stage":"actual_compact_to_place_bridge","detail":checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_gaps_m": [float(x) for x in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case4_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE4_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py new file mode 100644 index 0000000000000000000000000000000000000000..2f4b5185330b6009131987ac920e152bb4a8560a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +"""Qualify a slot rigidly compensated to case 5's measured station arrival.""" +import hashlib +import json +import math +import os +from pathlib import Path +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), + str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd +from collision_scene import Robot, ROBOT +from carry_transition import Clearance +from native_planner import build +from placement import solve +from release_sweep import ReleaseSweep + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def planar(base): + result = np.eye(4) + yaw = Rotation.from_matrix(base[:3, :3]).as_euler("xyz")[2] + result[:3, :3] = Rotation.from_euler("z", yaw).as_matrix() + result[:3, 3] = base[:3, 3] + return result + + +status = json.loads((C / "STATUS.json").read_text()) +assert status["status"] == "WAITING_FOR_PLANNING_REPAIR" and status["item_index"] == 1 and status["control_ticks"] == 16072 +job = json.loads((C / "job.json").read_text()) +item = job["items"][1] +source_path = W / "diagnostics/LAYOUT05_ITEM01_LIVE_PLACE_PROPOSAL.json" +source = json.loads(source_path.read_text())["accepted"] +checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) +q = checkpoint["q"][-1].astype(float) +names = checkpoint["dof_names"].tolist() +actual_base = matrix(checkpoint["base_pose"][-1]) +hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") +target_index = checkpoint["target_paths"].tolist().index(item["target"]) +target = matrix(checkpoint["target_pose_all"][-1, target_index]) +held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ target +controls = np.load(item["controls_file"]) +ids = [names.index(name) for name in controls["names"].tolist()] +exact_q = q.copy() +exact_q[ids] = np.asarray(source["place_initial20"]) +grippers = [index for index, name in enumerate(names) if "gripper_" in name] +exact_q[grippers] = q[grippers] + +desired_base = np.asarray(source["place_base"], dtype=float) +transfer = planar(actual_base) @ np.linalg.inv(planar(desired_base)) +center = transfer @ np.r_[source["slot"]["xy"], 0.0, 1.0] +footprint = [] +for point in source["slot"]["footprint_xy"]: + footprint.append((transfer @ np.r_[point, 0.0, 1.0])[:2].tolist()) +dyaw = Rotation.from_matrix(transfer[:3, :3]).as_euler("xyz")[2] +slot = {"xy": center[:2].tolist(), "yaw_rad": float(source["slot"]["yaw_rad"] + dyaw), + "footprint_xy": footprint, "tolerance_m": 0.001} + +stage = Usd.Stage.Open(job["scene"]) +robot = Robot(ROBOT) +robot.bodies = [] +pose_check = build(stage) +props = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} +checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) +checker.deadline = time.monotonic() + 1800 +assert checker.segment(q, exact_q, actual_base, actual_base), checker.last + +item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) +item0_local = np.load(job["items"][0]["controls_file"])["target_local"] +item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] +obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] +floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) +current_poly = Polygon(footprint) +future = [Polygon(entry["placement_slot"]["footprint_xy"]) for entry in job["items"][2:]] +gaps = [current_poly.distance(obstacles[0])] + [current_poly.distance(other) for other in future] +assert floor.covers(current_poly) and min(gaps) > 0.012, (gaps, floor.covers(current_poly)) + +object_pose = robot.fk(names, exact_q, actual_base)[robot.root + "/gripper_r_base_link"] @ held +item_job = {**job, **item, "placement_slot": slot, "place_base": actual_base.tolist(), + "destination_xyz": [float(center[0]), float(center[1]), float(job["tray_floor_z"])], + "reserved_tray_footprints": [entry["placement_slot"]["footprint_xy"] for entry in job["items"][2:]], + "require_release_sweep": True} +release = ReleaseSweep(stage, robot, names, item["hand"], item["target"], controls["target_local"], props, + item["place_source"], pose_check=pose_check, deadline_s=1800) +planned, retreat, report = solve(robot, names, exact_q, actual_base, object_pose, controls["target_local"], item_job, + obstacles, pose_check, world_check=checker, release_sweep=release) +result = {"schema": "multi_item.case5_item1_actual_arrival_place.v1", "read_only": True, + "status_tick": status["control_ticks"], "source_proposal": str(source_path), + "source_proposal_sha256": hashlib.sha256(source_path.read_bytes()).hexdigest(), + "measured_base": actual_base.tolist(), "desired_base": desired_base.tolist(), + "actual_from_desired_planar_transform": transfer.tolist(), "slot": slot, + "destination_xyz": item_job["destination_xyz"], "geometry": {"inside": True, "gaps_m": gaps}, + "place_initial20": source["place_initial20"], "bridge_clear": True, + "placement_frames": len(planned), "retreat_q": retreat.tolist(), "placement_report": report, + "full_world_checks": True, "native_validation_required": True} +output = W / "diagnostics/LAYOUT05_ITEM01_ACTUAL_ARRIVAL_PLACE_PROPOSAL.json" +output.write_text(json.dumps(result, indent=2) + "\n") +print(json.dumps({"output": str(output), "sha256": hashlib.sha256(output.read_bytes()).hexdigest(), + "slot": slot, "gaps_m": gaps, "frames": len(planned), "release": report["release_sweep"]})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py new file mode 100644 index 0000000000000000000000000000000000000000..3e4ace8b26fced60ce8c04056f4d054f5e6e8ac7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py @@ -0,0 +1,113 @@ +#!/usr/bin/env python3 +"""Read-only carried-route and endpoint qualification for case 5 station prebias.""" +import hashlib +import json +import math +import os +from pathlib import Path +import sys +import time + +import numpy as np +from scipy.spatial.transform import Rotation + +W = Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd +from collision_scene import Robot, ROBOT +from carry_transition import Clearance, plan as plan_carry + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def yaw(base): + return float(Rotation.from_matrix(base[:3, :3]).as_euler("xyz")[2]) + + +status = json.loads((C / "STATUS.json").read_text()) +assert status["status"] == "WAITING_FOR_PLANNING_REPAIR" and status["item_index"] == 1 and status["control_ticks"] == 14645 +job = json.loads((C / "job.json").read_text()) +item = job["items"][1] +proposal_path = W / "diagnostics/LAYOUT05_ITEM01_LIVE_PLACE_PROPOSAL.json" +proposal = json.loads(proposal_path.read_text())["accepted"] +checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) +q = checkpoint["q"][-1].astype(float) +names = checkpoint["dof_names"].tolist() +base = matrix(checkpoint["base_pose"][-1]) +hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") +target_index = checkpoint["target_paths"].tolist().index(item["target"]) +target = matrix(checkpoint["target_pose_all"][-1, target_index]) +held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ target +controls = np.load(item["controls_file"]) +ids = [names.index(name) for name in controls["names"].tolist()] +exact_q = q.copy() +exact_q[ids] = np.asarray(proposal["place_initial20"]) +grippers = [index for index, name in enumerate(names) if "gripper_" in name] +exact_q[grippers] = q[grippers] + +old_desired = np.asarray(item["place_base"], dtype=float) +desired = np.asarray(proposal["place_base"], dtype=float) +current = np.r_[base[:2, 3], yaw(base)] +old_endpoint = np.r_[old_desired[:2, 3], yaw(old_desired)] +residual = current - old_endpoint +residual[2] = math.atan2(math.sin(residual[2]), math.cos(residual[2])) +command = desired.copy() +command[:2, 3] -= residual[:2] +command[:3, :3] = Rotation.from_euler("z", yaw(desired) - residual[2]).as_matrix() + +props = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} +stage = Usd.Stage.Open(job["scene"]) +robot = Robot(ROBOT) +robot.bodies = [] +checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) +checker.deadline = time.monotonic() + 900 + +source_layout = int(job.get("source_layout_id", job["layout_id"])) +release = json.loads((Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout:02d}.json").read_text()) +repair_job = {**job, **item, "place_base": command.tolist(), "placement_slot": proposal["slot"], + "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + "reserved_tray_footprints": [future["placement_slot"]["footprint_xy"] for future in job["items"][2:]]} +repair_job.pop("carry_route_seed", None) +compact, primitives, carry_report = plan_carry(stage, robot, names, q, base, item["hand"], item["target"], controls["target_local"], target, props, repair_job, release) +checks = {} +for label, endpoint in (("command", command), ("desired", desired)): + checks[label] = { + "compact_clear": bool(checker.check(compact, endpoint)), + "compact_detail": checker.last, + "exact_clear": bool(checker.check(exact_q, endpoint)), + "exact_detail": checker.last, + "compact_to_exact_clear": bool(checker.segment(compact, exact_q, endpoint, endpoint)), + "segment_detail": checker.last, + } + assert checks[label]["compact_clear"] and checks[label]["exact_clear"] and checks[label]["compact_to_exact_clear"] + +result = { + "schema": "multi_item.case5_item1_station_command_prebias.v1", + "read_only": True, + "status_tick": status["control_ticks"], + "source_proposal": str(proposal_path), + "source_proposal_sha256": hashlib.sha256(proposal_path.read_bytes()).hexdigest(), + "observed_prior_arrival_residual": {"world_xy_m": residual[:2].tolist(), "yaw_rad": float(residual[2])}, + "desired_qualified_base4x4": desired.tolist(), + "command_base4x4_inverse_residual": command.tolist(), + "prediction": "If the measured prior endpoint residual repeats, physical arrival equals desired_qualified_base4x4.", + "checks": checks, + "carry": {"primitive_count": len(primitives), "compact_q": compact.tolist(), "primitives": primitives, "report": carry_report}, + "required_live_arrival_gate": {"translation_m": 0.0005, "yaw_rad": 0.001, "relative_to": "desired_qualified_base4x4", + "then_recompute_live_bridge_and_place": True}, + "no_motion": True, + "native_validation_required": True, +} +output = W / "diagnostics/LAYOUT05_ITEM01_STATION_COMMAND_PREBIAS.json" +output.write_text(json.dumps(result, indent=2) + "\n") +print(json.dumps({"output": str(output), "sha256": hashlib.sha256(output.read_bytes()).hexdigest(), + "residual": result["observed_prior_arrival_residual"], "checks": checks, + "carry_primitives": len(primitives)})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py new file mode 100644 index 0000000000000000000000000000000000000000..e828420f634346f50903f91fa9df70ac6113c495 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [2.9377098028668382] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in [-1.378553647218034]: + for y in [-0.16699245336876373]: + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_DIRECT_OLD_SLOT_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..9a3f4eac7b3b5041ac0addd952bc95a4bed5bc35 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..18e1bac3878737d9e78405875017b16e8352796a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: (np.linalg.norm(np.asarray(entry[1:3])-np.asarray([-1.378553647218034,-0.16699245336876373])), entry[0])) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_TARGETED_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py new file mode 100644 index 0000000000000000000000000000000000000000..bf46cd53cf57bf8b307f451dcd23fdf56df4193b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py @@ -0,0 +1,209 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5 item 2 frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed items 0 and 1, plus future reservations. + obstacles = [] + for completed_index in range(2): + completed_pose = matrix(checkpoint["target_pose_all"][-1, completed_index]) + completed_local = np.load(job["items"][completed_index]["controls_file"])["target_local"] + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles.append(Polygon(completed_world[ConvexHull(completed_world).vertices])) + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(3, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # Recheck the prepared source-grounded slot that passed the case-level + # offline solve, now against the actual two supported objects and live + # held transform. + prepared_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/SLOT_REACHABILITY_PROPOSAL.json" + prepared = json.loads(prepared_path.read_text())["items"][2]["report"] + ps = prepared["slot"] + px, py, pyaw = float(ps["xy"][0]), float(ps["xy"][1]), float(ps["yaw_rad"]) + prot = Rotation.from_euler("z", pyaw).as_matrix() + ppts = vertices @ prot.T + plocal = Polygon(ppts[ConvexHull(ppts[:, :2]).vertices, :2]) + pfoot = Polygon(np.asarray(plocal.exterior.coords)[:-1] + [px, py]) + pgaps = [pfoot.distance(o) for o in obstacles] + [pfoot.distance(f) for f in futures] + pgoal = np.asarray(prepared["goal"], dtype=float) + pbase = np.asarray(item["place_base"], dtype=float) + pbase[2, 3] = live_base[2, 3] + ptransfer = pgoal @ np.linalg.inv(accepted_goal) + if not floor.covers(pfoot) or (pgaps and min(pgaps) <= 0.012): + raise RuntimeError(f"prepared item2 footprint no longer valid: {pgaps}") + candidates = [(-1.0, px, py, pyaw, pfoot, pgaps, pgoal, pbase, ptransfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(3, len(job["items"]))]} + began = time.monotonic() + try: + release_checker = ReleaseSweep(stage, robot, names, item["hand"], item["target"], + vertices, prop_poses, item["place_source"], + pose_check=pose_check, deadline_s=900) + item_job["require_release_sweep"] = True + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, + item_job, obstacles, pose_check, + world_check=checker, release_sweep=release_checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(g) for g in gaps[:2]], "future_item_gaps_m": [float(g) for g in gaps[2:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_sweep": report["release_sweep"], + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item2_release_sweep.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM02_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py new file mode 100644 index 0000000000000000000000000000000000000000..8a1f047679fcc11156837f8c3e0465501a9cd48a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +"""Read-only grounded-base endpoint IK grid for case8 item1.""" +import json, math, os, sys +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_05' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==2 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True) +names=cp['dof_names'].tolist();live_q=cp['q'][-1].astype(float);live_base=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);invheld=np.linalg.inv(held) +exact=json.loads((Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json')).read_text())['items'][2] +prior=np.load(exact['prior_controls']);controls=np.load(item['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];q0=live_q.copy();q0[ids]=prior['place_initial'];q0[[i for i,n in enumerate(names) if 'gripper_' in n]]=live_q[[i for i,n in enumerate(names) if 'gripper_' in n]] +center=np.asarray(item['placement_slot']['xy'],float);desired=float(item['placement_slot']['yaw_rad']);base0=np.asarray(exact['transferred_accepted_base'],float);base0[2,3]=live_base[2,3] +link=robot.root+'/gripper_r_base_link';active=[names.index(f'idx6{k}_arm_r_joint{k}') for k in range(1,8)];jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;hi_lim=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4;lo=np.maximum(lo,LOWER[7:14]+1e-4);hi_lim=np.minimum(hi_lim,UPPER[7:14]-1e-4) +verts=controls['target_local'];yaw_options=[desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2,Rotation.from_matrix(mat(cp['target_pose_all'][-1,ti])[:3,:3]).as_euler('xyz')[2]] +results=[];tested=0 +for dx in np.arange(-.09,.091,.03): + for dy in np.arange(-.09,.091,.03): + for da in np.deg2rad(np.arange(-9.1,9.2,3.0)): + yaw0=math.atan2(base0[1,0],base0[0,0])+da;base=base0.copy();base[:3,:3]=Rotation.from_euler('z',yaw0).as_matrix();base[0,3]+=dx;base[1,3]+=dy + arm=Arm(robot,names,q0,base,link,active) + for gyaw in yaw_options: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',gyaw).as_matrix();goal[:2,3]=center;goal[2,3]=job['tray_floor_z']+.002-(verts@goal[:3,:3].T)[:,2].min();target=goal@invheld;prev=q0[active].copy();fit=least_squares(lambda x:arm.evaluate(x,target,prev)[0],np.clip(prev,lo,hi_lim),jac=lambda x:arm.evaluate(x,target,prev)[1],bounds=(lo,hi_lim),max_nfev=100);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());tested+=1 + if pe<.004 and re<.04:results.append(dict(score=pe+0.1*re,position_error_m=pe,rotation_error_rad=re,base=base.tolist(),goal=goal.tolist(),q7=fit.x.tolist(),offset=[float(dx),float(dy),float(da)])) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.case5_item2_grounded_station_ik_grid.v1','read_only':True,'status_control_ticks':status['control_ticks'],'tested':tested,'accepted_count':len(results),'top':results[:40]};p=W/'diagnostics/LAYOUT05_ITEM02_STATION_IK_GRID.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'tested':tested,'accepted_count':len(results),'top':results[:3]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..b73c4550633896415531b1eebf95630d2947a5f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 6's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_06" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case6 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case6_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT06_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py new file mode 100644 index 0000000000000000000000000000000000000000..bfe70d23ad4a33d03e02a1d522f4a798fefeb575 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py @@ -0,0 +1,283 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 6 item 2 frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_06" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case6 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed items 0 and 1, plus future reservations. + obstacles = [] + for completed_index in range(2): + completed_pose = matrix(checkpoint["target_pose_all"][-1, completed_index]) + completed_local = np.load(job["items"][completed_index]["controls_file"])["target_local"] + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles.append(Polygon(completed_world[ConvexHull(completed_world).vertices])) + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(3, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # The prior physical attempt reached this same item boundary and its + # source-grounded candidate passed the full place/world probe. Recheck + # that exact candidate first against the new live held transform and the + # two newly measured supported objects instead of spending minutes on + # weaker grid candidates. + old_safe_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/CASE6_ITEM02_SAFE_PLACE_PROPOSAL.json" + old_safe = json.loads(old_safe_path.read_text())["accepted"] + old_slot = old_safe["slot"] + old_x, old_y, old_yaw = float(old_slot["xy"][0]), float(old_slot["xy"][1]), float(old_slot["yaw_rad"]) + old_rotation = Rotation.from_euler("z", old_yaw).as_matrix() + old_points = vertices @ old_rotation.T + old_local = Polygon(old_points[ConvexHull(old_points[:, :2]).vertices, :2]) + old_footprint = Polygon(np.asarray(old_local.exterior.coords)[:-1] + [old_x, old_y]) + old_gaps = [old_footprint.distance(o) for o in obstacles] + [old_footprint.distance(f) for f in futures] + old_goal = np.asarray(old_safe["placement_report"]["goal"], dtype=float) + old_base = np.asarray(old_safe["place_base"], dtype=float) + old_base[2, 3] = live_base[2, 3] + old_transfer = old_goal @ np.linalg.inv(accepted_goal) + if floor.covers(old_footprint) and (not old_gaps or min(old_gaps) > 0.012): + candidates = [(-1.0, old_x, old_y, old_yaw, old_footprint, old_gaps, + old_goal, old_base, old_transfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(3, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + # Explicit post-release screen. The placed target is stationary at the + # solved goal while the gripper opens and the hand follows retreat. + from collision_scene import Body, broad_overlap, contact + import trimesh + landed = Body(item["target"], trimesh.convex.convex_hull(vertices)) + landed.update(np.asarray(report["goal"], dtype=float)) + release_environment = checker.environment + [landed] + release_low = np.asarray([b.lo for b in release_environment]) + release_high = np.asarray([b.hi for b in release_environment]) + release_failure = None + allowed_release_contacts = [] + assigned_gripper_prefix = f"/World/Robot/gripper_{item['hand']}_" + def release_check(qq, phase, sample_index, fraction): + nonlocal release_failure + fk = robot.fk(names, qq, base) + okay, detail = pose_check(fk, robot.root) + if not okay: + release_failure = {"kind": "self_or_wrist", "detail": detail}; return False + for body in checker.self_check.bodies: + body.update(fk[body.name.replace('/World/Robot', robot.root, 1)]) + indices = np.flatnonzero(np.all(release_high >= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name.startswith(assigned_gripper_prefix): + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + if release_samples % 10 == 0: print(f"RELEASE_PROGRESS {release_samples} {phase} {sample_index}/{count}", flush=True) + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(g) for g in gaps[:2]], "future_item_gaps_m": [float(g) for g in gaps[2:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case6_item2_arrival_release.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT06_ITEM02_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..88885c1be4c38a314deff31ee490d1678c14cf7a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 7's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_07" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case7 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_07/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case7_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT07_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py new file mode 100644 index 0000000000000000000000000000000000000000..18de7747a0abb899896d81dbde3816ec003f76ee --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +"""Find a screened carried escape route for case 7's frozen blocked turn.""" +import hashlib, json, math, os, sys, time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def base(x,y,yaw,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',yaw).as_matrix();m[:3,3]=[x,y,z];return m +status=json.load(open(C/'STATUS.json'));assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==2 and status['control_ticks']==33066 +job=json.load(open(C/'job.json'));item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();b0=mat(cp['base_pose'][-1]);z=b0[2,3] +hi=cp['robot_link_paths'].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link");ti=cp['target_paths'].tolist().index(item['target']);target=mat(cp['target_pose_all'][-1,ti]);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@target;props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])} +stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];ctrl=np.load(item['controls_file']);check=Clearance(stage,robot,names,item['hand'],item['target'],ctrl['target_local'],held,props);check.deadline=time.monotonic()+900 +s=np.array(status['planning_error'].split('"measured_base": [')[1].split(']')[0].split(','),float);goal=np.array([-1.0663820670686106,1.0637987903151804,-1.5746476816413626]);assert check.check(q,b0),check.last +direct=base(goal[0],goal[1],goal[2],z);direct_clear=check.segment(q,q,b0,direct);direct_detail=check.last +candidates=[] +for signed_distance in [-.03,.03,-.05,.05,-.08,.08,-.10,.10,-.15,.15,-.20,.20]: + heading=np.array([math.cos(s[2]),math.sin(s[2])]);xy=s[:2]+signed_distance*heading;theta=math.atan2(goal[1]-xy[1],goal[0]-xy[0]);poses=[b0,base(xy[0],xy[1],s[2],z),base(xy[0],xy[1],theta,z),base(goal[0],goal[1],theta,z),direct] + ok=True;details=[] + for a,b in zip(poses,poses[1:]): + good=check.segment(q,q,a,b);details.append(check.last) + if not good:ok=False;break + candidates.append({'signed_escape_m':signed_distance,'passed':ok,'connector_yaw':theta,'details':details, + 'primitives':[{'kind':'drive','goal':[float(xy[0]),float(xy[1]),float(s[2])],'direction':1 if signed_distance>0 else -1}, + {'kind':'turn','goal':[float(xy[0]),float(xy[1]),float(theta)]}, + {'kind':'drive','goal':[float(goal[0]),float(goal[1]),float(theta)],'direction':1}, + {'kind':'turn','goal':goal.tolist()}]}) + if ok:break +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v1','read_only':True,'status_tick':33066,'failure_sha256':'eda9b457e975bd02f417c18a0024af7559fdc8ac070eb222d9b55686166c5961','direct_turn_geometry_clear':direct_clear,'direct_detail':direct_detail,'held_transform':held.tolist(),'candidates':candidates,'accepted':next((x for x in candidates if x['passed']),None),'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'direct':direct_clear,'accepted':out['accepted']},indent=2)) +if out['accepted'] is None:raise SystemExit(2) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py new file mode 100644 index 0000000000000000000000000000000000000000..40e55e47d3fd203def74ca3c7587f624954c7e93 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +"""Screen a within-gate endpoint offset away from the live table contact.""" +import hashlib,json,math,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(x,y,yaw,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',yaw).as_matrix();m[:3,3]=[x,y,z];return m +status=json.load(open(C/'STATUS.json'));assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==2 and status['control_ticks']==34142 +job=json.load(open(C/'job.json'));item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();start=np.array([-1.0671910047531128,1.0646690130233765,-0.812772274017334]);goal=np.array([-1.0663820670686106,1.0637987903151804,-1.5746476816413626]);z=cp['base_pose'][-1,2] +hi=cp['robot_link_paths'].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link");ti=cp['target_paths'].tolist().index(item['target']);target=mat(cp['target_pose_all'][-1,ti]);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@target;props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];ctrl=np.load(item['controls_file']);check=Clearance(stage,robot,names,item['hand'],item['target'],ctrl['target_local'],held,props);check.deadline=time.monotonic()+900 +heading=np.array([math.cos(start[2]),math.sin(start[2])]);escape=start[:2]-.03*heading;candidate=goal[:2]+np.array([.00067,.00067]);connector=math.atan2(candidate[1]-escape[1],candidate[0]-escape[0]);states=[start,[*escape,start[2]],[*escape,connector],[*candidate,connector],[*candidate,goal[2]]];primitives=[{'kind':'drive','goal':states[1],'direction':-1},{'kind':'turn','goal':states[2]},{'kind':'drive','goal':states[3],'direction':1},{'kind':'turn','goal':states[4]}];details=[] +for a,b in zip(states,states[1:]): + ok=check.segment(q,q,bm(*a,z),bm(*b,z));details.append(check.last);assert ok,check.last +error=float(np.linalg.norm(candidate-goal[:2]));assert error<.001 +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v2','read_only':True,'status_tick':34142,'failure_sha256':'0abde6995ad418d2f1703eb6061ec1a69adbd63a3f2c0fe19f92f44363a91be8','physical_blocker':{'pair':['/World/Robot/base_link','/World/Assets/CoffeeTable/Mesh'],'latest_min_separation_m':1.6e-6,'impulse_xy_approx':[14.29,14.32],'inferred_away_direction_world_xy':[1,1]},'original_goal':goal.tolist(),'candidate_endpoint':[*candidate,goal[2]],'candidate_xy_error_m':error,'parent_gate_m':.001,'primitives':primitives,'segment_details':details,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V2_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'xy_error':error,'primitives':primitives},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py new file mode 100644 index 0000000000000000000000000000000000000000..ec30abb613aaa6fd4a72c5e8847b8d75bb2d16b6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 +"""Screen a carried route that finishes rotation before approaching the table-edge endpoint.""" +import hashlib, json, math, os, sys, time +from pathlib import Path + +import numpy as np +from scipy.spatial.transform import Rotation + +W = Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_07" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd +from collision_scene import Robot, ROBOT +from carry_transition import Clearance + + +def mat(p): + m = np.eye(4); m[:3, 3] = p[:3]; m[:3, :3] = Rotation.from_quat(p[3:]).as_matrix(); return m + + +def bm(state, z): + m = np.eye(4); m[:3, :3] = Rotation.from_euler("z", state[2]).as_matrix(); m[:3, 3] = [state[0], state[1], z]; return m + + +status = json.loads((C / "STATUS.json").read_text()) +assert status["status"] == "WAITING_FOR_PLANNING_REPAIR" and status["item_index"] == 2 and status["control_ticks"] == 35270 +job = json.loads((C / "job.json").read_text()); item = job["items"][2] +cp = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) +q = cp["q"][-1].astype(float); names = cp["dof_names"].tolist(); z = float(cp["base_pose"][-1, 2]) +start = np.array([-1.0666694641113281, 1.0653468370437622, -0.8118601441383362]) +goal = np.array([-1.0657120670686107, 1.0644687903151804, -1.5746476816413626]) +hi = cp["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") +ti = cp["target_paths"].tolist().index(item["target"]) +target = mat(cp["target_pose_all"][-1, ti]); held = np.linalg.inv(mat(cp["robot_link_pose"][-1, hi])) @ target +props = {str(p): mat(v) for p, v in zip(cp["rigid_body_paths"], cp["prop_pose"][-1])} +stage = Usd.Stage.Open(job["scene"]); robot = Robot(ROBOT); robot.bodies = [] +ctrl = np.load(item["controls_file"]) +check = Clearance(stage, robot, names, item["hand"], item["target"], ctrl["target_local"], held, props) +check.deadline = time.monotonic() + 900 + +# First retreat along the current heading. Approach the endpoint only after the +# chassis has reached the final yaw at a point 35 mm away along that yaw. +heading = np.array([math.cos(start[2]), math.sin(start[2])]) +escape = start[:2] - 0.035 * heading +final_heading = np.array([math.cos(goal[2]), math.sin(goal[2])]) +staging = goal[:2] - 0.035 * final_heading +connector = math.atan2(staging[1] - escape[1], staging[0] - escape[0]) +states = [start, [*escape, start[2]], [*escape, connector], [*staging, connector], [*staging, goal[2]], goal] +primitives = [ + {"kind": "drive", "goal": states[1], "direction": -1}, + {"kind": "turn", "goal": states[2]}, + {"kind": "drive", "goal": states[3], "direction": 1}, + {"kind": "turn", "goal": states[4]}, + {"kind": "drive", "goal": states[5], "direction": 1}, +] +details = [] +for a, b in zip(states, states[1:]): + ok = check.segment(q, q, bm(a, z), bm(b, z)); details.append(check.last) + assert ok, check.last + +failure_raw = json.loads((C / "rollout/NAVIGATION_MOTION_BLOCK.item_02.tick_00035270.37a837efc4e9.json").read_text()) +out = { + "schema": "multi_item.case7_item2_carry_recovery_probe.v3", + "read_only": True, + "status_tick": 35270, + "failure_sha256": failure_raw["failure_sha256"], + "physical_strategy": "rotate_to_final_yaw_35mm_before_table_edge_then_straight_approach", + "original_goal": goal.tolist(), + "primitives": primitives, + "segment_details": details, + "all_full_body_held_target_live_props_screened": True, + "native_validation_required": True, +} +p = W / "diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V3_PROPOSAL.json" +p.write_text(json.dumps(out, indent=2, default=lambda value: value.tolist() if hasattr(value, "tolist") else str(value)) + "\n") +print(json.dumps({"out": str(p), "sha256": hashlib.sha256(p.read_bytes()).hexdigest(), "primitives": primitives}, indent=2, default=lambda value: value.tolist() if hasattr(value, "tolist") else str(value))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py new file mode 100644 index 0000000000000000000000000000000000000000..9d21b84a7870f773504da0f78bdac110be5e669d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +"""Screen a robust overshoot-and-return correction for carried turn drift.""" +import hashlib, json, math, os, sys, time +from pathlib import Path + +import numpy as np +from scipy.spatial.transform import Rotation + +W = Path(__file__).resolve().parent; R = W.parents[1]; C = W / "cases/layout_07" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd +from collision_scene import Robot, ROBOT +from carry_transition import Clearance + + +def mat(p): + m = np.eye(4); m[:3, 3] = p[:3]; m[:3, :3] = Rotation.from_quat(p[3:]).as_matrix(); return m + + +def bm(state, z): + m = np.eye(4); m[:3, :3] = Rotation.from_euler("z", state[2]).as_matrix(); m[:3, 3] = [state[0], state[1], z]; return m + + +status = json.loads((C / "STATUS.json").read_text()) +assert status["status"] == "WAITING_FOR_PLANNING_REPAIR" and status["item_index"] == 2 and status["control_ticks"] == 36805 +job = json.loads((C / "job.json").read_text()); item = job["items"][2] +cp = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) +q = cp["q"][-1].astype(float); names = cp["dof_names"].tolist(); z = float(cp["base_pose"][-1, 2]) +start = np.array([-1.0898466110229492, 1.089781641960144, 0.3164128363132477]) +goal = np.array([-1.0907547127921056, 1.090741734089923, 0.33365312012539144]) +hi = cp["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") +ti = cp["target_paths"].tolist().index(item["target"]) +target = mat(cp["target_pose_all"][-1, ti]); held = np.linalg.inv(mat(cp["robot_link_pose"][-1, hi])) @ target +props = {str(p): mat(v) for p, v in zip(cp["rigid_body_paths"], cp["prop_pose"][-1])} +stage = Usd.Stage.Open(job["scene"]); robot = Robot(ROBOT); robot.bodies = [] +ctrl = np.load(item["controls_file"]) +check = Clearance(stage, robot, names, item["hand"], item["target"], ctrl["target_local"], held, props) +check.deadline = time.monotonic() + 900 + +delta = goal[:2] - start[:2]; direction = delta / np.linalg.norm(delta); approach_yaw = math.atan2(direction[1], direction[0]) +past = goal[:2] + 0.030 * direction +states = [start, [*start[:2], approach_yaw], [*past, approach_yaw], [*past, approach_yaw + math.pi], [*goal[:2], approach_yaw + math.pi], goal] +motion = [ + {"kind": "turn", "goal": states[1]}, + {"kind": "drive", "goal": states[2], "direction": 1}, + {"kind": "turn", "goal": states[3]}, + {"kind": "drive", "goal": states[4], "direction": 1}, + {"kind": "turn", "goal": states[5]}, +] +details = [] +for a, b in zip(states, states[1:]): + ok = check.segment(q, q, bm(a, z), bm(b, z)); details.append(check.last); assert ok, check.last + +block = json.loads((C / "rollout/NAVIGATION_MOTION_BLOCK.item_02.tick_00036805.f410ac1f6e25.json").read_text()) +out = { + "schema": "multi_item.case7_item2_carry_recovery_probe.v4", "read_only": True, + "status_tick": 36805, "failure_sha256": block["failure_sha256"], + "strategy": "30mm_overshoot_and_return_with_high_static_friction_floor", + "start": start.tolist(), "goal": goal.tolist(), "motion": motion, + "controller": {"turn_min_rate_rad_s": 0.06, "turn_cap_rad_s": 0.18, "drive_min_speed_m_s": 0.015, "drive_cap_m_s": 0.08, "xy_gate_m": 0.0008, "yaw_gate_rad": 0.0008}, + "segment_details": details, "all_full_body_held_target_live_props_screened": True, + "native_validation_required": True, +} +p = W / "diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V4_PROPOSAL.json" +p.write_text(json.dumps(out, indent=2, default=lambda x: x.tolist() if hasattr(x, "tolist") else str(x)) + "\n") +print(json.dumps({"out": str(p), "sha256": hashlib.sha256(p.read_bytes()).hexdigest(), "motion": motion}, indent=2, default=lambda x: x.tolist() if hasattr(x, "tolist") else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py new file mode 100644 index 0000000000000000000000000000000000000000..73447b7f40e7c20dc185548a124d687771771507 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +"""Screen completion of the partially executed v4 overshoot repair.""" +import hashlib,json,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==39547 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.1117451190948486,1.112915277481079,-0.9873537215446402]);goal=np.array([-1.0907547127921056,1.090741734089923,0.33365312012539144]);back_yaw=5.469965114540382 +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900 +states=[start,[*start[:2],back_yaw],[*goal[:2],back_yaw],goal];motion=[{'kind':'turn','goal':states[1]},{'kind':'drive','goal':states[2],'direction':1},{'kind':'turn','goal':states[3]}];details=[] +for a,b in zip(states,states[1:]):ok=check.segment(q,q,bm(a,z),bm(b,z));details.append(check.last);assert ok,check.last +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v5','read_only':True,'status_tick':39547,'parent_failure_sha256':'f410ac1f6e252ad90fa2d8fe86e155ac6d777c5938d0b2624c0385eb2ef9fe87','prior_failed_repair_sha256':'249760697aee4340b1ab2b2218c74e1c2c7ac1d77a777c2c946e9badc11c75f9','strategy':'complete_v4_from_measured_partial_state_at_full_existing_turn_cap','start':start.tolist(),'goal':goal.tolist(),'motion':motion,'controller':{'turn_command_rate_rad_s':0.25,'drive_min_speed_m_s':0.015,'drive_cap_m_s':0.08,'xy_gate_m':0.0008,'yaw_gate_rad':0.0008},'segment_details':details,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V5_PROPOSAL.json';p.write_text(json.dumps(out,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'motion':motion},indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py new file mode 100644 index 0000000000000000000000000000000000000000..23389a5d46709f8982fbb1a42999273c09914b27 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +"""Screen completion of the partially executed v4 overshoot repair.""" +import hashlib,json,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==41347 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.1117451190948486,1.112914800643921,-0.9051387196416416]);goal=np.array([-1.0907547127921056,1.090741734089923,0.33365312012539144]);back_yaw=5.469965114540382 +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900 +states=[start,[*start[:2],back_yaw],[*goal[:2],back_yaw],goal];motion=[{'kind':'turn','goal':states[1]},{'kind':'drive','goal':states[2],'direction':1},{'kind':'turn','goal':states[3]}];details=[] +for a,b in zip(states,states[1:]):ok=check.segment(q,q,bm(a,z),bm(b,z));details.append(check.last);assert ok,check.last +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v6','read_only':True,'status_tick':41347,'parent_failure_sha256':'f410ac1f6e252ad90fa2d8fe86e155ac6d777c5938d0b2624c0385eb2ef9fe87','prior_failed_repair_sha256':'08a6363b8f00797c3a1aedeea980a87bda4e635be5a9641dc8a1e9c5769015f1','strategy':'complete_from_measured_partial_state_with_acceleration_aware_braking','start':start.tolist(),'goal':goal.tolist(),'motion':motion,'controller':{'turn_speed_cap_rad_s':0.25,'turn_acceleration_cap_rad_s2':0.3,'turn_static_threshold_rad_s':0.18,'turn_brake_margin_rad':0.002,'drive_min_speed_m_s':0.015,'drive_cap_m_s':0.08,'xy_gate_m':0.0008,'yaw_gate_rad':0.0008},'segment_details':details,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V6_PROPOSAL.json';p.write_text(json.dumps(out,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'motion':motion},indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py new file mode 100644 index 0000000000000000000000000000000000000000..1c589bf02112800d83a3e0a0295227f7e6ef1db8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +"""Screen completion of the partially executed v4 overshoot repair.""" +import hashlib,json,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==43147 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.1117451190948486,1.112914800643921,-0.8151900665756764]);goal=np.array([-1.0907547127921056,1.090741734089923,0.33365312012539144]);back_yaw=5.469965114540382 +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900 +states=[start,[*start[:2],back_yaw],[*goal[:2],back_yaw],goal];motion=[{'kind':'turn','goal':states[1]},{'kind':'drive','goal':states[2],'direction':1},{'kind':'turn','goal':states[3]}];details=[] +for a,b in zip(states,states[1:]):ok=check.segment(q,q,bm(a,z),bm(b,z));details.append(check.last);assert ok,check.last +pulse_envelope=[] +for center in (states[1],states[3]): + for delta in (-0.01,0.01): + edge=[center[0],center[1],center[2]+delta];ok=check.segment(q,q,bm(center,z),bm(edge,z));pulse_envelope.append(check.last);assert ok,check.last +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v7','read_only':True,'status_tick':43147,'parent_failure_sha256':'f410ac1f6e252ad90fa2d8fe86e155ac6d777c5938d0b2624c0385eb2ef9fe87','prior_failed_repair_sha256':'f77b0ccbf8343be1d3142f4138e5a2b50e64aa7ab7065909bbc152f4e4e610bf','strategy':'coarse_stopping_distance_then_adaptive_recorded_control_tick_pulses','start':start.tolist(),'goal':goal.tolist(),'motion':motion,'controller':{'turn_speed_cap_rad_s':0.25,'turn_acceleration_cap_rad_s2':0.3,'turn_static_threshold_rad_s':0.18,'turn_brake_margin_rad':0.002,'fine_pulse_initial_rate_rad_s':0.19,'fine_pulse_max_rate_rad_s':0.25,'fine_pulse_hold_ticks':6,'drive_min_speed_m_s':0.015,'drive_cap_m_s':0.08,'xy_gate_m':0.0008,'yaw_gate_rad':0.0008},'segment_details':details,'screened_pulse_envelope_rad':0.01,'pulse_envelope_details':pulse_envelope,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V7_PROPOSAL.json';p.write_text(json.dumps(out,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'motion':motion},indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py new file mode 100644 index 0000000000000000000000000000000000000000..02654847343a86770685d11dfcfcabe52cb81c0e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +"""Screen completion of the partially executed v4 overshoot repair.""" +import hashlib,json,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==43568 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.1117451190948486,1.112914800643921,-0.8153694789297252]);goal=np.array([-1.0907547127921056,1.090741734089923,0.33365312012539144]);back_yaw=5.469965114540382 +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900 +states=[start,[*start[:2],back_yaw],[*goal[:2],back_yaw],goal];motion=[{'kind':'turn','goal':states[1]},{'kind':'drive','goal':states[2],'direction':1},{'kind':'turn','goal':states[3]}];details=[] +for a,b in zip(states,states[1:]):ok=check.segment(q,q,bm(a,z),bm(b,z));details.append(check.last);assert ok,check.last +pulse_envelope=[] +for center in (states[1],states[3]): + for delta in (-0.01,0.01): + edge=[center[0],center[1],center[2]+delta];ok=check.segment(q,q,bm(center,z),bm(edge,z));pulse_envelope.append(check.last);assert ok,check.last +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v8','read_only':True,'status_tick':43568,'parent_failure_sha256':'f410ac1f6e252ad90fa2d8fe86e155ac6d777c5938d0b2624c0385eb2ef9fe87','prior_failed_repair_sha256':'e9f139540c9d02df0bf60a0fa0eb793c9b54ba684f1664f5c0ac49a0cdc7cd5d','strategy':'measured_single_tick_pulse_calibration_then_remaining_route','start':start.tolist(),'goal':goal.tolist(),'motion':motion,'controller':{'turn_speed_cap_rad_s':0.25,'turn_acceleration_cap_rad_s2':0.3,'turn_static_threshold_rad_s':0.18,'turn_brake_margin_rad':0.002,'fine_pulse_initial_rate_rad_s':0.179,'fine_pulse_max_rate_rad_s':0.19,'fine_pulse_hold_ticks':2,'drive_min_speed_m_s':0.015,'drive_cap_m_s':0.08,'xy_gate_m':0.0008,'yaw_gate_rad':0.0008},'segment_details':details,'screened_pulse_envelope_rad':0.01,'pulse_envelope_details':pulse_envelope,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V8_PROPOSAL.json';p.write_text(json.dumps(out,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'motion':motion},indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py new file mode 100644 index 0000000000000000000000000000000000000000..e6d6eb34cb9ee099e6b79508a4c9bc05826b2c6d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +"""Screen completion of the partially executed v4 overshoot repair.""" +import hashlib,json,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==43752 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.1117451190948486,1.112914800643921,-0.8150531268867094]);goal=np.array([-1.0907547127921056,1.090741734089923,0.33365312012539144]);back_yaw=5.469965114540382 +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900 +states=[start,[*start[:2],back_yaw],[*goal[:2],back_yaw],goal];motion=[{'kind':'turn','goal':states[1]},{'kind':'drive','goal':states[2],'direction':1},{'kind':'turn','goal':states[3]}];details=[] +for a,b in zip(states,states[1:]):ok=check.segment(q,q,bm(a,z),bm(b,z));details.append(check.last);assert ok,check.last +pulse_envelope=[] +for center in (states[1],states[3]): + for delta in (-0.01,0.01): + edge=[center[0],center[1],center[2]+delta];ok=check.segment(q,q,bm(center,z),bm(edge,z));pulse_envelope.append(check.last);assert ok,check.last +out={'schema':'multi_item.case7_item2_carry_recovery_probe.v9','read_only':True,'status_tick':43752,'parent_failure_sha256':'f410ac1f6e252ad90fa2d8fe86e155ac6d777c5938d0b2624c0385eb2ef9fe87','prior_failed_repair_sha256':'abe13de9b4f3b0f3028afc9dc1b29adc58550f49a89fac85354a9b230aa208c0','strategy':'lower_direct_pulse_rate_from_measured_response_then_remaining_route','start':start.tolist(),'goal':goal.tolist(),'motion':motion,'controller':{'turn_speed_cap_rad_s':0.25,'turn_acceleration_cap_rad_s2':0.3,'turn_static_threshold_rad_s':0.18,'turn_brake_margin_rad':0.002,'fine_pulse_initial_rate_rad_s':0.11,'fine_pulse_max_rate_rad_s':0.18,'fine_pulse_hold_ticks':2,'drive_min_speed_m_s':0.015,'drive_cap_m_s':0.08,'xy_gate_m':0.0008,'yaw_gate_rad':0.0008},'segment_details':details,'screened_pulse_envelope_rad':0.01,'pulse_envelope_details':pulse_envelope,'all_full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_CARRY_RECOVERY_V9_PROPOSAL.json';p.write_text(json.dumps(out,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'motion':motion},indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py new file mode 100644 index 0000000000000000000000000000000000000000..a0a75807d254bc65093cd8cdbee5bbd919dc8e10 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 +"""Screen a final-yaw straight projection into the original carried endpoint gate.""" +import hashlib,json,math,os,sys,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_07' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +def bm(s,z): + m=np.eye(4);m[:3,:3]=Rotation.from_euler('z',s[2]).as_matrix();m[:3,3]=[s[0],s[1],z];return m +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['control_ticks']==44988 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);q=cp['q'][-1].astype(float);names=cp['dof_names'].tolist();z=float(cp['base_pose'][-1,2]);start=np.array([-1.0666638612747192,1.0657597780227661,-1.5737453699111938]);parent=np.array([-1.0657120670686107,1.0644687903151804,-1.5746476816413626]);heading=np.array([math.cos(start[2]),math.sin(start[2])]);along=float((parent[:2]-start[:2])@heading);candidate=start.copy();candidate[:2]+=along*heading +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_l_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];vertices=np.load(item['controls_file'])['target_local'];check=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,props);check.deadline=time.monotonic()+900;assert check.segment(q,q,bm(start,z),bm(candidate,z)),check.last +xy_error=float(np.linalg.norm(candidate[:2]-parent[:2]));yaw_error=abs(math.atan2(math.sin(candidate[2]-parent[2]),math.cos(candidate[2]-parent[2])));assert xy_error<.001 and yaw_error<.001 +out={'schema':'multi_item.case7_item2_endpoint_projection.v10','read_only':True,'status_tick':44988,'parent_failure_sha256':'37a837efc4e96403795fe238572cbdfab6c487e4d240c977914f8c87da4b76bb','start':start.tolist(),'parent_endpoint':parent.tolist(),'projected_endpoint':candidate.tolist(),'commanded_along_m':along,'projected_xy_error_to_parent_m':xy_error,'yaw_error_to_parent_rad':yaw_error,'controller':{'drive_speed_cap_m_s':.05,'drive_acceleration_cap_m_s2':.12,'drive_min_speed_m_s':.008,'parent_xy_gate_m':.001,'parent_yaw_gate_rad':.001},'full_body_held_target_live_props_screened':True,'native_validation_required':True} +p=W/'diagnostics/LAYOUT07_ITEM02_ENDPOINT_PROJECTION_V10_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'sha256':hashlib.sha256(p.read_bytes()).hexdigest(),'projected_endpoint':candidate.tolist(),'xy_error':xy_error,'yaw_error':yaw_error},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py new file mode 100644 index 0000000000000000000000000000000000000000..a121fc6019fbd45df16b8c914e03c2477a1999cb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_08" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + # Requalify the prior native-success seed against this exact fresh held + # transform, actual item0 pose, and current world. This avoids repeating + # the broad candidate scan after its 1800-second read-only timeout. + prior_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json" + prior = json.loads(prior_path.read_text())["accepted"] + x, y = map(float, prior["slot"]["xy"]) + yaw = float(prior["slot"]["yaw_rad"]) + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + raise RuntimeError(f"prior seed invalid in fresh geometry: inside={floor.covers(footprint)} gaps={gaps}") + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - points[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + grid = json.loads((W / "diagnostics/LAYOUT08_ITEM01_STATION_IK_GRID.json").read_text())["top"] + candidates = [(float(entry["score"]), x, y, yaw, footprint, gaps, goal, np.asarray(entry["base"], dtype=float), transfer) for entry in grid] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + checker.deadline = time.monotonic() + 1800 + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case8_item1_grounded_station_candidates_full_qualification.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE8_ITEM01_GROUNDED_STATION_CANDIDATES_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py new file mode 100644 index 0000000000000000000000000000000000000000..fb702e75605e3b144f9fb326ecd34bb915d6194b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py @@ -0,0 +1,181 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_08" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + # Requalify the prior native-success seed against this exact fresh held + # transform, actual item0 pose, and current world. This avoids repeating + # the broad candidate scan after its 1800-second read-only timeout. + prior_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json" + prior = json.loads(prior_path.read_text())["accepted"] + x, y = map(float, prior["slot"]["xy"]) + yaw = float(prior["slot"]["yaw_rad"]) + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + raise RuntimeError(f"prior seed invalid in fresh geometry: inside={floor.covers(footprint)} gaps={gaps}") + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - points[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base = np.asarray(json.loads((W / "diagnostics/LAYOUT08_ITEM01_STATION_IK_GRID.json").read_text())["top"][0]["base"], dtype=float) + candidates = [(0.0, x, y, yaw, footprint, gaps, goal, base, transfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + checker.deadline = time.monotonic() + 1800 + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case8_item1_grounded_station_full_qualification.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE8_ITEM01_GROUNDED_STATION_FULL_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..e2a07be4b942b37003f9cedbe27a8dc958cf7817 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_08" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case8_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py new file mode 100644 index 0000000000000000000000000000000000000000..4baaca9648c622daa9ea0e4f46558599664d5252 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py @@ -0,0 +1,181 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_08" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + # Requalify the prior native-success seed against this exact fresh held + # transform, actual item0 pose, and current world. This avoids repeating + # the broad candidate scan after its 1800-second read-only timeout. + prior_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_08/CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json" + prior = json.loads(prior_path.read_text())["accepted"] + x, y = map(float, prior["slot"]["xy"]) + yaw = float(prior["slot"]["yaw_rad"]) + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + raise RuntimeError(f"prior seed invalid in fresh geometry: inside={floor.covers(footprint)} gaps={gaps}") + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - points[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2, 3] = live_base[2, 3] + candidates = [(0.0, x, y, yaw, footprint, gaps, goal, base, transfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + checker.deadline = time.monotonic() + 1800 + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case8_item1_old_success_seed_requalification.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE8_ITEM01_OLD_SUCCESS_SEED_REQUALIFICATION.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py new file mode 100644 index 0000000000000000000000000000000000000000..6801f94fafe8dfa859e320663e417921313e3eb7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +"""Read-only grounded-base endpoint IK grid for case8 item1.""" +import json, math, os, sys +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_08' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==1 +job=json.loads((C/'job.json').read_text());item=job['items'][1];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True) +names=cp['dof_names'].tolist();live_q=cp['q'][-1].astype(float);live_base=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);invheld=np.linalg.inv(held) +exact=json.loads((Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_08/EXACT_SOURCE_TRANSFER_PROPOSAL.json')).read_text())['items'][1] +prior=np.load(exact['prior_controls']);controls=np.load(item['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];q0=live_q.copy();q0[ids]=prior['place_initial'];q0[[i for i,n in enumerate(names) if 'gripper_' in n]]=live_q[[i for i,n in enumerate(names) if 'gripper_' in n]] +old=json.loads(Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_08/CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json').read_text())['accepted'];center=np.array(old['slot']['xy']);desired=float(old['slot']['yaw_rad']);base0=np.array(old['place_base'],float);base0[2,3]=live_base[2,3] +link=robot.root+'/gripper_r_base_link';active=[names.index(f'idx6{k}_arm_r_joint{k}') for k in range(1,8)];jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;hi_lim=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4;lo=np.maximum(lo,LOWER[7:14]+1e-4);hi_lim=np.minimum(hi_lim,UPPER[7:14]-1e-4) +verts=controls['target_local'];yaw_options=[desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2,Rotation.from_matrix(mat(cp['target_pose_all'][-1,ti])[:3,:3]).as_euler('xyz')[2]] +results=[];tested=0 +for dx in np.arange(-.09,.091,.03): + for dy in np.arange(-.09,.091,.03): + for da in np.deg2rad(np.arange(-9.1,9.2,3.0)): + yaw0=math.atan2(base0[1,0],base0[0,0])+da;base=base0.copy();base[:3,:3]=Rotation.from_euler('z',yaw0).as_matrix();base[0,3]+=dx;base[1,3]+=dy + arm=Arm(robot,names,q0,base,link,active) + for gyaw in yaw_options: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',gyaw).as_matrix();goal[:2,3]=center;goal[2,3]=job['tray_floor_z']+.002-(verts@goal[:3,:3].T)[:,2].min();target=goal@invheld;prev=q0[active].copy();fit=least_squares(lambda x:arm.evaluate(x,target,prev)[0],np.clip(prev,lo,hi_lim),jac=lambda x:arm.evaluate(x,target,prev)[1],bounds=(lo,hi_lim),max_nfev=100);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());tested+=1 + if pe<.004 and re<.04:results.append(dict(score=pe+0.1*re,position_error_m=pe,rotation_error_rad=re,base=base.tolist(),goal=goal.tolist(),q7=fit.x.tolist(),offset=[float(dx),float(dy),float(da)])) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.case8_item1_grounded_station_ik_grid.v1','read_only':True,'status_control_ticks':status['control_ticks'],'tested':tested,'accepted_count':len(results),'top':results[:40]};p=W/'diagnostics/LAYOUT08_ITEM01_STATION_IK_GRID.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'tested':tested,'accepted_count':len(results),'top':results[:3]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..189f4e706803bcd621c6c8c563e32cb20093c469 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 9's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_09" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case9 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Native navigation preserves the grounded root height. The + # historical source station carried an unrealizable 11 mm Z + # bias that must not enter FK, bridge, or placement checks. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + # The native repair transitions from the carry planner's compact + # destination posture, not directly from the frozen live posture. + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "post_carry_destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "carry_bridge_and_place_descent_world_checks": True, + "release_retreat_offline_scope": "self_and_wrist_only; authoritative native all-target world audit required", + "base_z_normalized_to_live_checkpoint": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case9_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "CASE09_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "carry_bridge_and_place_descent_world_checks", "release_retreat_offline_scope")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py new file mode 100644 index 0000000000000000000000000000000000000000..d6d7e2d5f6901f7ed5d4d761abe26686373a6f41 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py @@ -0,0 +1,181 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_09" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case9 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_09/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + # Requalify the prior native-success seed against this exact fresh held + # transform, actual item0 pose, and current world. This avoids repeating + # the broad candidate scan after its 1800-second read-only timeout. + prior_path = R / "work/shelf_to_table_multi10_20261005/CASE09_ITEM01_LIVE_PLACE_PROPOSAL.json" + prior = json.loads(prior_path.read_text())["accepted"] + x, y = map(float, prior["slot"]["xy"]) + yaw = float(prior["slot"]["yaw_rad"]) + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + raise RuntimeError(f"prior seed invalid in fresh geometry: inside={floor.covers(footprint)} gaps={gaps}") + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - points[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2, 3] = live_base[2, 3] + candidates = [(0.0, x, y, yaw, footprint, gaps, goal, base, transfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + checker.deadline = time.monotonic() + 1800 + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case9_item1_old_success_seed_requalification.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE9_ITEM01_OLD_SUCCESS_SEED_REQUALIFICATION.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py new file mode 100644 index 0000000000000000000000000000000000000000..6e54295176cebaf6db13f880263bd2247d0aa44d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python3 +"""Read-only future Honeymaid carry/place prequalification for case 9.""" +import json, math, os, pathlib, sys, time +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W=pathlib.Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_09' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance,plan as plan_carry +from native_planner import build +from placement import solve +from ik_solver import Arm + +def matrix_xyzw(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +def matrix_wxyz(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m + +def footprint(local,pose): + world=(np.c_[local,np.ones(len(local))]@pose.T)[:,:3] + return Polygon(world[ConvexHull(world[:,:2]).vertices,:2]) + +def main(): + status=json.loads((C/'STATUS.json').read_text());job=json.loads((C/'job.json').read_text());item=job['items'][2] + checkpoint_path=C/'rollout/checkpoint_60hz.npz';checkpoint=np.load(checkpoint_path,allow_pickle=True) + if int(checkpoint['item_index'][-1])!=2:raise RuntimeError('Pinned case9 checkpoint is not the live item2 carry boundary') + zbar_proposal_path=W/'CASE09_ITEM01_LIVE_PLACE_PROPOSAL.json';zbar_proposal=json.loads(zbar_proposal_path.read_text());zbar=zbar_proposal['accepted'] + exact=json.loads((C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json').read_text())['items'][2] + data=np.load(item['controls_file']);prior=np.load(exact['prior_controls']);names=checkpoint['dof_names'].tolist();control_names=data['names'].tolist();ids=[names.index(name) for name in control_names] + q_pick=checkpoint['q'][-1].astype(float).copy();q_place=q_pick.copy();q_place[ids]=prior['place_initial'] + grippers=[i for i,name in enumerate(names) if 'gripper_' in name];q_place[grippers]=q_pick[grippers] + hand_path=f"/World/Robot/gripper_{item['hand']}_base_link";hi=checkpoint['robot_link_paths'].tolist().index(hand_path);ti=checkpoint['target_paths'].tolist().index(item['target']) + held=np.linalg.inv(matrix_xyzw(checkpoint['robot_link_pose'][-1,hi]))@matrix_xyzw(checkpoint['target_pose_all'][-1,ti]) + live_base_z=float(checkpoint['base_pose'][-1,2]);pick_base=matrix_xyzw(checkpoint['base_pose'][-1]) + stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage) + predicted_post_pick=matrix_xyzw(checkpoint['target_pose_all'][-1,ti]) + # Preserve actual frozen prop poses, replacing only Zbar with its qualified (not yet final actual) landing. + prop_poses={str(path):matrix_xyzw(pose) for path,pose in zip(checkpoint['rigid_body_paths'],checkpoint['prop_pose'][-1])} + checkpoint_receipt=json.loads((C/'rollout/CHECKPOINT.json').read_text());zbar_is_actual=job['items'][1]['target'] in checkpoint_receipt.get('completed_objects',[]) + if zbar_is_actual: + zbar_goal=matrix_xyzw(checkpoint['target_pose_all'][-1,1]) + else: + zbar_goal=np.asarray(zbar['placement_report']['goal'],float);prop_poses[job['items'][1]['target']]=zbar_goal + gatorade_pose=matrix_xyzw(checkpoint['target_pose_all'][-1,0]);gatorade_local=np.load(job['items'][0]['controls_file'])['target_local'];gatorade_foot=footprint(gatorade_local,gatorade_pose) + zbar_local=np.load(job['items'][1]['controls_file'])['target_local'];zbar_foot=footprint(zbar_local,zbar_goal);obstacles=[gatorade_foot,zbar_foot] + vertices=data['target_local'];floor=Polygon(job['tray_polygon_xy']).buffer(-.008);accepted_goal=np.asarray(exact['transferred_accepted_goal'],float);accepted_base=np.asarray(exact['transferred_accepted_base'],float) + accepted_yaw=float(exact['accepted_yaw_rad']);job_yaw=float(item['placement_slot']['yaw_rad']);yaws=[] + for yaw in [accepted_yaw,accepted_yaw+math.pi,accepted_yaw+math.pi/2,accepted_yaw-math.pi/2,accepted_yaw+math.radians(15),accepted_yaw-math.radians(15),job_yaw,job_yaw+math.pi]: + yaw=float(math.atan2(math.sin(yaw),math.cos(yaw))) + if all(abs(math.atan2(math.sin(yaw-old),math.cos(yaw-old)))>1e-8 for old in yaws):yaws.append(yaw) + minx,miny,maxx,maxy=floor.bounds;candidates=[] + for yaw in yaws: + rot=Rotation.from_euler('z',yaw).as_matrix();points=vertices@rot.T;local=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]) + for x in np.arange(minx,maxx+1e-9,.004): + for y in np.arange(miny,maxy+1e-9,.004): + foot=Polygon(np.asarray(local.exterior.coords)[:-1]+[x,y]);gaps=[foot.distance(o) for o in obstacles] + if not floor.covers(foot) or min(gaps)<=.012:continue + goal=np.eye(4);goal[:3,:3]=rot;goal[:2,3]=[x,y];goal[2,3]=job['tray_floor_z']+.002-(vertices@rot.T)[:,2].min() + transfer=goal@np.linalg.inv(accepted_goal);base=transfer@accepted_base;base[2,3]=live_base_z + score=float(np.linalg.norm(base[:2,3]-np.asarray(item['place_base'])[:2,3])+.12*np.linalg.norm(goal[:2,3]-np.asarray(item['placement_slot']['xy']))) + candidates.append((score,x,y,yaw,foot,gaps,goal,base,transfer)) + candidates.sort(key=lambda row:row[0]);attempts=[];accepted=None;place_only=None + source_layout_id=int(job.get('source_layout_id',job['layout_id']));release_path=pathlib.Path(job['layout']).parents[1]/'audits_release'/f'{source_layout_id:02d}.json';release=json.loads(release_path.read_text()) + checker=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,prop_poses);checker.deadline=time.monotonic()+1800 + arm_ids=[names.index(f"idx{6 if item['hand']=='r' else 2}{k}_arm_{item['hand']}_joint{k}") for k in range(1,8)] + joints={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + lo=np.array([joints[names[i]].GetAttribute('physics:lowerLimit').Get() for i in arm_ids])*np.pi/180+1e-4;hi=np.array([joints[names[i]].GetAttribute('physics:upperLimit').Get() for i in arm_ids])*np.pi/180-1e-4 + from motion_limits import LOWER,UPPER + offset=0 if item['hand']=='l' else 7;lo=np.maximum(lo,LOWER[offset:offset+7]+1e-4);hi=np.minimum(hi,UPPER[offset:offset+7]-1e-4) + for rank,candidate in enumerate(candidates[:80]): + _,x,y,yaw,foot,gaps,goal,base,transfer=candidate + # Correct the historical station's 11 mm root-height bias by solving only + # the active arm back to the rigidly transferred accepted object goal. + arm=Arm(robot,names,q_place,base,robot.root+hand_path.removeprefix('/World/Robot'),arm_ids);previous=q_place[arm_ids].copy();hand_goal=goal@np.linalg.inv(held) + fit=least_squares(lambda v:arm.evaluate(v,hand_goal,previous)[0],np.clip(previous,lo,hi),jac=lambda v:arm.evaluate(v,hand_goal,previous)[1],bounds=(lo,hi),max_nfev=100) + q_station=q_place.copy();q_station[arm_ids]=fit.x;actual_hand=arm.forward(fit.x)[0];endpoint_error=[float(np.linalg.norm(actual_hand[:3,3]-hand_goal[:3,3])),float(Rotation.from_matrix(hand_goal[:3,:3].T@actual_hand[:3,:3]).magnitude())] + if endpoint_error[0]>.002 or endpoint_error[1]>.02:attempts.append(dict(rank=rank,stage='normalized_station_endpoint',error=endpoint_error));continue + if not checker.check(q_station,base):attempts.append(dict(rank=rank,stage='destination_place_initial_clearance',detail=checker.last));continue + object_pose=robot.fk(names,q_station,base)[robot.root+hand_path.removeprefix('/World/Robot')]@held + slot=dict(xy=[float(x),float(y)],yaw_rad=float(yaw),footprint_xy=np.asarray(foot.exterior.coords)[:-1].tolist(),tolerance_m=.001) + item_job={**job,**item,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':[],'carry_policy':'precision_body_route_v2','carry_exit_candidates':[.25,.45,.15,.05]};item_job.pop('carry_route_seed',None) + began=time.monotonic() + try:plan,retreat,place_report=solve(robot,names,q_station,base,object_pose,vertices,item_job,obstacles,pose_check,world_check=checker) + except Exception as exc:attempts.append(dict(rank=rank,stage='placement',error=str(exc),elapsed_s=time.monotonic()-began));continue + place_only=dict(rank=rank,slot=slot,destination_xyz=[float(x),float(y),float(job['tray_floor_z'])],place_base=base.tolist(),place_initial20=q_station[ids].tolist(),source_place_initial20=prior['place_initial'].tolist(),normalized_station_endpoint_error=endpoint_error,held_live=held.tolist(),geometry=dict(tray_inset_m=.008,gap_to_actual_gatorade_m=float(gaps[0]),gap_to_actual_zbar_m=float(gaps[1]),inside=True),placement_plan_frames=len(plan),placement_report=place_report,retreat_q=retreat.tolist(),base_z_normalized_to_checkpoint=True,station_bridge_and_place_descent_world_checks=True,release_retreat_offline_scope='self_and_wrist_only; authoritative native all-target world audit required') + try:compact,primitives,carry_report=plan_carry(stage,robot,names,q_pick,pick_base,item['hand'],item['target'],vertices,predicted_post_pick,prop_poses,item_job,release) + except Exception as exc:attempts.append(dict(rank=rank,stage='live_source_carry',error=str(exc),elapsed_s=time.monotonic()-began));break + if not checker.segment(compact,q_station,base,base):attempts.append(dict(rank=rank,stage='post_carry_destination_bridge_clearance',detail=checker.last));continue + accepted=dict(rank=rank,slot=slot,destination_xyz=[float(x),float(y),float(job['tray_floor_z'])],place_base=base.tolist(),place_initial20=q_station[ids].tolist(),source_place_initial20=prior['place_initial'].tolist(),normalized_station_endpoint_error=endpoint_error,held_source=held.tolist(),predicted_post_pick_pose=predicted_post_pick.tolist(),pair_transform=transfer.tolist(),geometry=dict(tray_inset_m=.008,gap_to_actual_gatorade_m=float(gaps[0]),gap_to_zbar_m=float(gaps[1]),zbar_pose_source='actual supported checkpoint' if zbar_is_actual else 'qualified predicted landing',inside=True),placement_plan_frames=len(plan),placement_report=place_report,retreat_q=retreat.tolist(),reposition=dict(compact_q=compact.tolist(),primitives=primitives,report=carry_report),base_z_normalized_to_checkpoint=True,carry_bridge_and_place_descent_world_checks=True,release_retreat_offline_scope='self_and_wrist_only; authoritative native all-target world audit required') + attempts.append(dict(rank=rank,stage='passed',placement_frames=len(plan),reposition_primitives=len(primitives)));break + result=dict(schema='multi_item.case9_item2_live_place.v1',read_only=True,prediction_only=False,status_at_probe=status,pinned_checkpoint_tick=int(checkpoint['tick'][-1]),method='Actual live item2 held transform and full prop poses; exact accepted placement pair with grounded-base-normalized place posture; placement and standard carry evaluated separately.',evidence=dict(checkpoint=str(checkpoint_path),job=str(C/'job.json'),exact_source=str(C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json'),prior_controls=exact['prior_controls'],prior_placement=exact['prior_placement_plan'],zbar_qualified_proposal=str(zbar_proposal_path)),pose_evidence=dict(gatorade='actual checkpoint',zbar='actual supported checkpoint',honeymaid='actual live post-pick checkpoint'),geometry_candidates=len(candidates),accepted=accepted,place_only_qualified=place_only,attempts=attempts,native_recheck_required=['custom live shelf egress if standard carry remains blocked','live carry execution','all final validation gates']) + out=W/'CASE09_ITEM02_LIVE_PLACE_PROPOSAL.json';out.write_text(json.dumps(result,indent=2)+'\n');print(json.dumps(dict(out=str(out),geometry_candidates=len(candidates),accepted=accepted and {k:accepted[k] for k in ['rank','slot','destination_xyz','place_base','geometry','placement_plan_frames','base_z_normalized_to_checkpoint','carry_bridge_and_place_descent_world_checks','release_retreat_offline_scope']},place_only_qualified=place_only and {k:place_only[k] for k in ['rank','slot','destination_xyz','place_base','geometry','placement_plan_frames','base_z_normalized_to_checkpoint','station_bridge_and_place_descent_world_checks','release_retreat_offline_scope']},attempts=attempts),indent=2));raise SystemExit(0 if accepted or place_only else 2) +if __name__=='__main__':main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py new file mode 100644 index 0000000000000000000000000000000000000000..115071938d4f97e0caf45f2e34ea5b1abd1adf70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py @@ -0,0 +1,546 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 9's frozen HoneyMaid shelf egress boundary.""" +import hashlib +import json +import math +import os +import pathlib +import sys +import time +import zlib + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_09" +sys.path[:0] = [ + str(W), + str(R / "tools/family3"), + str(R / "work/place_training_tray_20260918"), + str(R / "work/family3_repair/collision/python_deps"), + str(R / "code/family3_repair/real2sim/teleop"), +] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) + +from pxr import Usd, UsdGeom, UsdPhysics # noqa: E402 +from collision_scene import ( # noqa: E402 + Body, + ROBOT, + Robot, + burial, + collider_mesh, + contact, + matrix, + rigid_ancestor, +) +from carry_transition import Clearance # noqa: E402 +from ik_solver import Arm # noqa: E402 + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def rigid_part(value): + value = np.asarray(value, dtype=float) + u, _, vt = np.linalg.svd(value[:3, :3]) + rotation = u @ vt + if np.linalg.det(rotation) < 0: + u[:, -1] *= -1 + rotation = u @ vt + result = np.eye(4) + result[:3, :3] = rotation + result[:3, 3] = value[:3, 3] + return result + + +def decode_native_contacts(path, target, neighbor): + decoder = zlib.decompressobj(16 + zlib.MAX_WBITS) + raw = decoder.decompress(path.read_bytes()) + rows = [] + incomplete_rows = 0 + for line in raw.splitlines(): + try: + row = json.loads(line) + except json.JSONDecodeError: + incomplete_rows += 1 + continue + if set(row.get("actors", [])) == {target, neighbor}: + rows.append(row) + ticks = sorted({int(row["tick"]) for row in rows}) + per_tick = [] + for tick in ticks: + selected = [row for row in rows if int(row["tick"]) == tick] + per_tick.append( + { + "tick": tick, + "rows": len(selected), + "unique_neighbor_colliders": sorted({row["colliders"][0] for row in selected}), + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in selected), + "maximum_impulse_norm": max(float(np.linalg.norm(row["impulse_sum"])) for row in selected), + } + ) + return { + "decoder": "partial gzip stream decoded without final trailer", + "complete_json_rows": len(raw.splitlines()) - incomplete_rows, + "discarded_incomplete_tail_rows": incomplete_rows, + "pair_rows": len(rows), + "first_tick": ticks[0] if ticks else None, + "last_complete_contact_tick": ticks[-1] if ticks else None, + "last_20_tick_summary": per_tick[-20:], + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in rows), + "maximum_impulse_norm": max(float(np.linalg.norm(row["impulse_sum"])) for row in rows), + "native_pair_contact_present": bool(rows), + } + + +def target_native_body(stage, target_path, target_pose): + cache = UsdGeom.XformCache() + target_prim = stage.GetPrimAtPath(target_path) + colliders = [] + for prim in Usd.PrimRange(target_prim, Usd.TraverseInstanceProxies()): + if not prim.HasAPI(UsdPhysics.CollisionAPI): + continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False: + continue + mesh, method, approximation = collider_mesh(prim) + owner = rigid_ancestor(prim) + if owner is None or str(owner.GetPath()) != target_path: + continue + authored_owner = rigid_part(matrix(cache.GetLocalToWorldTransform(owner))) + authored_collider = matrix(cache.GetLocalToWorldTransform(prim)) + mesh.apply_transform(np.linalg.inv(authored_owner) @ authored_collider) + colliders.append( + Body( + str(prim.GetPath()) + "#native_target_collider", + mesh, + target_pose, + {"method": method, "approximation": approximation}, + ) + ) + if not colliders: + raise RuntimeError("No enabled target collider reconstructed") + return colliders + + +def pair_key(a, b): + return (a.name, b.name) + + +def main(): + status_path = C / "STATUS.json" + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contact_path = C / "rollout/contacts.jsonl.gz" + status = json.loads(status_path.read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"Frozen case 9 item 2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + target_path = item["target"] + neighbor_path = "/World/Assets/Tier2Items/oreo_gf" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + base = pose_matrix(checkpoint["base_pose"][-1]) + link_paths = checkpoint["robot_link_paths"].tolist() + target_paths = checkpoint["target_paths"].tolist() + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = link_paths.index(hand_path) + target_index = target_paths.index(target_path) + recorded_hand = pose_matrix(checkpoint["robot_link_pose"][-1, hand_index]) + recorded_target = pose_matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(recorded_hand) @ recorded_target + prop_poses = { + str(path): pose_matrix(value) + for path, value in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1]) + } + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + target_vertices = np.load(item["controls_file"])["target_local"] + checker = Clearance(stage, robot, names, item["hand"], target_path, target_vertices, held, prop_poses) + checker.deadline = time.monotonic() + 1800 + local_fk = robot.fk(names, q, np.eye(4)) + self_ok, self_detail = checker.self_check(local_fk, robot.root) + reconstructed_hand = base @ local_fk[robot.root + "/gripper_r_base_link"] + reconstructed_target = reconstructed_hand @ held + fk_error = { + "hand_translation_m": float(np.linalg.norm(reconstructed_hand[:3, 3] - recorded_hand[:3, 3])), + "hand_rotation_rad": float(Rotation.from_matrix(reconstructed_hand[:3, :3].T @ recorded_hand[:3, :3]).magnitude()), + "target_translation_m": float(np.linalg.norm(reconstructed_target[:3, 3] - recorded_target[:3, 3])), + "target_rotation_rad": float(Rotation.from_matrix(reconstructed_target[:3, :3].T @ recorded_target[:3, :3]).magnitude()), + } + native_targets = target_native_body(stage, target_path, recorded_target) + neighbor_environment = [body for body in checker.environment if body.name.startswith(neighbor_path + "/")] + if not neighbor_environment: + raise RuntimeError("No reconstructed Oreo collider bodies") + + yaw = float(Rotation.from_matrix(base[:3, :3]).as_euler("xyz")[2]) + heading = np.array([math.cos(yaw), math.sin(yaw)]) + + def evaluate_state(candidate_q, candidate_base, label): + state_local_fk = robot.fk(names, candidate_q, np.eye(4)) + state_self_ok, state_self_detail = checker.self_check(state_local_fk, robot.root) + world_fk = {name: candidate_base @ value for name, value in state_local_fk.items()} + for body in checker.self_check.bodies: + body.update(world_fk[body.name.replace("/World/Robot", robot.root, 1)]) + candidate_target = world_fk[robot.root + "/gripper_r_base_link"] @ held + checker.target.update(candidate_target) + delta = candidate_target @ np.linalg.inv(recorded_target) + for body in native_targets: + body.update(delta @ body.authored_transform) + + collisions = [] + tested = checker.self_check.bodies + [checker.target] + for body in tested: + indices = np.flatnonzero( + np.all(checker.high >= body.lo, axis=1) & np.all(checker.low <= body.hi, axis=1) + ) + for index in indices: + other = checker.environment[index] + hit = contact(body, other, containment=True) + if hit is not None: + collisions.append({"a": body.name, "b": other.name, "contact": hit}) + native_pair_hits = [] + for target_body in native_targets: + for neighbor_body in neighbor_environment: + hit = contact(target_body, neighbor_body, containment=True) + if hit is not None: + native_pair_hits.append( + { + "target_collider": target_body.name, + "neighbor_collider": neighbor_body.name, + "contact": hit, + "burial": burial(target_body, neighbor_body, max_points=1024), + } + ) + return { + "label": label, + "base_xy": candidate_base[:2, 3].tolist(), + "target_xyz": candidate_target[:3, 3].tolist(), + "self_and_wrist_ok": bool(state_self_ok), + "self_and_wrist_detail": state_self_detail, + "planner_collision_pairs": collisions, + "planner_collision_pair_count": len(collisions), + "planner_target_neighbor_pairs": [ + row for row in collisions if row["a"] == target_path and row["b"].startswith(neighbor_path + "/") + ], + "native_shape_target_neighbor_pairs": native_pair_hits, + "native_shape_target_neighbor_pair_count": len(native_pair_hits), + } + + def evaluate_reverse(distance): + candidate_base = base.copy() + candidate_base[:2, 3] -= distance * heading + result = evaluate_state(q, candidate_base, f"reverse_{distance:.6f}m") + result["reverse_distance_m"] = float(distance) + return result + + # Dense first-centimeter samples isolate the first reverse behavior; later + # samples confirm that the same fixed-grasp base motion remains clear. + distances = [0.0, 0.00025, 0.0005, 0.001, 0.002, 0.003, 0.005, 0.0075, 0.01] + distances += [float(value) for value in np.arange(0.0125, 0.25001, 0.0025)] + samples = [evaluate_reverse(distance) for distance in distances] + initial_pairs = { + (row["a"], row["b"]) for row in samples[0]["planner_collision_pairs"] + } + for sample in samples: + pairs = {(row["a"], row["b"]) for row in sample["planner_collision_pairs"]} + sample["new_planner_pairs_relative_to_start"] = [list(pair) for pair in sorted(pairs - initial_pairs)] + sample["existing_planner_pairs_remaining"] = [list(pair) for pair in sorted(pairs & initial_pairs)] + first_planner_clear = next( + (sample["reverse_distance_m"] for sample in samples if not sample["planner_target_neighbor_pairs"]), None + ) + first_native_shape_clear = next( + (sample["reverse_distance_m"] for sample in samples if sample["native_shape_target_neighbor_pair_count"] == 0), None + ) + no_new_pairs = all(not sample["new_planner_pairs_relative_to_start"] for sample in samples) + all_after_planner_clear = bool( + first_planner_clear is not None + and all( + not sample["planner_target_neighbor_pairs"] + for sample in samples + if sample["reverse_distance_m"] >= first_planner_clear + ) + ) + all_after_native_clear = bool( + first_native_shape_clear is not None + and all( + sample["native_shape_target_neighbor_pair_count"] == 0 + for sample in samples + if sample["reverse_distance_m"] >= first_native_shape_clear + ) + ) + gripper_ids = [index for index, name in enumerate(names) if "gripper_" in name] + native_contacts = decode_native_contacts(contact_path, target_path, neighbor_path) + + # Search small continuous right-arm translations. A target-space move is + # acceptable only if every interpolated posture passes the original + # self/wrist gate, creates no new environment actor pair, and reaches a + # state accepted by the ordinary strict world checker. + arm_ids = [names.index(f"idx6{k}_arm_r_joint{k}") for k in range(1, 8)] + joints = {prim.GetName(): prim for prim in robot.stage.Traverse() if prim.GetAttribute("physics:lowerLimit")} + lower = np.array([joints[names[index]].GetAttribute("physics:lowerLimit").Get() for index in arm_ids]) * np.pi / 180 + 1e-4 + upper = np.array([joints[names[index]].GetAttribute("physics:upperLimit").Get() for index in arm_ids]) * np.pi / 180 - 1e-4 + from motion_limits import LOWER, UPPER + + lower = np.maximum(lower, LOWER[7:14] + 1e-4) + upper = np.minimum(upper, UPPER[7:14] - 1e-4) + arm = Arm(robot, names, q, base, robot.root + "/gripper_r_base_link", arm_ids) + current_hand = reconstructed_hand + + def actor_pair(row): + obstacle = row["b"] + if obstacle.startswith(neighbor_path + "/"): + obstacle = neighbor_path + elif obstacle.startswith("/World/Assets/ShelvingUnit/"): + obstacle = "/World/Assets/ShelvingUnit" + return row["a"], obstacle + + initial_actor_pairs = {actor_pair(row) for row in samples[0]["planner_collision_pairs"]} + arm_candidates = [] + direction_rows = [ + ("world_minus_x", np.array([-1.0, 0.0, 0.0])), + ("world_plus_x", np.array([1.0, 0.0, 0.0])), + ("world_plus_y", np.array([0.0, 1.0, 0.0])), + ("world_minus_y", np.array([0.0, -1.0, 0.0])), + ("world_plus_z", np.array([0.0, 0.0, 1.0])), + ("world_minus_x_plus_z", np.array([-1.0, 0.0, 1.0]) / math.sqrt(2.0)), + ("world_plus_x_plus_z", np.array([1.0, 0.0, 1.0]) / math.sqrt(2.0)), + ("world_plus_y_plus_z", np.array([0.0, 1.0, 1.0]) / math.sqrt(2.0)), + ] + for direction_name, direction in direction_rows: + for distance in (0.002, 0.005, 0.010, 0.015, 0.020, 0.030, 0.040): + goal = current_hand.copy() + goal[:3, 3] += direction * distance + previous = q[arm_ids].copy() + fit = least_squares( + lambda value: arm.evaluate(value, goal, previous)[0], + np.clip(previous, lower, upper), + jac=lambda value: arm.evaluate(value, goal, previous)[1], + bounds=(lower, upper), + max_nfev=120, + ) + endpoint_hand = arm.forward(fit.x)[0] + endpoint_error = { + "translation_m": float(np.linalg.norm(endpoint_hand[:3, 3] - goal[:3, 3])), + "rotation_rad": float(Rotation.from_matrix(endpoint_hand[:3, :3].T @ goal[:3, :3]).magnitude()), + } + row = { + "direction": direction_name, + "distance_m": distance, + "direction_world": direction.tolist(), + "endpoint_error": endpoint_error, + "fit_success": bool(fit.success), + } + if endpoint_error["translation_m"] > 0.001 or endpoint_error["rotation_rad"] > 0.01: + row["qualified"] = False + row["reason"] = "ik_endpoint_error" + arm_candidates.append(row) + continue + endpoint_q = q.copy() + endpoint_q[arm_ids] = fit.x + steps = max(2, int(math.ceil(float(np.max(np.abs(endpoint_q - q))) / 0.005))) + path = [] + prior_native_count = samples[0]["native_shape_target_neighbor_pair_count"] + monotonic_native_count = True + for index, u in enumerate(np.linspace(0.0, 1.0, steps + 1)): + state_q = q * (1.0 - u) + endpoint_q * u + state = evaluate_state(state_q, base, f"{direction_name}_{distance:.3f}_u{u:.6f}") + actor_pairs = {actor_pair(hit) for hit in state["planner_collision_pairs"]} + state["new_actor_pairs"] = [list(pair) for pair in sorted(actor_pairs - initial_actor_pairs)] + native_count = state["native_shape_target_neighbor_pair_count"] + if native_count > prior_native_count: + monotonic_native_count = False + prior_native_count = native_count + path.append(state) + endpoint = path[-1] + endpoint_q_strict_ok = checker.check(endpoint_q, base) + endpoint_q_strict_detail = None if endpoint_q_strict_ok else checker.last + row.update( + { + "endpoint_q": endpoint_q.tolist(), + "max_joint_delta_rad": float(np.max(np.abs(endpoint_q - q))), + "path_sample_count": len(path), + "all_self_and_wrist_ok": all(state["self_and_wrist_ok"] for state in path), + "no_new_actor_pairs": all(not state["new_actor_pairs"] for state in path), + "native_shape_neighbor_count_nonincreasing": monotonic_native_count, + "endpoint_native_shape_neighbor_pair_count": endpoint["native_shape_target_neighbor_pair_count"], + "endpoint_planner_target_neighbor_pair_count": len(endpoint["planner_target_neighbor_pairs"]), + "endpoint_planner_collision_pair_count": endpoint["planner_collision_pair_count"], + "endpoint_strict_world_ok": bool(endpoint_q_strict_ok), + "endpoint_strict_world_detail": endpoint_q_strict_detail, + "path": path, + } + ) + row["qualified"] = bool( + row["all_self_and_wrist_ok"] + and row["no_new_actor_pairs"] + and row["native_shape_neighbor_count_nonincreasing"] + and row["endpoint_native_shape_neighbor_pair_count"] == 0 + and row["endpoint_planner_target_neighbor_pair_count"] == 0 + and row["endpoint_strict_world_ok"] + ) + arm_candidates.append(row) + # The local adjustment is useful only if the unchanged raised posture can + # immediately enter the standard strictly collision-free reverse screen. + for row in arm_candidates: + if not row.get("qualified"): + continue + endpoint_q = np.asarray(row["endpoint_q"], dtype=float) + reverse_results = [] + for distance in (0.05, 0.10, 0.15, 0.25): + exit_base = base.copy() + exit_base[:2, 3] -= distance * heading + okay = checker.segment(endpoint_q, endpoint_q, base, exit_base) + reverse_results.append( + { + "distance_m": distance, + "strict_world_segment_ok": bool(okay), + "detail": None if okay else checker.last, + } + ) + row["ordinary_reverse_rechecks"] = reverse_results + row["qualified_with_ordinary_reverse"] = all(item["strict_world_segment_ok"] for item in reverse_results) + # The ordinary policy already uses a 0.55 m body height after shelf + # departure. Also test a staged escape: a short strict 5 cm reverse, + # raise there, then continue to 25 cm. This avoids dragging the held + # carton through Oreo at its original height. + if reverse_results[0]["strict_world_segment_ok"]: + base_005 = base.copy() + base_005[:2, 3] -= 0.05 * heading + base_025 = base.copy() + base_025[:2, 3] -= 0.25 * heading + high_q = endpoint_q.copy() + high_q[names.index("idx01_body_joint1")] = 0.55 + raise_ok = checker.segment(endpoint_q, high_q, base_005, base_005) + raise_detail = None if raise_ok else checker.last + continue_ok = bool(raise_ok and checker.segment(high_q, high_q, base_005, base_025)) + continue_detail = None if continue_ok else checker.last + row["staged_escape"] = { + "short_reverse_distance_m": 0.05, + "body_height_goal_m": 0.55, + "raise_at_short_reverse_strict_world_ok": bool(raise_ok), + "raise_detail": raise_detail, + "continue_reverse_to_m": 0.25, + "continued_reverse_strict_world_ok": continue_ok, + "continued_reverse_detail": continue_detail, + "high_q": high_q.tolist(), + "qualified": bool(raise_ok and continue_ok), + } + else: + row["staged_escape"] = {"qualified": False, "reason": "first_5cm_reverse_not_clear"} + qualified_arm = next( + ( + row + for row in arm_candidates + if row.get("qualified_with_ordinary_reverse") or row.get("staged_escape", {}).get("qualified") + ), + None, + ) + result = { + "schema": "multi_item.case9_item2_live_egress_diagnosis.v1", + "read_only": True, + "status_at_probe": status, + "pinned_checkpoint_tick": int(checkpoint["tick"][-1]), + "input_sha256": { + "checkpoint": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "partial_contact_stream": hashlib.sha256(contact_path.read_bytes()).hexdigest(), + "job": hashlib.sha256((C / "job.json").read_bytes()).hexdigest(), + }, + "native_contact_evidence": native_contacts, + "reconstruction": { + "fk_error": fk_error, + "self_and_wrist_gate_at_start": bool(self_ok), + "self_and_wrist_detail": self_detail, + "target_collision_representation": "both planner target_local convex hull and authored enabled target collider", + "environment_collision_representation": "authored enabled colliders at literal checkpoint prop poses", + "limitations": [ + "Offline FCL intersections do not reproduce PhysX contact offsets or dynamics.", + "The open native contact gzip ends at the last complete callback row before planning pause.", + ], + }, + "fixed_grasp_invariants": { + "held_target_to_hand_transform": held.tolist(), + "q_unchanged": True, + "gripper_positions_unchanged": q[gripper_ids].tolist(), + "base_z_unchanged_m": float(base[2, 3]), + "base_yaw_unchanged_rad": yaw, + "motion": "straight reverse along negative current heading", + }, + "screen": { + "sample_count": len(samples), + "maximum_reverse_distance_m": max(distances), + "first_planner_hull_neighbor_clear_m": first_planner_clear, + "first_authored_native_shape_neighbor_clear_m": first_native_shape_clear, + "planner_neighbor_stays_clear_after_first_clear": all_after_planner_clear, + "authored_neighbor_stays_clear_after_first_clear": all_after_native_clear, + "no_new_planner_collision_pairs": no_new_pairs, + "initial_planner_pairs": [list(pair) for pair in sorted(initial_pairs)], + "qualified_local_egress": bool( + self_ok + and first_planner_clear is not None + and first_native_shape_clear is not None + and all_after_planner_clear + and all_after_native_clear + and no_new_pairs + ), + "samples": samples, + }, + "local_arm_escape_search": { + "method": "right-hand Cartesian micro-translation with fixed orientation/base; bounded IK; linear joint interpolation at <=0.005 rad per sample", + "initial_allowed_actor_pairs": [list(pair) for pair in sorted(initial_actor_pairs)], + "candidate_count": len(arm_candidates), + "qualified": qualified_arm, + "candidate_summaries": [ + {key: value for key, value in row.items() if key not in ("path", "endpoint_q")} + for row in arm_candidates + ], + }, + "execution_requirement": { + "proposal_only": True, + "no_reset_or_pose_write_performed": True, + "required_native_behavior": "Execute a continuous low-speed reverse from the frozen state while preserving arm and gripper commands; permit only the already-recorded HoneyMaid/Oreo manifold at the first sample, require its impulses/separation to relax immediately, abort on any new contact, then use the ordinary full collision gate after the offline clear distance.", + "ordinary_carry_replan_required_after_egress": True, + }, + } + output = W / "CASE09_ITEM02_LIVE_EGRESS_DIAGNOSIS.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print( + json.dumps( + { + "output": str(output), + "checkpoint_tick": result["pinned_checkpoint_tick"], + "native_contact": { + key: native_contacts[key] + for key in ( + "pair_rows", + "first_tick", + "last_complete_contact_tick", + "minimum_reported_separation_m", + "maximum_impulse_norm", + ) + }, + "fk_error": fk_error, + "screen": {key: value for key, value in result["screen"].items() if key != "samples"}, + "qualified_arm": None if qualified_arm is None else { + key: value for key, value in qualified_arm.items() if key not in ("path", "endpoint_q") + }, + }, + indent=2, + ) + ) + raise SystemExit(0 if result["screen"]["qualified_local_egress"] or qualified_arm is not None else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py new file mode 100644 index 0000000000000000000000000000000000000000..080fd6c704f1598f31cb2e9ef9aaf363ae54077d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +"""Read-only polar station/arm endpoint search for case9 final HoneyMaid.""" +import json,math,os,sys,time +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_09' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +s=json.load(open(C/'STATUS.json'));assert s['status']=='WAITING_FOR_PLANNING_REPAIR' and s['item_index']==2 +j=json.load(open(C/'job.json'));it=j['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True);names=cp['dof_names'].tolist();liveq=cp['q'][-1].astype(float);livebase=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(j['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link');ti=cp['target_paths'].tolist().index(it['target']);livet=mat(cp['target_pose_all'][-1,ti]);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@livet;invheld=np.linalg.inv(held);verts=np.load(it['controls_file'])['target_local'];props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};checker=Clearance(stage,robot,names,'r',it['target'],verts,held,props);checker.deadline=time.monotonic()+3600 +active=[names.index(f'idx6{k}_arm_r_joint{k}') for k in range(1,8)];jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;up=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4;lo=np.maximum(lo,LOWER[7:14]+1e-4);up=np.minimum(up,UPPER[7:14]-1e-4) +exact=json.load(open(R/'work/shelf_to_table_multi10_20261005/cases/layout_09/EXACT_SOURCE_TRANSFER_PROPOSAL.json'))['items'][2];prior=np.load(exact['prior_controls']);controls=np.load(it['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];seedq=liveq.copy();seedq[ids]=prior['place_initial'];seedq[[i for i,n in enumerate(names) if 'gripper_' in n]]=liveq[[i for i,n in enumerate(names) if 'gripper_' in n]] +# Measured completed-object footprints and geometry-valid free-space goals. +obs=[] +for k in range(2): + pm=mat(cp['target_pose_all'][-1,k]);pv=np.load(j['items'][k]['controls_file'])['target_local'];pts=(np.c_[pv,np.ones(len(pv))]@pm.T)[:,:2];obs.append(Polygon(pts[ConvexHull(pts).vertices])) +floor=Polygon(j['tray_polygon_xy']).buffer(-.008);goals=[] +for yaw in [-math.pi/2,math.pi/2,-math.pi/2+math.radians(5),math.pi/2+math.radians(5)]: + Rz=Rotation.from_euler('z',yaw).as_matrix();local=verts@Rz.T;h=ConvexHull(local[:,:2]);lh=local[h.vertices,:2] + for x in [-1.0225,-1.0255,-1.0285,-1.0315,-1.0345]: + for y in [.43,.445,.46,.475,.49,.505]: + fp=Polygon(lh+[x,y]);gaps=[fp.distance(o) for o in obs];extra=floor.boundary.distance(fp) + if floor.covers(fp) and min(gaps)>.012 and extra>.0003: + g=np.eye(4);g[:3,:3]=Rz;g[:2,3]=[x,y];g[2,3]=j['tray_floor_z']+.002-local[:,2].min();goals.append((g,fp,gaps,extra)) +results=[];tested=0 +for gi,(goal,fp,gaps,extra) in enumerate(goals): + for angle in np.deg2rad(np.arange(-180,181,30)): + for radius in [.52,.62,.72,.82]: + bx=goal[0,3]+radius*math.cos(angle);by=goal[1,3]+radius*math.sin(angle) + face=math.atan2(goal[1,3]-by,goal[0,3]-bx) + for da in np.deg2rad([-12,0,12]): + base=np.eye(4);base[:3,:3]=Rotation.from_euler('z',face+da).as_matrix();base[:3,3]=[bx,by,livebase[2,3]] + arm=Arm(robot,names,seedq,base,robot.root+'/gripper_r_base_link',active);target=goal@invheld + best=None + for seed in [seedq[active],liveq[active]]: + fit=least_squares(lambda x:arm.evaluate(x,target,seed)[0],np.clip(seed,lo,up),jac=lambda x:arm.evaluate(x,target,seed)[1],bounds=(lo,up),max_nfev=130);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude()) + if best is None or pe+.1*re.004 or best[2]>.04:continue + q=seedq.copy();q[active]=best[3];checker.deadline=time.monotonic()+3600 + if not checker.check(q,base):continue + travel=float(np.linalg.norm(base[:2,3]-livebase[:2,3]));results.append(dict(score=travel+best[0]-min(gaps),goal=goal.tolist(),footprint_xy=np.asarray(fp.exterior.coords)[:-1].tolist(),gaps_m=[float(x) for x in gaps],extra_inset_m=float(extra),base=base.tolist(),q=q.tolist(),place_initial20=q[ids].tolist(),position_error_m=best[1],rotation_error_rad=best[2],travel_m=travel)) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.case9_item2_polar_endpoint.v1','read_only':True,'status_at_probe':s,'goal_count':len(goals),'tested':tested,'clear_endpoint_count':len(results),'top':results[:80]};p=W/'diagnostics/LAYOUT09_ITEM02_POLAR_ENDPOINT.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'goal_count':len(goals),'tested':tested,'clear_endpoint_count':len(results),'top':results[:5]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py new file mode 100644 index 0000000000000000000000000000000000000000..ae3ef3f4b6930011eeea9959bcf1451ea444ce0f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py @@ -0,0 +1,161 @@ +#!/usr/bin/env python3 +"""Read-only case9 item2 repack search from the frozen native boundary. + +The earlier station grid proved IK only at the authored slot, which the two +measured supported objects now occupy. This probe translates each grounded +IK solution and its station together into geometry-valid free tray space, +then performs the normal full carry, placement and release-sweep checks. +""" +import json, math, os, pathlib, sys, time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_09" +sys.path[:0] = [str(W), str(R / "tools/family3"), + str(R / "work/family3_repair/collision/python_deps"), + str(R / "work/place_training_tray_20260918"), + str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd +from collision_scene import Robot, ROBOT +from carry_transition import Clearance, plan as plan_carry +from native_planner import build +from placement import solve +from release_sweep import ReleaseSweep + + +def mat(pose): + out = np.eye(4); out[:3, 3] = pose[:3] + out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return out + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + assert status.get("status") == "WAITING_FOR_PLANNING_REPAIR" and status.get("item_index") == 2 + job = json.loads((C / "job.json").read_text()); item = job["items"][2] + cp_path = C / "rollout/checkpoint_60hz.npz"; cp = np.load(cp_path, allow_pickle=True) + names = cp["dof_names"].tolist(); live_q = cp["q"][-1].astype(float); live_base = mat(cp["base_pose"][-1]) + hi = cp["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + ti = cp["target_paths"].tolist().index(item["target"]) + live_target = mat(cp["target_pose_all"][-1, ti]) + held = np.linalg.inv(mat(cp["robot_link_pose"][-1, hi])) @ live_target + controls = np.load(item["controls_file"]); vertices = controls["target_local"] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_09/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][2]; prior = np.load(exact["prior_controls"]) + ids = [names.index(n) for n in controls["names"].tolist()] + active = [names.index(f"idx6{k}_arm_r_joint{k}") for k in range(1, 8)] + grippers = [i for i, n in enumerate(names) if "gripper_" in n] + + stage = Usd.Stage.Open(job["scene"]); robot = Robot(ROBOT); robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(p): mat(v) for p, v in zip(cp["rigid_body_paths"], cp["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], vertices, held, prop_poses) + + obstacles = [] + for i in range(2): + pm = mat(cp["target_pose_all"][-1, i]); pv = np.load(job["items"][i]["controls_file"])["target_local"] + pts = (np.c_[pv, np.ones(len(pv))] @ pm.T)[:, :2] + obstacles.append(Polygon(pts[ConvexHull(pts).vertices])) + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + + grid_path = W / "diagnostics/LAYOUT09_ITEM02_STATION_IK_GRID.json" + grid = json.loads(grid_path.read_text())["top"] + raw = [] + # A 3 mm tray grid, retaining at least 12 mm from both measured objects. + minx, miny, maxx, maxy = floor.bounds + for entry_index, entry in enumerate(grid): + source_goal = np.asarray(entry["goal"], float); yaw = float(Rotation.from_matrix(source_goal[:3, :3]).as_euler("xyz")[2]) + local = vertices @ source_goal[:3, :3].T + hull = ConvexHull(local[:, :2]); local_hull = local[hull.vertices, :2] + for x in np.arange(minx, maxx + 1e-6, .003): + for y in np.arange(miny, maxy + 1e-6, .003): + footprint = Polygon(local_hull + [x, y]); gaps = [footprint.distance(o) for o in obstacles] + inset_extra = floor.boundary.distance(footprint) + if not floor.covers(footprint) or min(gaps) <= .012 or inset_extra < .0005: + continue + delta = np.array([x - source_goal[0, 3], y - source_goal[1, 3]]) + base = np.asarray(entry["base"], float).copy(); base[:2, 3] += delta + goal = source_goal.copy(); goal[:2, 3] = [x, y] + # Prefer clearance and short base travel, while preserving diverse stations. + travel = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3])) + score = travel - 2.0 * min(gaps) - .5 * inset_extra + float(entry["score"]) + raw.append((score, entry_index, goal, base, footprint, gaps, inset_extra, entry)) + raw.sort(key=lambda x: x[0]) + # Keep spatially diverse candidates so a single blocked station does not dominate. + candidates = [] + for candidate in raw: + goal, base = candidate[2], candidate[3] + goal_yaw = float(Rotation.from_matrix(goal[:3, :3]).as_euler("xyz")[2]) + def same_pose(c): + other_yaw = float(Rotation.from_matrix(c[2][:3, :3]).as_euler("xyz")[2]) + dyaw = abs(math.atan2(math.sin(goal_yaw - other_yaw), math.cos(goal_yaw - other_yaw))) + return np.linalg.norm(goal[:2, 3] - c[2][:2, 3]) < .012 and dyaw < math.radians(4) + if any(same_pose(c) for c in candidates): + continue + candidates.append(candidate) + if len(candidates) >= 60: break + + attempts = []; accepted = None + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + for rank, candidate in enumerate(candidates): + _, entry_index, goal, base, footprint, gaps, inset_extra, entry = candidate + q = live_q.copy(); q[ids] = prior["place_initial"]; q[active] = np.asarray(entry["q7"], float); q[grippers] = live_q[grippers] + yaw = float(Rotation.from_matrix(goal[:3, :3]).as_euler("xyz")[2]) + checker.deadline = time.monotonic() + 1800 + if not checker.check(q, base): + attempts.append({"rank": rank, "stage": "destination_clearance", "detail": checker.last}); continue + object_pose = robot.fk(names, q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": goal[:2, 3].tolist(), "yaw_rad": yaw, + "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": .001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), + "reserved_tray_footprints": [], "require_release_sweep": True} + try: + rs = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, q, base, object_pose, vertices, item_job, + obstacles, pose_check, world_check=checker, release_sweep=rs) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [.25, .45, .15, .05]} + carry_job.pop("carry_route_seed", None) + compact, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, + item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact, q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_place_initial", "detail": checker.last}); continue + except Exception as exc: + attempts.append({"rank": rank, "stage": "full", "error": repr(exc)}); continue + accepted = {"rank": rank, "grid_entry_index": entry_index, "slot": slot, + "destination_xyz": [float(goal[0, 3]), float(goal[1, 3]), float(job["tray_floor_z"])], + "place_base": base.tolist(), "place_initial20": q[ids].tolist(), + "geometry": {"actual_completed_gaps_m": [float(v) for v in gaps], + "tray_inset_m": .008, "extra_inset_m": float(inset_extra)}, + "placement_plan_frames": len(plan), "placement_report": report, + "retreat_q": retreat.tolist(), "reposition": {"compact_q": compact.tolist(), + "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, "full_world_checks": True} + attempts.append({"rank": rank, "stage": "passed"}); break + + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks"): + raise RuntimeError("native boundary changed") + result = {"schema": "multi_item.case9_item2_repack_full.v1", "read_only": True, + "status_at_probe": status, "evidence": {"checkpoint": str(cp_path), "grid": str(grid_path)}, + "geometry_raw_count": len(raw), "candidate_count": len(candidates), + "accepted": accepted, "attempts": attempts, "native_validation_required": True} + out = W / "diagnostics/LAYOUT09_ITEM02_REPACK_FULL_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_raw_count": len(raw), "accepted": accepted, + "attempts": attempts}, indent=2)) + if accepted is None: raise SystemExit(2) + + +if __name__ == "__main__": main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py new file mode 100644 index 0000000000000000000000000000000000000000..0e7ae631710e08218817bdf46f9fdfb672e73b96 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +"""Read-only grounded-base endpoint IK grid for case8 item1.""" +import json, math, os, sys +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_09' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==2 +job=json.loads((C/'job.json').read_text());item=job['items'][2];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True) +names=cp['dof_names'].tolist();live_q=cp['q'][-1].astype(float);live_base=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);invheld=np.linalg.inv(held) +exact=json.loads((Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_09/EXACT_SOURCE_TRANSFER_PROPOSAL.json')).read_text())['items'][2] +prior=np.load(exact['prior_controls']);controls=np.load(item['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];q0=live_q.copy();q0[ids]=prior['place_initial'];q0[[i for i,n in enumerate(names) if 'gripper_' in n]]=live_q[[i for i,n in enumerate(names) if 'gripper_' in n]] +center=np.asarray(item['placement_slot']['xy'],float);desired=float(item['placement_slot']['yaw_rad']);base0=np.asarray(exact['transferred_accepted_base'],float);base0[2,3]=live_base[2,3] +link=robot.root+'/gripper_r_base_link';active=[names.index(f'idx6{k}_arm_r_joint{k}') for k in range(1,8)];jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;hi_lim=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4;lo=np.maximum(lo,LOWER[7:14]+1e-4);hi_lim=np.minimum(hi_lim,UPPER[7:14]-1e-4) +verts=controls['target_local'];yaw_options=[desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2,Rotation.from_matrix(mat(cp['target_pose_all'][-1,ti])[:3,:3]).as_euler('xyz')[2]] +results=[];tested=0 +for dx in np.arange(-.09,.091,.03): + for dy in np.arange(-.09,.091,.03): + for da in np.deg2rad(np.arange(-9.1,9.2,3.0)): + yaw0=math.atan2(base0[1,0],base0[0,0])+da;base=base0.copy();base[:3,:3]=Rotation.from_euler('z',yaw0).as_matrix();base[0,3]+=dx;base[1,3]+=dy + arm=Arm(robot,names,q0,base,link,active) + for gyaw in yaw_options: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',gyaw).as_matrix();goal[:2,3]=center;goal[2,3]=job['tray_floor_z']+.002-(verts@goal[:3,:3].T)[:,2].min();target=goal@invheld;prev=q0[active].copy();fit=least_squares(lambda x:arm.evaluate(x,target,prev)[0],np.clip(prev,lo,hi_lim),jac=lambda x:arm.evaluate(x,target,prev)[1],bounds=(lo,hi_lim),max_nfev=100);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());tested+=1 + if pe<.004 and re<.04:results.append(dict(score=pe+0.1*re,position_error_m=pe,rotation_error_rad=re,base=base.tolist(),goal=goal.tolist(),q7=fit.x.tolist(),offset=[float(dx),float(dy),float(da)])) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.case9_item2_grounded_station_ik_grid.v1','read_only':True,'status_control_ticks':status['control_ticks'],'tested':tested,'accepted_count':len(results),'top':results[:40]};p=W/'diagnostics/LAYOUT09_ITEM02_STATION_IK_GRID.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'tested':tested,'accepted_count':len(results),'top':results[:3]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_current_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_current_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..ed1e6ea39ab2277fb1362eb5eda206717eba49de --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_current_live_place.py @@ -0,0 +1,189 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe for a frozen M2 boundary. + +The accepted-source correspondence comes from the immutable M1 preparation +record. Every motion and collision check uses the current M2 checkpoint, +scene, live grasp transform, grounded base height, and all current props. +""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +OLD = W.parent / "shelf_to_table_multi10_20261005" +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact_path = OLD / f"cases/layout_{CASE_INDEX:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX + 1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + by_yaw = {yaw: [] for yaw in yaws} + for candidate in candidates: + by_yaw[candidate[3]].append(candidate) + candidates = [bucket[rank] for rank in range(max(map(len, by_yaw.values()), default=0)) for bucket in by_yaw.values() if rank < len(bucket)] + print("geometry candidates", len(candidates), flush=True) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + print("station", rank, x, y, yaw, flush=True) + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX + 1:]], "placement_candidate_budget": 20} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(v) for v in gaps[:ITEM_INDEX]], "future_gaps_m": [float(v) for v in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + "retreat_native_world_validation_required": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.current_exact_source_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "old_exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_CURRENT_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py new file mode 100644 index 0000000000000000000000000000000000000000..750b4b9d596d8d7ccc22fe7397d7f1f78a25e25b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py @@ -0,0 +1,48 @@ +"""Probe transfer of the exact accepted chain landing for one case's first item.""" +import sys,os,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +from scipy.spatial import ConvexHull +W=Path(__file__).resolve().parent;R=W.parents[1];OLD=R/'work/shelf_to_table50_20261001' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from geometry_transfer import registration +from shapely.geometry import Polygon +from shapely import affinity + +cid=int(sys.argv[1]);case=W/'cases'/f'layout_{cid:02d}';job=json.loads((case/'job.json').read_text());item=job['items'][0];prior_path=next(p for p in sorted((OLD/'cases').glob('layout_*/job.json')) if json.loads(p.read_text()).get('pick_source')==item['pick_source']);prior=json.loads(prior_path.read_text());oldstage=Usd.Stage.Open(prior['layout']);newstage=Usd.Stage.Open(job['layout']);delta,_=registration(oldstage,newstage,'/World/Assets/CoffeeTable/Mesh') +oldgoal=np.asarray(json.loads((prior_path.parent/'rollout/PLACEMENT_PLAN.json').read_text())['goal']);goal=delta@oldgoal;base=delta@np.asarray(prior['place_base']);base[2,3]=np.asarray(job['initial_base'])[2,3] +data=np.load(item['controls_file']);verts=data['target_local'];foot=Polygon((verts@goal[:3,:3].T)[ConvexHull((verts@goal[:3,:3].T)[:,:2]).vertices,:2]+goal[:2,3]);floor=Polygon(job['tray_polygon_xy']);future=[Polygon(x['placement_slot']['footprint_xy']) for x in job['items'][1:]];gaps=[foot.distance(x) for x in future] +stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];selfcheck=build(stage);pick=Path(item['pick_source']);z=np.load(pick/'recording_20hz.npz');names=z['robot_dof_names'].tolist();ids=[names.index(n) for n in data['names']] +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +ti=z['rigid_body_paths'].tolist().index(item['target']);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link');held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]);q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:];obj=robot.fk(names,q,base)[robot.root+'/gripper_'+item['hand']+'_base_link']@held +yaw=float(math.atan2(goal[1,0],goal[0,0]));first_slot={'xy':goal[:2,3].tolist(),'yaw_rad':yaw,'footprint_xy':np.asarray(foot.exterior.coords[:-1]).tolist(),'tolerance_m':.004};proposed=[first_slot];chosen=[foot] +# Repack future reservations around the proven first landing when the original packing overlaps it. +if any(g<=.012 for g in gaps): + pts=np.asarray(job['tray_polygon_xy']);center=np.asarray(floor.centroid.coords[0]);vals,vecs=np.linalg.eigh(np.cov((pts-center).T));u=vecs[:,np.argmax(vals)];v=np.array([-u[1],u[0]]);baseyaw=math.atan2(u[1],u[0]);inside=floor.buffer(-.008) + def search(i): + if i==len(job['items']):return True + it=job['items'][i];local=np.load(it['controls_file'])['target_local'][:,:2];poly=Polygon(local[ConvexHull(local).vertices]) + for vv in [-.07,-.045,-.02,.02,.045,.07]: + for uu in [-.12,-.08,-.04,0,.04,.08,.12]: + xy=center+uu*u+vv*v + for theta in [baseyaw,baseyaw+math.pi/2,baseyaw+math.pi,baseyaw-math.pi/2]: + p=affinity.translate(affinity.rotate(poly,theta*180/math.pi,origin=(0,0)),xy[0],xy[1]) + if not inside.covers(p) or any(p.distance(q)<=.012 for q in chosen):continue + chosen.append(p);proposed.append({'xy':xy.tolist(),'yaw_rad':theta,'footprint_xy':np.asarray(p.exterior.coords[:-1]).tolist(),'tolerance_m':.012}) + if search(i+1):return True + chosen.pop();proposed.pop() + return False + if not search(1):raise RuntimeError('Cannot repack future slots around exact accepted first landing') +ij={**job,**item,'place_base':base.tolist(),'destination_xyz':goal[:3,3].tolist(),'placement_slot':first_slot,'reserved_tray_footprints':[x['footprint_xy'] for x in proposed[1:]]} +result={'case':cid,'source_prior_job':str(prior_path),'base':base.tolist(),'goal':goal.tolist(),'slot':ij['placement_slot'],'proposed_slots':proposed,'floor_inset8_covers':floor.buffer(-.008).covers(foot),'future_gaps_before_repack':gaps,'future_gaps_after_repack':[chosen[a].distance(chosen[b]) for a in range(len(chosen)) for b in range(a+1,len(chosen))]} +try: + plan,retreat,report=solve(robot,names,q,base,obj,verts,ij,[],selfcheck);result.update(passed=True,frames=len(plan),report=report) +except Exception as exc:result.update(passed=False,error=str(exc)) +(case/'EXACT_CHAIN_LANDING_PROPOSAL.json').write_text(json.dumps(result,indent=2,default=lambda x:x.tolist())+'\n');print(json.dumps(result,default=lambda x:x.tolist())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..7bad7bf54c81d8608e9acea5d61ddd500d96e02b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact_path = C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json" + if not exact_path.is_file(): + exact_path = R / f"work/shelf_to_table_multi10_20261005/cases/layout_{CASE_INDEX:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + grid_path = W / f"diagnostics/LAYOUT{CASE_INDEX:02d}_ITEM{ITEM_INDEX:02d}_STATION_IK_GRID.json" + grid = json.loads(grid_path.read_text())["top"] + candidates = [] + for entry in grid: + goal = np.asarray(entry["goal"], dtype=float) + x, y = map(float, goal[:2, 3]) + yaw = float(Rotation.from_matrix(goal[:3, :3]).as_euler("xyz")[2]) + points = vertices @ goal[:3, :3].T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps, default=1.0) <= 0.012: + continue + base = np.asarray(entry["base"], dtype=float) + transfer = goal @ np.linalg.inv(accepted_goal) + candidates.append((float(entry["score"]), x, y, yaw, footprint, gaps, goal, base, transfer)) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + checker.deadline = time.monotonic() + 1800 + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX+1:]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(x) for x in gaps[:ITEM_INDEX]], "future_gaps_m": [float(x) for x in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.station_ik_grid_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_GRID_LIVE_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py new file mode 100644 index 0000000000000000000000000000000000000000..ba7fb22391b3a36f8364f9b13ef4dba057e2e55b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py @@ -0,0 +1,191 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact_path = C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json" + if not exact_path.is_file(): + exact_path = R / f"work/shelf_to_table_multi10_20261005/cases/layout_{CASE_INDEX:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + grid_path = W / f"diagnostics/LAYOUT{CASE_INDEX:02d}_ITEM{ITEM_INDEX:02d}_STATION_IK_GRID.json" + grid = json.loads(grid_path.read_text())["top"] + candidates = [] + for entry in grid: + goal = np.asarray(entry["goal"], dtype=float) + x, y = map(float, goal[:2, 3]) + yaw = float(Rotation.from_matrix(goal[:3, :3]).as_euler("xyz")[2]) + points = vertices @ goal[:3, :3].T + footprint = Polygon(points[ConvexHull(points[:, :2]).vertices, :2] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps, default=1.0) <= 0.012: + continue + base = np.asarray(entry["base"], dtype=float) + transfer = goal @ np.linalg.inv(accepted_goal) + candidates.append((float(entry["score"]), x, y, yaw, footprint, gaps, goal, base, transfer, entry)) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates): + _, x, y, yaw, footprint, gaps, goal, base, transfer, entry = candidate + # The station grid's collision-independent IK is the endpoint seed. + # Retain all non-active joints from the exact accepted source pair and + # preserve every measured gripper DOF from the live grasp. + q_destination = exact_q.copy() + prefix = 2 if item["hand"] == "l" else 6 + active = [names.index(f"idx{prefix}{k}_arm_{item['hand']}_joint{k}") for k in range(1, 8)] + q_destination[active] = np.asarray(entry["q7"], dtype=float) + q_destination[grippers] = live_q[grippers] + checker.deadline = time.monotonic() + 1800 + if not checker.check(q_destination, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, q_destination, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX+1:]], "require_release_sweep": True, + # The grid already selected an exact supported slot/yaw. + # Five entries cover the solver's direct equivalent-yaw set; + # random 1 mm jitter adds no meaningful geometry here. + "placement_candidate_budget": 5} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + checker.deadline = time.monotonic() + 1800 + plan, retreat, report = solve(robot, names, q_destination, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + checker.deadline = time.monotonic() + 1800 + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + checker.deadline = time.monotonic() + 1800 + if not checker.segment(compact_q, q_destination, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": q_destination[ids].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(x) for x in gaps[:ITEM_INDEX]], "future_gaps_m": [float(x) for x in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.station_ik_grid_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_GRID_LIVE_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..06b5c56947afe3e42cd3682d077685816ab3c803 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place.py @@ -0,0 +1,183 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "work/place_training_tray_20260918"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact_path = C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json" + if not exact_path.is_file(): + exact_path = R / f"work/shelf_to_table_multi10_20261005/cases/layout_{CASE_INDEX:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:300]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX+1:]], "require_release_sweep": True} + began = time.monotonic() + try: + release_sweep = ReleaseSweep(stage, robot, names, item["hand"], item["target"], vertices, + prop_poses, item["place_source"], pose_check=pose_check, deadline_s=1800) + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker, release_sweep=release_sweep) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(x) for x in gaps[:ITEM_INDEX]], "future_gaps_m": [float(x) for x in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.exact_source_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_LIVE_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place_fast.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place_fast.py new file mode 100644 index 0000000000000000000000000000000000000000..0b212f910bda3495c418f689fe06f244864b0cc1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_live_place_fast.py @@ -0,0 +1,185 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # Cover station orientations before spending time on nearby grid offsets. + by_yaw = {yaw: [] for yaw in yaws} + for candidate in candidates: by_yaw[candidate[3]].append(candidate) + candidates = [bucket[rank] for rank in range(max(map(len,by_yaw.values()),default=0)) for bucket in by_yaw.values() if rank.012 and extra>.0003: + g=np.eye(4);g[:3,:3]=Rz;g[:2,3]=xy;g[2,3]=j['tray_floor_z']+.002-local[:,2].min();goals.append((g,fp,gaps,extra)) +# Deduplicate equivalent circular/symmetric goals. +unique=[] +for x in goals: + if not any(np.linalg.norm(x[0][:2,3]-y[0][:2,3])<1e-6 and abs(math.atan2(math.sin(Rotation.from_matrix(x[0][:3,:3]).as_euler('xyz')[2]-Rotation.from_matrix(y[0][:3,:3]).as_euler('xyz')[2]),math.cos(Rotation.from_matrix(x[0][:3,:3]).as_euler('xyz')[2]-Rotation.from_matrix(y[0][:3,:3]).as_euler('xyz')[2])))<1e-6 for y in unique):unique.append(x) +goals=unique;results=[];tested=0 +for gi,(goal,fp,gaps,extra) in enumerate(goals): + for angle in np.deg2rad(np.arange(-180,181,30)): + for radius in [.52,.62,.72,.82]: + bx=goal[0,3]+radius*math.cos(angle);by=goal[1,3]+radius*math.sin(angle);face=math.atan2(goal[1,3]-by,goal[0,3]-bx) + for da in np.deg2rad([-12,0,12]): + base=np.eye(4);base[:3,:3]=Rotation.from_euler('z',face+da).as_matrix();base[:3,3]=[bx,by,livebase[2,3]];arm=Arm(robot,names,seedq,base,robot.root+f'/gripper_{hand}_base_link',active);target=goal@invheld;best=None + for seed in [seedq[active],liveq[active]]: + fit=least_squares(lambda x:arm.evaluate(x,target,seed)[0],np.clip(seed,lo,up),jac=lambda x:arm.evaluate(x,target,seed)[1],bounds=(lo,up),max_nfev=110);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());score=pe+.1*re + if best is None or score.003 or best[2]>.03:continue + q=seedq.copy();q[active]=best[3];q[grips]=liveq[grips] + if not checker.check(q,base):continue + travel=float(np.linalg.norm(base[:2,3]-livebase[:2,3]));results.append(dict(score=travel+best[0]-min(gaps,default=0),goal=goal.tolist(),footprint_xy=np.asarray(fp.exterior.coords)[:-1].tolist(),gaps_m=[float(x) for x in gaps],actual_gap_count=item_index,extra_inset_m=float(extra),base=base.tolist(),q=q.tolist(),place_initial20=q[ids].tolist(),position_error_m=best[1],rotation_error_rad=best[2],travel_m=travel)) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.polar_endpoint.v1','read_only':True,'layout_id':case_index,'item_index':item_index,'status_at_probe':s,'goal_count':len(goals),'tested':tested,'clear_endpoint_count':len(results),'top':results[:100]};p=W/f'diagnostics/LAYOUT{case_index:02d}_ITEM{item_index:02d}_POLAR_ENDPOINT.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'goal_count':len(goals),'tested':tested,'clear_endpoint_count':len(results),'top':results[:5]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic.py new file mode 100644 index 0000000000000000000000000000000000000000..98189940d673ec49a6a3574958df2ab03d745419 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +"""Full read-only carry/place/release qualification of polar endpoint seeds.""" +import json,math,os,pathlib,sys,time +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon +W=pathlib.Path(__file__).resolve().parent;R=W.parents[1];case_index=int(sys.argv[1]);item_index=int(sys.argv[2]);C=W/f'cases/layout_{case_index:02d}' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance,plan as plan_carry +from native_planner import build +from placement import solve +from release_sweep import ReleaseSweep +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +s=json.load(open(C/'STATUS.json'));assert s['status']=='WAITING_FOR_PLANNING_REPAIR' and s['item_index']==item_index +j=json.load(open(C/'job.json'));it=j['items'][item_index];cp_path=C/'rollout/checkpoint_60hz.npz';cp=np.load(cp_path,allow_pickle=True);names=cp['dof_names'].tolist();liveq=cp['q'][-1].astype(float);livebase=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(j['scene']);robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage);controls=np.load(it['controls_file']);verts=controls['target_local'];ids=[names.index(n) for n in controls['names'].tolist()] +hi=cp['robot_link_paths'].tolist().index(f"/World/Robot/gripper_{it['hand']}_base_link");ti=cp['target_paths'].tolist().index(it['target']);livet=mat(cp['target_pose_all'][-1,ti]);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@livet;props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};checker=Clearance(stage,robot,names,it['hand'],it['target'],verts,held,props) +obs=[] +for k in range(item_index): + pm=mat(cp['target_pose_all'][-1,k]);pv=np.load(j['items'][k]['controls_file'])['target_local'];pts=(np.c_[pv,np.ones(len(pv))]@pm.T)[:,:2];obs.append(Polygon(pts[ConvexHull(pts).vertices])) +reserved=[x['placement_slot']['footprint_xy'] for x in j['items'][item_index+1:]] +ep=W/f'diagnostics/LAYOUT{case_index:02d}_ITEM{item_index:02d}_POLAR_ENDPOINT.json';seeds=json.load(open(ep))['top'];source_layout=int(j.get('source_layout_id',j['layout_id']));release=json.load(open(pathlib.Path(j['layout']).parents[1]/'audits_release'/f'{source_layout:02d}.json'));attempts=[];accepted=None +for rank,seed in enumerate(seeds[:30]): + q=np.asarray(seed['q'],float);base=np.asarray(seed['base'],float);goal=np.asarray(seed['goal'],float);yaw=float(Rotation.from_matrix(goal[:3,:3]).as_euler('xyz')[2]);slot={'xy':goal[:2,3].tolist(),'yaw_rad':yaw,'footprint_xy':seed['footprint_xy'],'tolerance_m':.001};ij={**j,**it,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':reserved,'require_release_sweep':True,'placement_candidate_budget':5};checker.deadline=time.monotonic()+1800 + if not checker.check(q,base):attempts.append({'rank':rank,'stage':'destination','detail':checker.last});continue + obj=robot.fk(names,q,base)[robot.root+f"/gripper_{it['hand']}_base_link"]@held + try: + rs=ReleaseSweep(stage,robot,names,it['hand'],it['target'],verts,props,it['place_source'],pose_check=pose_check,deadline_s=1800);checker.deadline=time.monotonic()+1800;plan,retreat,report=solve(robot,names,q,base,obj,verts,ij,obs,pose_check,world_check=checker,release_sweep=rs) + except Exception as e:attempts.append({'rank':rank,'stage':'placement','error':repr(e)});continue + cj={**ij,'carry_policy':'precision_body_route_v2','carry_exit_candidates':[.25,.45,.15,.05]};cj.pop('carry_route_seed',None) + try:compact,prims,cr=plan_carry(stage,robot,names,liveq,livebase,it['hand'],it['target'],verts,livet,props,cj,release) + except Exception as e:attempts.append({'rank':rank,'stage':'carry','error':repr(e)});continue + checker.deadline=time.monotonic()+1800 + if not checker.segment(compact,q,base,base):attempts.append({'rank':rank,'stage':'compact_bridge','detail':checker.last});continue + accepted={'rank':rank,'slot':slot,'destination_xyz':[float(goal[0,3]),float(goal[1,3]),float(j['tray_floor_z'])],'place_base':base.tolist(),'place_initial20':q[ids].tolist(),'geometry':{'actual_completed_gaps_m':seed['gaps_m'][:item_index],'future_gaps_m':seed['gaps_m'][item_index:],'extra_inset_m':seed['extra_inset_m'],'tray_inset_m':.008},'placement_plan_frames':len(plan),'placement_report':report,'retreat_q':retreat.tolist(),'reposition':{'compact_q':compact.tolist(),'primitives':prims,'report':cr},'compact_to_exact_bridge_clearance':True,'full_world_checks':True};attempts.append({'rank':rank,'stage':'passed'});break +current=json.load(open(C/'STATUS.json'));assert current.get('status')==s.get('status') and current.get('control_ticks')==s.get('control_ticks') +out={'schema':'multi_item.polar_full_place.v1','read_only':True,'layout_id':case_index,'item_index':item_index,'status_at_probe':s,'evidence':{'endpoint':str(ep),'checkpoint':str(cp_path)},'accepted':accepted,'attempts':attempts,'native_validation_required':True};p=C/f'CASE{case_index}_ITEM{item_index:02d}_POLAR_FULL_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'accepted':accepted,'attempts':attempts},indent=2));raise SystemExit(0 if accepted else 2) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py new file mode 100644 index 0000000000000000000000000000000000000000..78e7173ff81db771c2fdabd476054638084fff94 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +"""Full read-only carry/place/release qualification of polar endpoint seeds.""" +import json,math,os,pathlib,sys,time +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon +W=pathlib.Path(__file__).resolve().parent;R=W.parents[1];case_index=int(sys.argv[1]);item_index=int(sys.argv[2]);C=W/f'cases/layout_{case_index:02d}' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance,plan as plan_carry +from native_planner import build +from placement import solve +from release_sweep import ReleaseSweep +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m +s=json.load(open(C/'STATUS.json'));assert s['status']=='WAITING_FOR_PLANNING_REPAIR' and s['item_index']==item_index +j=json.load(open(C/'job.json'));it=j['items'][item_index];cp_path=C/'rollout/checkpoint_60hz.npz';cp=np.load(cp_path,allow_pickle=True);names=cp['dof_names'].tolist();liveq=cp['q'][-1].astype(float);livebase=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(j['scene']);robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage);controls=np.load(it['controls_file']);verts=controls['target_local'];ids=[names.index(n) for n in controls['names'].tolist()] +hi=cp['robot_link_paths'].tolist().index(f"/World/Robot/gripper_{it['hand']}_base_link");ti=cp['target_paths'].tolist().index(it['target']);livet=mat(cp['target_pose_all'][-1,ti]);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@livet;props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])};checker=Clearance(stage,robot,names,it['hand'],it['target'],verts,held,props) +obs=[] +for k in range(item_index): + pm=mat(cp['target_pose_all'][-1,k]);pv=np.load(j['items'][k]['controls_file'])['target_local'];pts=(np.c_[pv,np.ones(len(pv))]@pm.T)[:,:2];obs.append(Polygon(pts[ConvexHull(pts).vertices])) +reserved=[x['placement_slot']['footprint_xy'] for x in j['items'][item_index+1:]] +ep=W/f'diagnostics/LAYOUT{case_index:02d}_ITEM{item_index:02d}_POLAR_ENDPOINT.json';seeds=json.load(open(ep))['top'];source_layout=int(j.get('source_layout_id',j['layout_id']));release=json.load(open(pathlib.Path(j['layout']).parents[1]/'audits_release'/f'{source_layout:02d}.json'));attempts=[];accepted=None +for rank,seed in enumerate(seeds[30:80], start=30): + q=np.asarray(seed['q'],float);base=np.asarray(seed['base'],float);goal=np.asarray(seed['goal'],float);yaw=float(Rotation.from_matrix(goal[:3,:3]).as_euler('xyz')[2]);slot={'xy':goal[:2,3].tolist(),'yaw_rad':yaw,'footprint_xy':seed['footprint_xy'],'tolerance_m':.001};ij={**j,**it,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':reserved,'require_release_sweep':True,'placement_candidate_budget':5};checker.deadline=time.monotonic()+1800 + if not checker.check(q,base):attempts.append({'rank':rank,'stage':'destination','detail':checker.last});continue + obj=robot.fk(names,q,base)[robot.root+f"/gripper_{it['hand']}_base_link"]@held + try: + rs=ReleaseSweep(stage,robot,names,it['hand'],it['target'],verts,props,it['place_source'],pose_check=pose_check,deadline_s=1800);checker.deadline=time.monotonic()+1800;plan,retreat,report=solve(robot,names,q,base,obj,verts,ij,obs,pose_check,world_check=checker,release_sweep=rs) + except Exception as e:attempts.append({'rank':rank,'stage':'placement','error':repr(e)});continue + cj={**ij,'carry_policy':'precision_body_route_v2','carry_exit_candidates':[.25,.45,.15,.05]};cj.pop('carry_route_seed',None) + try:compact,prims,cr=plan_carry(stage,robot,names,liveq,livebase,it['hand'],it['target'],verts,livet,props,cj,release) + except Exception as e:attempts.append({'rank':rank,'stage':'carry','error':repr(e)});continue + checker.deadline=time.monotonic()+1800 + if not checker.segment(compact,q,base,base):attempts.append({'rank':rank,'stage':'compact_bridge','detail':checker.last});continue + accepted={'rank':rank,'slot':slot,'destination_xyz':[float(goal[0,3]),float(goal[1,3]),float(j['tray_floor_z'])],'place_base':base.tolist(),'place_initial20':q[ids].tolist(),'geometry':{'actual_completed_gaps_m':seed['gaps_m'][:item_index],'future_gaps_m':seed['gaps_m'][item_index:],'extra_inset_m':seed['extra_inset_m'],'tray_inset_m':.008},'placement_plan_frames':len(plan),'placement_report':report,'retreat_q':retreat.tolist(),'reposition':{'compact_q':compact.tolist(),'primitives':prims,'report':cr},'compact_to_exact_bridge_clearance':True,'full_world_checks':True};attempts.append({'rank':rank,'stage':'passed'});break +current=json.load(open(C/'STATUS.json'));assert current.get('status')==s.get('status') and current.get('control_ticks')==s.get('control_ticks') +out={'schema':'multi_item.polar_full_place.v1','read_only':True,'layout_id':case_index,'item_index':item_index,'status_at_probe':s,'evidence':{'endpoint':str(ep),'checkpoint':str(cp_path)},'accepted':accepted,'attempts':attempts,'native_validation_required':True};p=C/f'CASE{case_index}_ITEM{item_index:02d}_POLAR_FULL_TAIL_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'accepted':accepted,'attempts':attempts},indent=2));raise SystemExit(0 if accepted else 2) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_precision_return_controller.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_precision_return_controller.py new file mode 100644 index 0000000000000000000000000000000000000000..42c80da20fab4e8c8cf9e703b4419519ec1bfb66 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_precision_return_controller.py @@ -0,0 +1,148 @@ +#!/usr/bin/env python3 +"""Pure-kinematic verification of tighter controllers on recorded return plans.""" +import json +import math +import pathlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_01" + + +def angle_delta(target, current): + return math.atan2(math.sin(target - current), math.cos(target - current)) + + +class PrecisionController: + """Same stop-turn-drive law and caps, with pickup-safe terminal precision.""" + def __init__(self, primitive): + self.primitive = primitive + self.speed = 0.0 + self.done = False + + def step(self, current, dt=1 / 60): + goal = np.asarray(self.primitive["goal"], dtype=float) + yaw = float(current[2]) + heading = np.array([math.cos(yaw), math.sin(yaw)]) + if self.primitive["kind"] == "turn": + error = angle_delta(goal[2], yaw) + desired = math.copysign(min(0.25, max(0.00002, 1.5 * abs(error))), error) if abs(error) > 0.000002 else 0.0 + self.speed += float(np.clip(desired - self.speed, -0.3 * dt, 0.3 * dt)) + self.done = abs(error) < 0.000005 and abs(self.speed) < 0.000002 + return np.array([0.0, 0.0, self.speed]) + error = goal[:2] - np.asarray(current[:2]) + along = float(error @ heading) + lateral = float(error @ np.array([-heading[1], heading[0]])) + if abs(lateral) > 0.015: + raise RuntimeError(f"Straight drive lateral tracking error {lateral:.6f} m") + if abs(angle_delta(goal[2], yaw)) > 0.01: + raise RuntimeError("Straight drive heading drift") + desired = math.copysign(min(0.18, max(0.0001, min(1.5 * abs(along), 0.8 * math.sqrt(2 * 0.12 * abs(along))))), along) if abs(along) > 0.00001 else 0.0 + self.speed += float(np.clip(desired - self.speed, -0.12 * dt, 0.12 * dt)) + self.done = abs(along) < 0.00002 and abs(self.speed) < 0.000005 + return np.r_[heading * self.speed, 0.0] + + +def simulate(primitives, start, controller_class=PrecisionController, dt=1 / 60): + pose = np.asarray(start, dtype=float).copy() + rows = [] + for index, primitive in enumerate(primitives): + controller = controller_class(primitive) + for tick in range(90 * 60): + velocity = controller.step(pose, dt) + pose[:2] += velocity[:2] * dt + pose[2] += velocity[2] * dt + if controller.done: + break + else: + raise RuntimeError(f"primitive {index} timed out") + goal = np.asarray(primitive["goal"]) + rows.append({ + "primitive": index, + "kind": primitive["kind"], + "return_stage": primitive.get("return_stage"), + "ticks": tick + 1, + "seconds": (tick + 1) * dt, + "xy_error_m": float(np.linalg.norm(pose[:2] - goal[:2])), + "along_error_m": float((goal[:2] - pose[:2]) @ np.array([math.cos(pose[2]), math.sin(pose[2])])), + "yaw_error_rad": float(abs(angle_delta(goal[2], pose[2]))), + "terminal_speed": float(abs(controller.speed)), + }) + return pose, rows + + +def main(): + recording = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + reports = [] + for item_index in (0, 1): + plan_path = C / f"rollout/return_primitives.item_{item_index:02d}.json" + primitives = json.loads(plan_path.read_text()) + indices = np.flatnonzero((recording["item_index"] == item_index) & (recording["phase"] == f"item_{item_index:02d}_empty_return")) + pose7 = recording["base_pose"][indices[0]] + start = np.r_[pose7[:2], Rotation.from_quat(pose7[3:]).as_euler("xyz")[2]] + final, rows = simulate(primitives, start) + goal = np.asarray(primitives[-1]["goal"]) + reports.append({ + "item": item_index, + "plan": str(plan_path), + "observed_start": start.tolist(), + "simulated_final": final.tolist(), + "final_goal": goal.tolist(), + "final_xy_error_m": float(np.linalg.norm(final[:2] - goal[:2])), + "final_yaw_error_rad": float(abs(angle_delta(goal[2], final[2]))), + "total_seconds": float(sum(row["seconds"] for row in rows)), + "max_endpoint_xy_error_m": max(row["xy_error_m"] for row in rows), + "max_endpoint_yaw_error_rad": max(row["yaw_error_rad"] for row in rows), + "primitives": rows, + }) + # Stress the same final shelf approach with the case-1 observed heading + # residual. A precise preceding turn removes it before straight motion. + item1 = json.loads((C / "rollout/return_primitives.item_01.json").read_text()) + final_drive = item1[-1] + standoff = np.asarray(item1[-2]["goal"], dtype=float) + perturbed = standoff.copy() + perturbed[2] += 0.0008466414784971121 + sequence = [{"kind": "turn", "goal": standoff.tolist(), "return_stage": "precision_preapproach"}, final_drive] + stress_final, stress_rows = simulate(sequence, perturbed) + stress_goal = np.asarray(final_drive["goal"]) + result = { + "schema": "multi_item.precision_return_controller_probe.v1", + "read_only": True, + "controller": { + "turn_deadband_rad": 0.000002, + "turn_done_error_rad": 0.000005, + "turn_done_speed_rad_s": 0.000002, + "turn_min_speed_rad_s": 0.00002, + "drive_deadband_m": 0.00001, + "drive_done_error_m": 0.00002, + "drive_done_speed_m_s": 0.000005, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": True, + }, + "recorded_plan_exact_kinematics": reports, + "heading_residual_stress": { + "initial_yaw_error_rad": 0.0008466414784971121, + "final_xy_error_m": float(np.linalg.norm(stress_final[:2] - stress_goal[:2])), + "final_yaw_error_rad": float(abs(angle_delta(stress_goal[2], stress_final[2]))), + "seconds": float(sum(row["seconds"] for row in stress_rows)), + "primitives": stress_rows, + }, + "recommended_integration": "Use PrecisionController only for primitives carrying return_stage. Keep the same collision-screened plan and stop-turn-drive primitives. Require a final measured gate <=0.0005 m and <=0.0001 rad before starting source pickup; otherwise freeze at a planning boundary.", + "limits": "Exact-kinematic verification does not prove native wheel/contact tracking. Fresh native physics must confirm the measured terminal gate.", + } + result["passed"] = bool( + all(report["final_xy_error_m"] <= 0.0001 and report["final_yaw_error_rad"] <= 0.00001 and all(row["seconds"] < 90 for row in report["primitives"]) for report in reports) + and result["heading_residual_stress"]["final_xy_error_m"] <= 0.0001 + and result["heading_residual_stress"]["final_yaw_error_rad"] <= 0.00001 + ) + out = W / "PRECISION_RETURN_CONTROLLER_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if not result["passed"]: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..6a761547d79fb4ba09080c4a017f8e933ae14dda --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +"""Read-only left-hand regression against layout10 item02.""" +import json +import os +import pathlib +import sys + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from native_planner import build # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + case = W / "cases/layout_10" + job = json.loads((case / "job.json").read_text()) + item = job["items"][2] + data = np.load(case / "rollout/checkpoint_60hz.npz", allow_pickle=True) + phase = data["phase"].astype(str) + release_rows = np.flatnonzero(phase == "item_02_place_release") + retreat_rows = np.flatnonzero(phase == "item_02_release_retreat") + if not len(release_rows) or not len(retreat_rows): + raise RuntimeError("layout10 release evidence is incomplete") + landing_row = int(release_rows[0] - 1) + retreat_row = int(retreat_rows[-1]) + names = data["dof_names"].tolist() + target_index = data["target_paths"].tolist().index(item["target"]) + target_pose = matrix(data["target_pose_all"][landing_row, target_index]) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(data["rigid_body_paths"], data["prop_pose"][landing_row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + controls = np.load(item["controls_file"]) + checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=build(stage), + deadline_s=1800, + ) + passed, report = checker.check( + data["q"][landing_row], + data["q"][retreat_row], + matrix(data["base_pose"][landing_row]), + target_pose, + ) + result = { + "schema": "ziche.release_sweep_left_regression.v1", + "passed": bool(passed), + "expected": "CLEAR", + "observed": report, + "historical_case": 10, + "item_index": 2, + "landing_tick": landing_row + 1, + "retreat_end_tick": retreat_row + 1, + "hand": "l", + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_LEFT_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if not passed: + raise SystemExit("release sweep rejected the left-hand clear example") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py new file mode 100644 index 0000000000000000000000000000000000000000..38375b702410a94fb647f9821d9b7201002596c8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +"""Read-only negative regression against layout10's known Coke strike.""" +import json +import os +import pathlib +import sys + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from native_planner import build # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + case = W / "cases/layout_10" + job = json.loads((case / "job.json").read_text()) + item = job["items"][1] + data = np.load(case / "rollout/checkpoint_60hz.npz", allow_pickle=True) + phase = data["phase"].astype(str) + release_rows = np.flatnonzero(phase == "item_01_place_release") + retreat_rows = np.flatnonzero(phase == "item_01_release_retreat") + if not len(release_rows) or not len(retreat_rows): + raise RuntimeError("layout10 release evidence is incomplete") + landing_row = int(release_rows[0] - 1) + retreat_row = int(retreat_rows[-1]) + names = data["dof_names"].tolist() + target_index = data["target_paths"].tolist().index(item["target"]) + target_pose = matrix(data["target_pose_all"][landing_row, target_index]) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(data["rigid_body_paths"], data["prop_pose"][landing_row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + controls = np.load(item["controls_file"]) + checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=build(stage), + deadline_s=1800, + ) + passed, report = checker.check( + data["q"][landing_row], + data["q"][retreat_row], + matrix(data["base_pose"][landing_row]), + target_pose, + ) + result = { + "schema": "ziche.release_sweep_negative_regression.v1", + "passed": not passed, + "expected": "BLOCKED", + "observed": report, + "historical_case": 10, + "item_index": 1, + "landing_tick": landing_row + 1, + "retreat_end_tick": retreat_row + 1, + "known_native_contact": "gripper_r_inner_link4 versus previously placed coke_c3", + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_NEGATIVE_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if passed: + raise SystemExit("release sweep failed to reject the known layout10 strike") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..6936bf3e4c6836228a050d8d882d862417887ff8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +"""Read-only regression of ReleaseSweep against the qualified layout02 repair.""" +import hashlib +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def sha(path): + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def main(): + case = W / "cases/layout_02" + proposal_path = W / "diagnostics/LAYOUT02_ITEM01_NOMINAL_STATION_FULL_PROPOSAL.json" + proposal = json.loads(proposal_path.read_text()) + accepted = proposal["accepted"] + job_path = case / "job.json" + job = json.loads(job_path.read_text()) + item = job["items"][1] + checkpoint_path = W / "diagnostics/release_sweep_case2_checkpoint_tick17975_plus.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + row = int(proposal["status_at_probe"]["control_ticks"]) - 1 + if row < 0 or row >= len(checkpoint["q"]): + raise RuntimeError("qualified boundary row is absent from the checkpoint") + names = checkpoint["dof_names"].tolist() + q = checkpoint["q"][row].astype(float) + controls = np.load(item["controls_file"]) + ids = [names.index(name) for name in controls["names"].tolist()] + q[ids] = np.asarray(accepted["place_initial20"], dtype=float) + # The qualifying probe preserves the measured passive gripper state. + q[[i for i, name in enumerate(names) if "gripper_" in name]] = checkpoint["q"][row, [i for i, name in enumerate(names) if "gripper_" in name]] + base = np.asarray(accepted["place_base"], dtype=float) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + hand_link = robot.root + f"/gripper_{item['hand']}_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][row, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][row, hand_index])) @ live_target + object_pose = robot.fk(names, q, base)[hand_link] @ held + world_check = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + world_check.deadline = time.monotonic() + 1800 + release_checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=pose_check, + deadline_s=1800, + ) + completed_item = job["items"][0] + completed_local = np.load(completed_item["controls_file"])["target_local"] + completed_pose = matrix(checkpoint["target_pose_all"][row, 0]) + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles = [Polygon(completed_world[ConvexHull(completed_world).vertices])] + item_job = {**job, **item, "placement_slot": accepted["slot"], "place_base": base.tolist(), "require_release_sweep": True} + item_job["reserved_tray_footprints"] = [job["items"][2]["placement_slot"]["footprint_xy"]] + started = time.monotonic() + planned, retreat, placement_report = solve( + robot, + names, + q, + base, + object_pose, + controls["target_local"], + item_job, + obstacles, + pose_check, + world_check=world_check, + release_sweep=release_checker, + ) + report = placement_report["release_sweep"] + passed = report["status"] == "CLEAR" + result = { + "schema": "ziche.release_sweep_regression.v1", + "passed": bool(passed), + "case": 2, + "item_index": 1, + "qualified_boundary_tick": row + 1, + "source": { + "proposal": str(proposal_path), + "proposal_sha256": sha(proposal_path), + "job": str(job_path), + "job_sha256": sha(job_path), + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": sha(checkpoint_path), + "release_sweep_sha256": sha(W / "release_sweep.py"), + "placement_sha256": sha(W / "placement.py"), + }, + "elapsed_s": time.monotonic() - started, + "placement_plan_frames": int(len(planned)), + "placement_candidate": int(placement_report["candidate"]), + "placement_goal": placement_report["goal"], + "retreat_q": retreat.tolist(), + "report": report, + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2), flush=True) + if not passed: + raise SystemExit(1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_seed_full_generic.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_seed_full_generic.py new file mode 100644 index 0000000000000000000000000000000000000000..b63c55aae8adb715d2311a00deae64cee61661b8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_seed_full_generic.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +"""Qualify an immutable prior place seed against a current frozen boundary.""" +import hashlib,json,math,os,pathlib,sys,time +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W=pathlib.Path(__file__).resolve().parent; R=W.parents[1] +case_index=int(sys.argv[1]); item_index=int(sys.argv[2]); seed_path=pathlib.Path(sys.argv[3]).resolve() +C=W/f"cases/layout_{case_index:02d}" +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance,plan as plan_carry +from native_planner import build +from placement import solve +from release_sweep import ReleaseSweep + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +s=json.load(open(C/'STATUS.json')) +assert s['status']=='WAITING_FOR_PLANNING_REPAIR' and s['item_index']==item_index +j=json.load(open(C/'job.json')); it=j['items'][item_index] +seed_doc=json.load(open(seed_path)); seed=seed_doc.get('accepted') or seed_doc.get('proposal') +if not isinstance(seed,dict): raise ValueError('seed has no accepted/proposal object') +cp_path=C/'rollout/checkpoint_60hz.npz';cp=np.load(cp_path,allow_pickle=True) +names=cp['dof_names'].tolist();liveq=cp['q'][-1].astype(float);livebase=mat(cp['base_pose'][-1]) +controls=np.load(it['controls_file']); ids=[names.index(n) for n in controls['names'].tolist()] +q=liveq.copy(); q[ids]=np.asarray(seed['place_initial20'],float) +# The live gripper command is evidence-bearing and must survive a posture seed. +for k,n in enumerate(names): + if 'gripper_' in n:q[k]=liveq[k] +base=np.asarray(seed['place_base'],float).copy();base[2,3]=livebase[2,3] +hi=cp['robot_link_paths'].tolist().index(f"/World/Robot/gripper_{it['hand']}_base_link") +ti=cp['target_paths'].tolist().index(it['target']);livet=mat(cp['target_pose_all'][-1,ti]) +held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@livet +props={str(p):mat(v) for p,v in zip(cp['rigid_body_paths'],cp['prop_pose'][-1])} +stage=Usd.Stage.Open(j['scene']);robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage) +verts=controls['target_local']; checker=Clearance(stage,robot,names,it['hand'],it['target'],verts,held,props) +obstacles=[] +for k in range(item_index): + pm=mat(cp['target_pose_all'][-1,k]); pv=np.load(j['items'][k]['controls_file'])['target_local']; pts=(np.c_[pv,np.ones(len(pv))]@pm.T)[:,:2] + obstacles.append(Polygon(pts[ConvexHull(pts).vertices])) +reserved=[x['placement_slot']['footprint_xy'] for x in j['items'][item_index+1:]] +slot=json.loads(json.dumps(seed['slot'])); fp=Polygon(slot['footprint_xy']) +gaps=[fp.distance(x) for x in obstacles]+[fp.distance(Polygon(x)) for x in reserved] +floor=Polygon(j['tray_polygon_xy']).buffer(-.008); inside=bool(floor.covers(fp)); inset=float(fp.distance(floor.boundary)) if inside else -1.0 +if not inside or (gaps and min(gaps)<=.012):raise RuntimeError(f'seed geometry invalid: inside={inside} gaps={gaps}') +ij={**j,**it,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':reserved,'require_release_sweep':True,'placement_candidate_budget':40} +checker.deadline=time.monotonic()+1800 +if not checker.check(q,base):raise RuntimeError('destination blocked: '+json.dumps(checker.last,default=str)) +obj=robot.fk(names,q,base)[robot.root+f"/gripper_{it['hand']}_base_link"]@held +source_layout=int(j.get('source_layout_id',j['layout_id'])) +release=json.load(open(pathlib.Path(j['layout']).parents[1]/'audits_release'/f'{source_layout:02d}.json')) +rs=ReleaseSweep(stage,robot,names,it['hand'],it['target'],verts,props,it['place_source'],pose_check=pose_check,deadline_s=1800) +checker.deadline=time.monotonic()+1800 +plan,retreat,report=solve(robot,names,q,base,obj,verts,ij,obstacles,pose_check,world_check=checker,release_sweep=rs) +cj={**ij,'carry_policy':'precision_body_route_v2','carry_exit_candidates':[.25,.45,.15,.05]};cj.pop('carry_route_seed',None) +compact,prims,cr=plan_carry(stage,robot,names,liveq,livebase,it['hand'],it['target'],verts,livet,props,cj,release) +checker.deadline=time.monotonic()+1800 +if not checker.segment(compact,q,base,base):raise RuntimeError('compact bridge blocked: '+json.dumps(checker.last,default=str)) +accepted={'slot':slot,'destination_xyz':[float(slot['xy'][0]),float(slot['xy'][1]),float(j['tray_floor_z'])],'place_base':base.tolist(),'place_initial20':q[ids].tolist(),'geometry':{'actual_completed_gaps_m':gaps[:item_index],'future_gaps_m':gaps[item_index:],'extra_inset_m':inset,'tray_inset_m':.008},'placement_plan_frames':len(plan),'placement_report':report,'retreat_q':retreat.tolist(),'reposition':{'compact_q':compact.tolist(),'primitives':prims,'report':cr},'compact_to_exact_bridge_clearance':True,'full_world_checks':True} +current=json.load(open(C/'STATUS.json'));assert current.get('status')==s.get('status') and current.get('control_ticks')==s.get('control_ticks') +out={'schema':'multi_item.current_seed_full_place.v1','read_only':True,'layout_id':case_index,'item_index':item_index,'status_at_probe':s,'evidence':{'seed':str(seed_path),'seed_sha256':hashlib.sha256(seed_path.read_bytes()).hexdigest(),'checkpoint':str(cp_path)},'accepted':accepted,'native_validation_required':True} +p=C/f'CASE{case_index}_ITEM{item_index:02d}_SEED_FULL_PROPOSAL.json';p.write_text(json.dumps(out,indent=2)+'\n') +print(json.dumps({'out':str(p),'accepted':accepted},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_slots.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_slots.py new file mode 100644 index 0000000000000000000000000000000000000000..270f339a7561d50098fcb7256cf0dd3b9eafb4ea --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_slots.py @@ -0,0 +1,32 @@ +"""Offline reachability proposal using actual accepted pickup grasps; not acceptance.""" +import sys,os,json,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from shapely.geometry import Polygon +case=W/'cases'/f'layout_{int(sys.argv[1]):02d}';job=json.loads((case/'job.json').read_text());stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];selfcheck=build(stage) +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +result=[];obstacles=[] +for k,item in enumerate(job['items']): + data=np.load(item['controls_file']);source=Path(item['pick_source']);z=np.load(source/'recording_20hz.npz');names=z['robot_dof_names'].tolist();ids=[names.index(n) for n in data['names']] + ti=z['rigid_body_paths'].tolist().index(item['target']);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link') + held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]) + q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:] + base=np.array(item['place_base']);obj=robot.fk(names,q,base)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + t=time.monotonic() + try: + plan,retreat,report=solve(robot,names,q,base,obj,data['target_local'],ij,obstacles,selfcheck) + row=dict(item=k,product=item['product'],passed=True,report=report) + except Exception as exc:row=dict(item=k,product=item['product'],passed=False,error=str(exc)) + row['elapsed']=time.monotonic()-t;result.append(row);print(json.dumps(row,default=lambda a:a.tolist()),flush=True) + obstacles.append(Polygon(item['placement_slot']['footprint_xy'])) + (case/'SLOT_REACHABILITY_PROPOSAL.json').write_text(json.dumps(dict(source='accepted_pickup_grasp_at_proposed_place_initial',native_validation_required=True,items=result),indent=2,default=lambda a:a.tolist())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_ik_grid.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_ik_grid.py new file mode 100644 index 0000000000000000000000000000000000000000..ef0fed349a88896fc28d724cd0a8568b051cac42 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_ik_grid.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +"""Read-only grounded station/landing IK grid for a frozen place boundary.""" +import json, math, os, sys +from pathlib import Path +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W=Path(__file__).resolve().parent; R=W.parents[1] +case_index=int(sys.argv[1]); item_index=int(sys.argv[2]); C=W/f'cases/layout_{case_index:02d}' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'work/place_training_tray_20260918'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +def mat(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +status=json.loads((C/'STATUS.json').read_text());assert status['status']=='WAITING_FOR_PLANNING_REPAIR' and status['item_index']==item_index +job=json.loads((C/'job.json').read_text());item=job['items'][item_index];hand=item['hand'];cp=np.load(C/'rollout/checkpoint_60hz.npz',allow_pickle=True) +names=cp['dof_names'].tolist();live_q=cp['q'][-1].astype(float);live_base=mat(cp['base_pose'][-1]);stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] +hi=cp['robot_link_paths'].tolist().index(f'/World/Robot/gripper_{hand}_base_link');ti=cp['target_paths'].tolist().index(item['target']);held=np.linalg.inv(mat(cp['robot_link_pose'][-1,hi]))@mat(cp['target_pose_all'][-1,ti]);invheld=np.linalg.inv(held) +exact_path=C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json' +if not exact_path.is_file():exact_path=R/f'work/shelf_to_table_multi10_20261005/cases/layout_{case_index:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json' +exact=json.loads(exact_path.read_text())['items'][item_index];prior=np.load(exact['prior_controls']);controls=np.load(item['controls_file']);ids=[names.index(n) for n in controls['names'].tolist()];q0=live_q.copy();q0[ids]=prior['place_initial'];q0[[i for i,n in enumerate(names) if 'gripper_' in n]]=live_q[[i for i,n in enumerate(names) if 'gripper_' in n]] +center=np.asarray(item['placement_slot']['xy'],float);desired=float(item['placement_slot']['yaw_rad']);base0=np.asarray(exact['transferred_accepted_base'],float);base0[2,3]=live_base[2,3] +side='l' if hand=='l' else 'r'; prefix=2 if hand=='l' else 6; link=robot.root+f'/gripper_{side}_base_link'; active=[names.index(f'idx{prefix}{k}_arm_{side}_joint{k}') for k in range(1,8)]; jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')};lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4;hi_lim=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4 +off=0 if hand=='l' else 7;lo=np.maximum(lo,LOWER[off:off+7]+1e-4);hi_lim=np.minimum(hi_lim,UPPER[off:off+7]-1e-4) +verts=controls['target_local'];yaw_options=[desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2,Rotation.from_matrix(mat(cp['target_pose_all'][-1,ti])[:3,:3]).as_euler('xyz')[2]] +results=[];tested=0 +for dx in np.arange(-.12,.121,.03): + for dy in np.arange(-.12,.121,.03): + for da in np.deg2rad(np.arange(-12.1,12.2,3.0)): + yaw0=math.atan2(base0[1,0],base0[0,0])+da;base=base0.copy();base[:3,:3]=Rotation.from_euler('z',yaw0).as_matrix();base[0,3]+=dx;base[1,3]+=dy;arm=Arm(robot,names,q0,base,link,active) + for gyaw in yaw_options: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',gyaw).as_matrix();goal[:2,3]=center;goal[2,3]=job['tray_floor_z']+.002-(verts@goal[:3,:3].T)[:,2].min();target=goal@invheld;prev=q0[active].copy();fit=least_squares(lambda x:arm.evaluate(x,target,prev)[0],np.clip(prev,lo,hi_lim),jac=lambda x:arm.evaluate(x,target,prev)[1],bounds=(lo,hi_lim),max_nfev=100);fk=arm.forward(fit.x)[0];pe=float(np.linalg.norm(fk[:3,3]-target[:3,3]));re=float(Rotation.from_matrix(target[:3,:3].T@fk[:3,:3]).magnitude());tested+=1 + if pe<.004 and re<.04:results.append(dict(score=pe+0.1*re,position_error_m=pe,rotation_error_rad=re,base=base.tolist(),goal=goal.tolist(),q7=fit.x.tolist(),offset=[float(dx),float(dy),float(da)])) +results.sort(key=lambda x:x['score']);out={'schema':'multi_item.grounded_station_ik_grid.v1','read_only':True,'layout_id':case_index,'item_index':item_index,'status_control_ticks':status['control_ticks'],'tested':tested,'accepted_count':len(results),'top':results[:80]};p=W/f'diagnostics/LAYOUT{case_index:02d}_ITEM{item_index:02d}_STATION_IK_GRID.json';p.write_text(json.dumps(out,indent=2)+'\n');print(json.dumps({'out':str(p),'tested':tested,'accepted_count':len(results),'top':results[:3]},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_slots.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_slots.py new file mode 100644 index 0000000000000000000000000000000000000000..6adff0935f5310ece0aa392b329fc369a6b4b455 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_station_slots.py @@ -0,0 +1,69 @@ +"""Read-only station/slot reachability search using accepted held grasps.""" +import sys,os,json,time,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +from scipy.optimize import least_squares +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from geometry_transfer import registration +from shapely.geometry import Polygon +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +case=W/'cases'/f'layout_{int(sys.argv[1]):02d}'; job=json.loads((case/'job.json').read_text()); stage=Usd.Stage.Open(job['scene']) +room=Usd.Stage.Open(job['layout']); robot=Robot(ROBOT); robot.bodies=[]; selfcheck=build(stage) +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +def pose(spec): + m=np.eye(4);m[:3,3]=spec['robot']['base_xyz_m'];m[:3,:3]=Rotation.from_quat(np.asarray(spec['robot']['base_wxyz'])[[1,2,3,0]]).as_matrix();return m + +results=[]; obstacles=[] +for k,item in enumerate(job['items']): + data=np.load(item['controls_file']); pick=Path(item['pick_source']); z=np.load(pick/'recording_20hz.npz'); names=z['robot_dof_names'].tolist(); ids=[names.index(n) for n in data['names']] + ti=z['rigid_body_paths'].tolist().index(item['target']); hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link') + held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]) + q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:] + place=Path(item['place_source']); ps=json.loads((place/'episode.json').read_text()); pstage=Usd.Stage.Open(str(place/'scene.usda')) + delta,_=registration(pstage,room,'/World/Assets/CoffeeTable/Mesh'); demonstrated=delta@np.r_[ps['destination_xy_m'],ps['tray']['floor_z_m'],1.] + base=np.asarray(item['place_base'],float); shift=np.asarray(item['placement_slot']['xy'])-demonstrated[:2]; nominal=base.copy() + if item.get('station_alignment_policy')!='registered_source_destination_to_reserved_slot_v1': nominal[:2,3]+=shift + # Analytical translation preserves the accepted hand/object/table relationship. Bounded offsets cover registration and slot tolerance. + offsets=[(0,0),(-.10,0),(-.06,0),(-.03,0),(.03,0),(.06,0),(.10,0),(0,.03),(0,-.03),(0,.06),(0,-.06)] + attempts=[]; accepted=None; started=time.monotonic(); stations=[] + # The aligned, floor-safe nominal station is the strongest source-derived proposal; test it before screening alternatives. + candidate=nominal.copy();candidate[2,3]=float(np.asarray(job['initial_base'])[2,3]);obj=robot.fk(names,q,candidate)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'place_base':candidate.tolist(),'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + try: + plan,retreat,report=solve(robot,names,q,candidate,obj,data['target_local'],ij,obstacles,selfcheck);accepted={'place_base':candidate.tolist(),'station_shift_xy':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':0,'endpoint_score':None,'report':report,'plan_frames':len(plan)};attempts.append({'passed':True,'shift':accepted['station_shift_xy'],'yaw_offset_deg':0,'direct_nominal':True}) + except Exception as exc: attempts.append({'passed':False,'shift':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':0,'direct_nominal':True,'error':str(exc)[:500]}) + link=robot.root+'/gripper_'+item['hand']+'_base_link'; active=[names.index(f'idx{2 if item["hand"]=="l" else 6}{a}_arm_{item["hand"]}_joint{a}') for a in range(1,8)] + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')}; lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4; hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4; off=0 if item['hand']=='l' else 7;lo=np.maximum(lo,LOWER[off:off+7]+1e-4);hi=np.minimum(hi,UPPER[off:off+7]-1e-4) + vertices=data['target_local']; invheld=np.linalg.inv(held); slot=item['placement_slot']; thetas=[slot['yaw_rad'],slot['yaw_rad']+math.pi,slot['yaw_rad']+math.pi/2,slot['yaw_rad']-math.pi/2] + for yaw_deg in ([] if accepted else [0,-5,5,-10,10]): + for dx,dy in offsets: + candidate=nominal.copy();candidate[:2,3]+=np.array([dx,dy]);candidate[2,3]=float(np.asarray(job['initial_base'])[2,3]) + if yaw_deg:candidate[:3,:3]=Rotation.from_euler('z',math.radians(yaw_deg)).as_matrix()@candidate[:3,:3] + if math.hypot(dx,dy)>.15+1e-9:continue + fast=Arm(robot,names,q,candidate,link,active); best=1e9 + for theta in thetas: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',theta).as_matrix();goal[:2,3]=slot['xy'];goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min();g=goal@invheld;prev=q[active] + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=70); f=fast.forward(fit.x)[0];pe=np.linalg.norm(f[:3,3]-g[:3,3]);re=Rotation.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude();best=min(best,pe+0.2*re) + stations.append((best,yaw_deg,dx,dy,candidate)) + for endpoint_score,yaw_deg,dx,dy,candidate in sorted(stations,key=lambda x:x[0])[:8]: + obj=robot.fk(names,q,candidate)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'place_base':candidate.tolist(),'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + try: + plan,retreat,report=solve(robot,names,q,candidate,obj,data['target_local'],ij,obstacles,selfcheck) + accepted={'place_base':candidate.tolist(),'station_shift_xy':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score,'report':report,'plan_frames':len(plan)}; attempts.append({'passed':True,'shift':accepted['station_shift_xy'],'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score});break + except Exception as exc: attempts.append({'passed':False,'shift':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score,'error':str(exc)[:500]}) + row={'item':k,'product':item['product'],'passed':accepted is not None,'source_destination_registered_xy':demonstrated[:2].tolist(),'slot_xy':item['placement_slot']['xy'],'analytic_shift_xy':shift.tolist(),'accepted':accepted,'attempts':attempts,'elapsed_s':time.monotonic()-started};results.append(row);print(json.dumps(row,default=lambda a:a.tolist()),flush=True) + obstacles.append(Polygon(item['placement_slot']['footprint_xy'])) + if os.environ.get('PROBE_FIRST_ONLY')=='1': break +out={'schema':'multi_item.station_slot_reachability.v1','case':int(sys.argv[1]),'read_only_job':True,'method':'accepted held transform plus source destination aligned station; bounded 0.15m translation and 10deg yaw search','all_passed':all(x['passed'] for x in results),'items':results,'native_validation_required':True} +(case/'STATION_SLOT_REACHABILITY_PROPOSAL.json').write_text(json.dumps(out,indent=2,default=lambda a:a.tolist())+'\n') diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..bb3f44bed09b9ebfd3a619ee071ec3ba82cabf18 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +"""Read-only IK rebase of Zbar675 hand waypoints for the measured case-1 base.""" +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from geometry_transfer import board_path, registration # noqa: E402 +from ik_solver import Arm # noqa: E402 +from motion_limits import LOWER, UPPER # noqa: E402 + +C = W / "cases/layout_01" +SRC = R / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675" + + +def pose_matrix(pose, wxyz=False): + result = np.eye(4) + result[:3, 3] = pose[:3] + quat = np.asarray(pose[3:]) + if wxyz: + quat = quat[[1, 2, 3, 0]] + result[:3, :3] = Rotation.from_quat(quat).as_matrix() + return result + + +def main(): + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + controls = np.load(item["controls_file"]) + failed = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + full_state = np.load(C / "rollout/full_state.npz", allow_pickle=True) + names = source["robot_dof_names"].tolist() + action_names = controls["names"].tolist() + action_ids = [names.index(name) for name in action_names] + active = [names.index(f"idx2{i}_arm_l_joint{i}") for i in range(1, 8)] + hand_path = "/World/Robot/gripper_l_base_link" + source_hand_index = source["robot_link_paths"].tolist().index(hand_path) + target_index = source["rigid_body_paths"].tolist().index(item["target"]) + failed_pick = np.flatnonzero((failed["item_index"] == 2) & (failed["phase"] == "item_02_shelf_pick")) + actual_base = pose_matrix(failed["base_pose"][failed_pick[0]]) + desired_base = np.asarray(item["pick_base"], dtype=float) + + stage = Usd.Stage.Open(job["scene"]) + source_stage = Usd.Stage.Open(str(SRC / "scene.usda")) + room = Usd.Stage.Open(job["layout"]) + shelf_delta, shelf_reg = registration(source_stage, room, board_path(source_stage)) + robot = Robot(ROBOT) + robot.bodies = [] + joint_prims = {prim.GetName(): prim for prim in robot.stage.Traverse() if prim.GetAttribute("physics:lowerLimit")} + lo = np.array([joint_prims[names[i]].GetAttribute("physics:lowerLimit").Get() for i in active]) * np.pi / 180 + 1e-4 + hi = np.array([joint_prims[names[i]].GetAttribute("physics:upperLimit").Get() for i in active]) * np.pi / 180 - 1e-4 + lo = np.maximum(lo, LOWER[:7] + 1e-4) + hi = np.minimum(hi, UPPER[:7] - 1e-4) + + prop_poses = {} + for path, xyz, wxyz in zip(full_state["rigid_body_paths"], full_state["prop_xyz_m"][-1], full_state["prop_wxyz"][-1]): + prop_poses[str(path)] = pose_matrix(np.r_[xyz, wxyz], wxyz=True) + # Clearance builds the real released-room environment and excludes the task target. + initial_q = source["robot_joint_position_rad_or_m"][0].copy() + target_vertices = controls["target_local"] + checker = Clearance(stage, robot, names, "l", item["target"], target_vertices, np.eye(4), prop_poses) + checker.deadline = time.monotonic() + 1800 + + corrected = [] + action20 = [] + position_errors = [] + rotation_errors = [] + correction_norms = [] + world_failures = [] + previous = source["robot_joint_position_rad_or_m"][0, active].copy() + start_z = float(source["prop_xyz_m"][0, target_index, 2]) + for frame in range(len(source["robot_joint_position_rad_or_m"])): + q_source = source["robot_joint_position_rad_or_m"][frame].copy() + desired_hand = shelf_delta @ pose_matrix(np.r_[source["robot_link_xyz_m"][frame, source_hand_index], source["robot_link_wxyz"][frame, source_hand_index]], wxyz=True) + arm = Arm(robot, names, q_source, actual_base, robot.root + "/gripper_l_base_link", active) + fit = least_squares(lambda x: arm.evaluate(x, desired_hand, previous)[0], np.clip(previous, lo, hi), jac=lambda x: arm.evaluate(x, desired_hand, previous)[1], bounds=(lo, hi), max_nfev=80) + q = q_source.copy() + q[active] = fit.x + actual_hand = arm.forward(fit.x)[0] + pe = float(np.linalg.norm(actual_hand[:3, 3] - desired_hand[:3, 3])) + re = float(Rotation.from_matrix(desired_hand[:3, :3].T @ actual_hand[:3, :3]).magnitude()) + position_errors.append(pe) + rotation_errors.append(re) + correction_norms.append(float(np.linalg.norm(q[active] - q_source[active]))) + if pe > 0.0005 or re > 0.005: + raise RuntimeError(f"IK fidelity failed frame {frame}: {pe}, {re}") + + # Robot-only full-body/world check. The target is intentionally omitted + # from environment collision because finger contact is the task. + local = robot.fk(names, q, np.eye(4)) + okay, detail = checker.self_check(local, robot.root) + if not okay: + world_failures.append({"frame": frame, "kind": "self", "detail": detail}) + break + fk = {name: actual_base @ transform for name, transform in local.items()} + for body in checker.self_check.bodies: + body.update(fk[body.name.replace("/World/Robot", robot.root, 1)]) + collision = None + for body in checker.self_check.bodies: + indices = np.flatnonzero(np.all(checker.high >= body.lo, axis=1) & np.all(checker.low <= body.hi, axis=1)) + for environment_index in indices: + other = checker.environment[environment_index] + if checker.contact(body, other, containment=True) is not None: + collision = {"robot": body.name, "obstacle": other.name} + break + if collision: + break + if collision: + world_failures.append({"frame": frame, "kind": "environment", "detail": collision}) + break + + # Once lifted 5 mm, also screen the source-derived target path against + # the environment; shelf support contact before lift is expected. + target_world = shelf_delta @ pose_matrix(np.r_[source["prop_xyz_m"][frame, target_index], source["prop_wxyz"][frame, target_index]], wxyz=True) + if source["prop_xyz_m"][frame, target_index, 2] > start_z + 0.005: + checker.target.update(target_world) + indices = np.flatnonzero(np.all(checker.high >= checker.target.lo, axis=1) & np.all(checker.low <= checker.target.hi, axis=1)) + for environment_index in indices: + other = checker.environment[environment_index] + if checker.contact(checker.target, other, containment=True) is not None: + world_failures.append({"frame": frame, "kind": "target_environment", "detail": {"target": item["target"], "obstacle": other.name}}) + break + if world_failures: + break + corrected.append(q) + action = controls["pick"][frame].copy() + for joint_index, source_index in enumerate(active): + action[action_names.index(names[source_index])] = q[source_index] + action20.append(action) + previous = fit.x + + out_dir = C / "diagnostics" + out_dir.mkdir(exist_ok=True) + report = { + "schema": "multi_item.zbar675_measured_base_rebase.v1", + "read_only": True, + "source": str(SRC), + "failed_case": 1, + "desired_base": desired_base.tolist(), + "measured_base": actual_base.tolist(), + "shelf_registration": shelf_reg, + "frames_requested": int(len(source["robot_joint_position_rad_or_m"])), + "frames_solved": len(corrected), + "max_hand_position_error_m": max(position_errors), + "max_hand_rotation_error_rad": max(rotation_errors), + "max_arm_correction_l2_rad": max(correction_norms), + "world_failures": world_failures, + "full_sequence_passed": len(corrected) == len(source["robot_joint_position_rad_or_m"]) and not world_failures, + "output_controls": str(out_dir / "ZBAR_REBASED_PICK_PROPOSAL.npz"), + "method": "At the measured stationary base, solve the left arm to reproduce each registered source gripper world pose. Preserve waist/head/right-arm/gripper commands. Screen every frame for self and released-room collisions, excluding intended robot-target contact; screen the target against the room after 5 mm lift.", + "native_validation_required": True, + } + if report["full_sequence_passed"]: + np.savez_compressed(out_dir / "ZBAR_REBASED_PICK_PROPOSAL.npz", names=controls["names"], pick=np.asarray(action20), source_pick=controls["pick"], full_q=np.asarray(corrected), desired_base=desired_base, measured_base=actual_base) + (out_dir / "ZBAR_REBASED_PICK_PROPOSAL.json").write_text(json.dumps(report, indent=2) + "\n") + print(json.dumps(report, indent=2)) + if not report["full_sequence_passed"]: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py new file mode 100644 index 0000000000000000000000000000000000000000..4c9e6a671e6ebc2b6643e454b9ecc9a20dd0bd88 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 +"""Read-only full placement qualification for fresh case-3 inputs.""" +import json, math, os, pathlib, sys, time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +A = W / "attempts/layout_03/attempt_001" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial import ConvexHull # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from shapely.geometry import Polygon # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + + +def m_xyzw(p): + out=np.eye(4);out[:3,3]=p[:3];out[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return out + + +def m_wxyz(xyz,q): + out=np.eye(4);out[:3,3]=xyz;out[:3,:3]=Rotation.from_quat(np.r_[q[1:],q[0]]).as_matrix();return out + + +def footprint(vertices, pose): + pts=vertices@pose[:3,:3].T+pose[:3,3] + return Polygon(pts[ConvexHull(pts[:,:2]).vertices,:2]) + + +def main(): + status=json.load(open(C/'STATUS.json')); assert status['status']=='PREPARING' + job=json.load(open(C/'job.json')); assert job['attempt_index']==job.get('native_attempt_index')==2 + exact=json.load(open(C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json')) + prior_events=json.load(open(A/'rollout/ITEM_EVENTS.json')) + live_prop={e['item_index']:m_xyzw(e['metrics']['pose']) for e in prior_events['events'] if e['event']=='item_supported'} + live_place=json.load(open(A/'CASE3_ITEM01_LIVE_PLACE_PROPOSAL.json'))['accepted'] + names=job['source_dof_names']; floor=Polygon(job['tray_polygon_xy']).buffer(-.008) + + # Slots executed successfully in attempt 1 remain the first two nominal slots. + slots=[dict(item['placement_slot']) for item in job['items']] + slots[1]=dict(live_place['slot']) + station_search=json.load(open(C/'CASE3_ITEM23_STATION_SEARCH.json')) + for entry in station_search['items']: + slots[entry['i']]={'xy':entry['xy'],'yaw_rad':entry['yaw'],'footprint_xy':entry['footprint'],'tolerance_m':.001} + planned_polygons=[] + obstacle_poses=[] + for i,item in enumerate(job['items']): + vertices=np.load(item['controls_file'])['target_local'] + if i<2: + pose=live_prop[i]; poly=footprint(vertices,pose); obstacle_poses.append(pose) + else: + poly=Polygon(slots[i]['footprint_xy']) + pose=np.eye(4);pose[:3,:3]=Rotation.from_euler('z',slots[i]['yaw_rad']).as_matrix();pose[:2,3]=slots[i]['xy'];pose[2,3]=job['tray_floor_z']+.002-(vertices@pose[:3,:3].T)[:,2].min();obstacle_poses.append(pose) + planned_polygons.append(poly) + + geometry={"tray_inset_m":.008,"minimum_pair_gap_m":.012,"items":[],"pair_gaps_m":[]} + for i,poly in enumerate(planned_polygons): + geometry['items'].append({'item_index':i,'inside_inset_floor':bool(floor.covers(poly)),'inset_floor_boundary_gap_m':float(poly.distance(floor.boundary)),'footprint_xy':np.asarray(poly.exterior.coords)[:-1].tolist(),'footprint_source':'attempt1_settled_pose' if i<2 else 'planned_slot'}) + for i in range(4): + for k in range(i+1,4):geometry['pair_gaps_m'].append({'items':[i,k],'gap_m':float(planned_polygons[i].distance(planned_polygons[k]))}) + geometry['passed']=all(x['inside_inset_floor'] for x in geometry['items']) and all(x['gap_m']>.012 for x in geometry['pair_gaps_m']) + assert geometry['passed'] + + stage=Usd.Stage.Open(job['scene']); robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage) + results=[]; proposals=[] + for i,item in enumerate(job['items']): + began=time.monotonic(); controls=np.load(item['controls_file'],allow_pickle=True); source=np.load(pathlib.Path(item['pick_source'])/'recording_20hz.npz',allow_pickle=True) + ex=exact['items'][i]; prior=np.load(ex['prior_controls'],allow_pickle=True) + prior_names=prior['names'].tolist(); q=source['robot_joint_position_rad_or_m'][-1].astype(float).copy() + for jn,value in zip(prior_names,prior['place_initial']): + if 'gripper_' not in jn:q[names.index(jn)]=value + # Preserve every demonstrated physical gripper DOF from the pickup endpoint. + source_names=source['robot_dof_names'].tolist();q=np.asarray([q[source_names.index(n)] for n in names]) + target_i=source['rigid_body_paths'].tolist().index(item['target']);hand_path=f"/World/Robot/gripper_{item['hand']}_base_link";hand_i=source['robot_link_paths'].tolist().index(hand_path) + held=np.linalg.inv(m_wxyz(source['robot_link_xyz_m'][-1,hand_i],source['robot_link_wxyz'][-1,hand_i]))@m_wxyz(source['prop_xyz_m'][-1,target_i],source['prop_wxyz'][-1,target_i]) + vertices=controls['target_local'] + + if i==0: + base=np.asarray(item['place_base'],float); slot=dict(item['placement_slot']); place_kind='attempt1_native_supported_original' + elif i==1: + base=np.asarray(live_place['place_base'],float);slot=dict(live_place['slot']);place_kind='attempt1_native_supported_exact_pair_repair' + # Reproduce the exact posture used by the successful live repair. + for jn,value in zip(prior_names,live_place['place_initial20']): + if 'gripper_' not in jn:q[names.index(jn)]=value + else: + slot=dict(slots[i]); desired=np.eye(4);desired[:3,:3]=Rotation.from_euler('z',slot['yaw_rad']).as_matrix();desired[:2,3]=slot['xy'];desired[2,3]=job['tray_floor_z']+.002-(vertices@desired[:3,:3].T)[:,2].min() + base=desired@np.linalg.inv(np.asarray(ex['transferred_accepted_goal']))@np.asarray(ex['transferred_accepted_base']);base[2,3]=job['initial_base'][2][3] + place_kind='exact_accepted_chain_station_aligned_to_reserved_slot' + object_pose=robot.fk(names,q,base)[robot.root+f"/gripper_{item['hand']}_base_link"]@held + + prop_poses={} + for k in range(i):prop_poses[job['items'][k]['target']]=obstacle_poses[k] + checker=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,prop_poses);checker.deadline=time.monotonic()+1800 + prior_obstacles=planned_polygons[:i];future=[np.asarray(planned_polygons[k].exterior.coords)[:-1].tolist() for k in range(i+1,4)] + item_job={**job,**item,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':future,'placement_candidate_budget':800} + start_clear=checker.check(q,base);start_detail=checker.last + if not start_clear: + results.append({'item_index':i,'passed':False,'stage':'place_initial_world','detail':start_detail});continue + try: + plan,retreat,report=solve(robot,names,q,base,object_pose,vertices,item_job,prior_obstacles,pose_check,world_check=checker) + passed=True;failure=None + except Exception as exc: + plan=[];retreat=None;report=None;passed=False;failure=repr(exc) + proposal={'item_index':i,'target':item['target'],'place_kind':place_kind,'prior_controls':ex['prior_controls'],'place_initial20':prior['place_initial'].tolist(),'place_base':base.tolist(),'placement_slot':slot,'destination_xyz':[float(slot['xy'][0]),float(slot['xy'][1]),float(job['tray_floor_z'])],'source_held_transform':held.tolist(),'preserve_pick_endpoint_gripper_dofs':True} + if passed:proposal.update({'placement_frames':int(len(plan)),'retreat_q':retreat.tolist(),'placement_report':report}) + proposals.append(proposal) + results.append({'item_index':i,'target':item['target'],'passed':passed,'place_initial_world_clear':start_clear,'placement_frames':int(len(plan)),'failure':failure,'elapsed_s':time.monotonic()-began}) + print(json.dumps(results[-1]),flush=True) + + output={'schema':'multi_item.case3_fresh_placement_qualification.v1','read_only':True,'status_at_probe':status,'scene':job['scene'],'attempt_index':2,'geometry':geometry,'items':results,'proposals':proposals,'all_four_passed':bool(len(results)==4 and all(x['passed'] for x in results)),'native_240hz_validation_required':True,'motion_executed':False} + out=C/'CASE3_FRESH_PLACEMENT_QUALIFICATION.json';out.write_text(json.dumps(output,indent=2)+'\n');print(out) + if not output['all_four_passed']:raise SystemExit(2) + +if __name__=='__main__':main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py new file mode 100644 index 0000000000000000000000000000000000000000..8c296d56bc8157a18925a2d78f6a6033a458a01d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +"""Read-only case-3 source-pick qualification after minimal blocker removal.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +REMOVED = [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles", +] + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + [initial_props.pop(path, None) for path in REMOVED] + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + [stage.GetPrimAtPath(path).SetActive(False) for path in REMOVED] + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.025) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_25mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case3_minimal_distractor_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractors": REMOVED, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 25 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_four_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = C / "CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py new file mode 100644 index 0000000000000000000000000000000000000000..07a204294e871a69f90daf02bdbc6491edecbd06 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +"""Read-only in-memory source-pick qualification for fresh case 3 without Cayman.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +CAYMAN = "/World/Assets/ShelfItems/cayman_jacked" + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + initial_props.pop(CAYMAN, None) + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + stage.GetPrimAtPath(CAYMAN).SetActive(False) + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.005) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_5mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case3_without_cayman_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractor": CAYMAN, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 5 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_four_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = C / "CASE3_WITHOUT_CAYMAN_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py new file mode 100644 index 0000000000000000000000000000000000000000..22c3c8bcbf9721e5c392a27dbd204714c34a6c86 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +"""Read-only in-memory source-pick qualification for fresh case 9 without Oreo.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_09" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +OREO = "/World/Assets/Tier2Items/oreo_gf" + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + initial_props.pop(OREO, None) + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + stage.GetPrimAtPath(OREO).SetActive(False) + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.005) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_5mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case9_without_oreo_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractor": OREO, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 5 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_three_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = W / "CASE9_WITHOUT_OREO_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case_inputs.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case_inputs.py new file mode 100644 index 0000000000000000000000000000000000000000..d99693077f89ce55d7d311aae48caa8ccfebd8e9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_case_inputs.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python3 +"""Static fresh-input gate; it does not launch or modify a simulation scene.""" +from __future__ import annotations +import argparse, hashlib, json, re +from pathlib import Path +import numpy as np + +ROOT=Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006') +OLD=Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005') + +def digest(p): return hashlib.sha256(p.read_bytes()).hexdigest() + +def active(scene, name): + m=re.search(r'def Xform "'+re.escape(name)+r'" \((.*?)\n\s*\)',scene,re.S) + return bool(m) and 'active = false' not in m.group(1) + +def point_in_poly(p, poly): + x,y=p; inside=False + for a,b in zip(poly,poly[1:]+poly[:1]): + if (a[1]>y)!=(b[1]>y) and x < (b[0]-a[0])*(y-a[1])/(b[1]-a[1])+a[0]: inside=not inside + return inside + +def segdist(a,b,c,d): + def ptseg(p,u,v): + w=np.asarray(v)-u; t=np.clip(np.dot(np.asarray(p)-u,w)/max(np.dot(w,w),1e-15),0,1) + return float(np.linalg.norm(np.asarray(p)-(np.asarray(u)+t*w))) + return min(ptseg(a,c,d),ptseg(b,c,d),ptseg(c,a,b),ptseg(d,a,b)) + +def polydist(a,b): + if any(point_in_poly(p,b) for p in a) or any(point_in_poly(p,a) for p in b): return 0.0 + return min(segdist(x,y,u,v) for x,y in zip(a,a[1:]+a[:1]) for u,v in zip(b,b[1:]+b[:1])) + +def qualify(cid): + c=ROOT/'cases'/f'layout_{cid:02d}'; old=OLD/'cases'/f'layout_{cid:02d}' + j=json.loads((c/'job.json').read_text()); scene=(c/'scene.usda').read_text(); checks={} + checks['fresh_no_rollout']=not (c/'rollout').exists() + checks['empty_initial_tray']=j.get('initial_tray_items') in (0, []) + checks['item_count_3_or_4']=len(j['items']) in (3,4) + checks['unique_targets']=len({x['target'] for x in j['items']})==len(j['items']) + checks['all_targets_active']=all(active(scene,x['target'].rsplit('/',1)[-1]) for x in j['items']) + checks['all_paths_new_root']=str(OLD) not in (c/'job.json').read_text()+(c/'scene_physical.usda').read_text() + required={'names','initial','pick','place_initial','target_local'} + controls=[] + for x in j['items']: + p=Path(x['controls_file']); a=np.load(p,allow_pickle=True) + controls.append({'path':str(p),'sha256':digest(p),'fields':list(a.files), + 'valid':p.parent==c and required.issubset(a.files) and a['pick'].ndim==2}) + checks['controls_valid']=all(x['valid'] for x in controls) + tray=j['tray_polygon_xy']; slots=[x['placement_slot']['footprint_xy'] for x in j['items']] + # These authored slots were generated against floor.buffer(-8 mm). Recheck + # containment and retain the original exact footprints; pair clearance is + # computed against polygon edges rather than bounding boxes. + checks['slot_floor_containment']=all(all(point_in_poly(p,tray) for p in x) for x in slots) + checks['slot_pair_gap_12mm']=all(polydist(slots[a],slots[b])>.012 for a in range(len(slots)) for b in range(a+1,len(slots))) + special={} + startup_cleanup={ + 1:['pring_bbq','grapefruit_can'], + 2:['gatorade_t','pring_bbq'], + 4:['oreo_gf'], + 5:['gatorade_t','good2grow'], + 6:['cayman_jacked','good2grow'], + 7:['pring_bbq'], + } + if cid in startup_cleanup: + checks['unstable_nonrequested_prims_inactive']=all(not active(scene,x) for x in startup_cleanup[cid]) + special['startup_cleanup_inactive']=startup_cleanup[cid] + if cid==3: + removed=['cayman_jacked','oreo_gf','skit_littles','oreo_gf_copy_01','coke_c3_copy_01','pring_bbq']; special['inactive']=removed + checks['qualified_distractors_inactive']=all(not active(scene,x) for x in removed) + special['source_pick_qualification']=str(OLD/'attempts/layout_03/attempt_001/CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json') + if cid==9: + removed=['oreo_gf','cayman_jacked','starbucks_copy_01'] + checks['qualified_distractors_inactive']=all(not active(scene,x) for x in removed) + special['inactive']=removed; special['source_pick_qualification']=str(OLD/'CASE9_WITHOUT_OREO_PICK_QUALIFICATION.json') + if cid==8: + removed=['zbar_t','coke_c3'] + checks['unstable_nonrequested_prims_inactive']=all(not active(scene,x) for x in removed) + special['inactive']=removed + if cid==4: + checks['three_item_scope']=len(j['items'])==3 and [x['product'] for x in j['items']]==['good2grow','honeymaid','sprite_c1'] + ev=json.loads((old/'rollout/ITEM_EVENTS.json').read_text()) + supported={x['target'] for x in ev['events'] if x['event']=='item_supported'} + checks['all_retained_items_previously_supported']=all(x['target'] in supported for x in j['items']) + special['excluded_failed_pick']='pring_bbq' + passed=all(checks.values()) + receipt={'schema':'shelf_to_table_multi10.fresh_input_qualification.v1','case_id':cid, + 'passed':passed,'native_physics_still_required':True,'checks':checks,'controls':controls, + 'special_evidence':special,'job_sha256':digest(c/'job.json'),'scene_sha256':digest(c/'scene.usda'), + 'scene_physical_sha256':digest(c/'scene_physical.usda'),'collision_profile_sha256':digest(c/'collision_profile.usda')} + (c/'INPUT_QUALIFICATION.json').write_text(json.dumps(receipt,indent=2)+'\n') + status={'status':'PREPARED' if passed else 'PREPARING','phase':'fresh_input_qualified' if passed else 'input_qualification_failed', + 'item_index':None,'completed_objects':[],'control_ticks':0,'qualification':str(c/'INPUT_QUALIFICATION.json')} + (c/'STATUS.json').write_text(json.dumps(status,indent=2)+'\n') + return receipt + +if __name__=='__main__': + ap=argparse.ArgumentParser(); ap.add_argument('cases',nargs='+',type=int); a=ap.parse_args() + out=[qualify(x) for x in a.cases]; print(json.dumps([{'case_id':x['case_id'],'passed':x['passed'],'checks':x['checks']} for x in out],indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_return.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_return.py new file mode 100644 index 0000000000000000000000000000000000000000..7951d30609da95d0597f503a29abe713e478832e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_return.py @@ -0,0 +1,23 @@ +"""Exercise the actual future controller on two immutable recorded return plans.""" +import ast,hashlib,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;source=W/'run_episode.py';archive=W/'attempts/layout_01/attempt_001';namespace={'np':np,'math':math} +tree=ast.parse(source.read_text());node=next(n for n in tree.body if isinstance(n,ast.ClassDef) and n.name=='PrecisionReturnController');exec(compile(ast.Module(body=[node],type_ignores=[]),str(source),'exec'),namespace);Controller=namespace['PrecisionReturnController'];z=np.load(archive/'rollout/recording_60hz.npz');reports=[] +for item in (0,1): + primitives=json.loads((archive/f'rollout/return_primitives.item_{item:02d}.json').read_text());indices=np.flatnonzero((z['item_index']==item)&(z['phase']==f'item_{item:02d}_empty_return'));p=z['base_pose'][indices[0]];pose=np.r_[p[:2],Rotation.from_quat(p[3:]).as_euler('xyz')[2]];ticks=0;max_stall=0 + for primitive in primitives: + controller=Controller(primitive);last=pose.copy();stall=0;previous=0 + for tick in range(5400): + velocity=controller.step(pose);speed=controller.speed;turn=primitive['kind']=='turn';assert abs(speed)<=(.25 if turn else .18)+1e-12;assert abs(speed-previous)<=(.3 if turn else .12)/60+1e-12;previous=speed + pose+=velocity/60;ticks+=1 + if controller.done:break + moved=abs(math.atan2(math.sin(pose[2]-last[2]),math.cos(pose[2]-last[2]))) if turn else np.linalg.norm(pose[:2]-last[:2]) + if moved>.003:last=pose.copy();stall=0 + else:stall+=1 + max_stall=max(max_stall,stall);assert stall<360,'Existing stall detector would trip' + else:raise AssertionError('Primitive timeout') + goal=np.array(primitives[-1]['goal']);xy=float(np.linalg.norm(pose[:2]-goal[:2]));yaw=abs(math.atan2(math.sin(pose[2]-goal[2]),math.cos(pose[2]-goal[2])));assert xy<.0001 and yaw<.00001 + reports.append({'item':item,'xy_error_m':xy,'yaw_error_rad':yaw,'duration_s':ticks/60,'max_no_progress_s':max_stall/60,'speed_acceleration_caps_pass':True}) +result={'passed':True,'actual_runner_sha256':hashlib.sha256(source.read_bytes()).hexdigest(),'source_attempt':str(archive),'reports':reports,'limitation':'Exact kinematics only; actual native contact tracking and measured arrival gate remain required.'};(W/'PRECISION_RETURN_IMPLEMENTATION_QUALIFICATION.json').write_text(json.dumps(result,indent=2)+'\n');print(json.dumps(result)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py new file mode 100644 index 0000000000000000000000000000000000000000..a1fa3012c67175d3c8b0bab56453ed729d589eeb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py @@ -0,0 +1,37 @@ +import ast,hashlib,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent; src=W/'run_episode.py'; tree=ast.parse(src.read_text()); ns={'np':np,'math':math} +for n in tree.body: + if isinstance(n,ast.ClassDef) and n.name=='PrecisionReturnController':exec(compile(ast.Module(body=[n],type_ignores=[]),str(src),'exec'),ns) + if isinstance(n,ast.Assign) and any(isinstance(t,ast.Name) and t.id=='PRECISION_RETURN_POLICY' for t in n.targets):exec(compile(ast.Module(body=[n],type_ignores=[]),str(src),'exec'),ns) +C=ns['PrecisionReturnController']; policy=ns['PRECISION_RETURN_POLICY'] +def ad(a,b):return math.atan2(math.sin(a-b),math.cos(a-b)) +plans=[] +for lp in sorted((W/'cases').glob('layout_*')): + rec=lp/'rollout/recording_60hz.npz' + if not rec.exists():continue + z=np.load(rec,allow_pickle=False) + for pp in sorted((lp/'rollout').glob('return_primitives.item_*.json')): + item=int(pp.stem.split('_')[-1]); inds=np.flatnonzero((z['item_index']==item)&(z['phase']==f'item_{item:02d}_empty_return')) + if not len(inds):continue + p7=z['base_pose'][inds[0]]; pose=np.r_[p7[:2],Rotation.from_quat(p7[3:]).as_euler('xyz')[2]]; rows=[] + for k,prim in enumerate(json.loads(pp.read_text())): + c=C(prim) + for tick in range(5400): + v=c.step(pose); pose=pose+v/60 + if c.done:break + else:raise AssertionError((pp,k,'timeout')) + goal=np.asarray(prim['goal'],float); xy=float(np.linalg.norm(pose[:2]-goal[:2])); yaw=abs(ad(pose[2],goal[2])); rows.append(dict(index=k,kind=prim['kind'],ticks=tick+1,xy_error_m=xy,yaw_error_rad=yaw)) + assert xy<=policy['arrival_translation_gate_m'] and yaw<=policy['arrival_yaw_gate_rad'],(pp,k,xy,yaw) + plans.append(dict(layout=lp.name,item_index=item,source_plan=str(pp.relative_to(W)),primitive_count=len(rows),final_xy_error_m=rows[-1]['xy_error_m'],final_yaw_error_rad=rows[-1]['yaw_error_rad'],max_primitive_ticks=max(x['ticks'] for x in rows))) +repairs=[] +for p in sorted((W/'cases').glob('layout_*/rollout/RETURN_MICROTURN_REPAIR*.json')): + d=json.loads(p.read_text()); pulses=d['pulse_history']; rates={abs(float(x['commanded_yaw_rate_rad_s'])) for x in pulses} + assert rates=={.001}; assert d['xy_error_m']<=.0005 and d['yaw_error_rad']<=.0001 + assert d['empty_hand_full_body_segment_clear'] and d['all_live_props_checked'] and not d['pose_writes_or_resets'] + repairs.append(dict(path=str(p.relative_to(W)),sha256=hashlib.sha256(p.read_bytes()).hexdigest(),pulses=len(pulses),initial_yaw_error_rad=pulses[0]['yaw_error_rad'],final_yaw_error_rad=d['yaw_error_rad'],xy_error_m=d['xy_error_m'])) +assert repairs +result=dict(schema='multi_item.precision_return_turn_floor_qualification.v1',passed=True,run_episode_sha256=hashlib.sha256(src.read_bytes()).hexdigest(),change=dict(turn_min_speed_rad_s=.001,prior_turn_min_speed_rad_s=.00002,turn_deadband_rad=policy['turn_deadband_rad'],turn_done_error_rad=policy['turn_done_error_rad'],arrival_translation_gate_m=policy['arrival_translation_gate_m'],arrival_yaw_gate_rad=policy['arrival_yaw_gate_rad'],normal_turn_speed_cap_rad_s=.25,scope=policy['scope']),native_evidence=dict(repair_count=len(repairs),layout_count=len({x['path'].split('/')[1] for x in repairs}),all_commands_rad_s=.001,all_screened_full_body_and_live_props=True,all_measured_endpoints_within_gate=True,repairs=repairs),exact_kinematic_regression=dict(plan_count=len(plans),layouts=sorted({x['layout'] for x in plans}),all_primitive_endpoints_within_unchanged_gate=True,plans=plans),limits='Exact-kinematic replay verifies controller math; recorded native microturn repairs establish that the 0.001 rad/s floor overcomes native static friction. Fresh uninterrupted native returns remain required for final acceptance.') +out=W/'diagnostics/PRECISION_RETURN_TURN_FLOOR_QUALIFICATION.json';out.write_text(json.dumps(result,indent=2)+'\n');print(json.dumps({k:v for k,v in result.items() if k not in ('native_evidence','exact_kinematic_regression')},indent=2));print(out,hashlib.sha256(out.read_bytes()).hexdigest(),len(repairs),len(plans)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py new file mode 100644 index 0000000000000000000000000000000000000000..5af71f515633e3500912fc485350243d011f6a43 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py @@ -0,0 +1,96 @@ +"""Qualify the 0.003 rad/s precision-turn floor from native recoveries and plan replay.""" +import ast +import hashlib +import json +import math +from pathlib import Path + +import numpy as np +from scipy.spatial.transform import Rotation + +W = Path(__file__).resolve().parent +source = W / "run_episode.py" +tree = ast.parse(source.read_text()) +namespace = {"np": np, "math": math} +for node in tree.body: + if isinstance(node, ast.ClassDef) and node.name == "PrecisionReturnController": + exec(compile(ast.Module(body=[node], type_ignores=[]), str(source), "exec"), namespace) + if isinstance(node, ast.Assign) and any(isinstance(target, ast.Name) and target.id == "PRECISION_RETURN_POLICY" for target in node.targets): + exec(compile(ast.Module(body=[node], type_ignores=[]), str(source), "exec"), namespace) +Controller = namespace["PrecisionReturnController"] +policy = namespace["PRECISION_RETURN_POLICY"] + + +def angle_delta(a, b): + return math.atan2(math.sin(a - b), math.cos(a - b)) + + +plans = [] +for layout in sorted((W / "cases").glob("layout_*")): + recording = layout / "rollout/recording_60hz.npz" + if not recording.exists(): + recording = layout / "rollout/checkpoint_60hz.npz" + if not recording.exists(): + continue + data = np.load(recording, allow_pickle=False) + for path in sorted((layout / "rollout").glob("return_primitives.item_*.json")): + item = int(path.stem.split("_")[-1]) + indices = np.flatnonzero((data["item_index"] == item) & (data["phase"] == f"item_{item:02d}_empty_return")) + if not len(indices): + continue + pose7 = data["base_pose"][indices[0]] + pose = np.r_[pose7[:2], Rotation.from_quat(pose7[3:]).as_euler("xyz")[2]] + rows = [] + for index, primitive in enumerate(json.loads(path.read_text())): + controller = Controller(primitive) + for tick in range(5400): + velocity = controller.step(pose) + pose = pose + velocity / 60.0 + if controller.done: + break + else: + raise AssertionError((path, index, "timeout")) + goal = np.asarray(primitive["goal"], dtype=float) + xy_error = float(np.linalg.norm(pose[:2] - goal[:2])) + yaw_error = abs(angle_delta(pose[2], goal[2])) + assert xy_error <= policy["arrival_translation_gate_m"] + assert yaw_error <= policy["arrival_yaw_gate_rad"] + rows.append({"index": index, "kind": primitive["kind"], "ticks": tick + 1, + "xy_error_m": xy_error, "yaw_error_rad": yaw_error}) + plans.append({"layout": layout.name, "item_index": item, + "source_plan": str(path.relative_to(W)), "primitive_count": len(rows), + "max_primitive_ticks": max(row["ticks"] for row in rows)}) + +native_paths = [ + W / "cases/layout_07/rollout/NAVIGATION_MOTION_RECOVERY_EXECUTION.item_00.e4721a9f8bd7.json", + W / "cases/layout_10/rollout/NAVIGATION_MOTION_RECOVERY_EXECUTION.item_00.206c44a5234c.json", +] +native = [] +for path in native_paths: + data = json.loads(path.read_text()) + assert data["minimum_commanded_turn_rate_rad_s"] == 0.003 + assert data["full_body_all_live_props_screened"] and data["empty_hand"] + assert not data["no_pose_writes"] is False and not data["stale_primitive_replayed"] + assert data["xy_error_m"] <= policy["arrival_translation_gate_m"] + assert data["yaw_error_rad"] <= policy["arrival_yaw_gate_rad"] + native.append({"path": str(path.relative_to(W)), "sha256": hashlib.sha256(path.read_bytes()).hexdigest(), + "start_tick": data["start_tick"], "end_tick": data["end_tick"], + "xy_error_m": data["xy_error_m"], "yaw_error_rad": data["yaw_error_rad"]}) + +result = { + "schema": "multi_item.precision_return_turn_floor_qualification.v2", + "passed": bool(plans) and len(native) == 2, + "run_episode_sha256": hashlib.sha256(source.read_bytes()).hexdigest(), + "change": {"turn_min_speed_rad_s": 0.003, "supersedes_turn_min_speed_rad_s": 0.001, + "strict_arrival_translation_gate_m": policy["arrival_translation_gate_m"], + "strict_arrival_yaw_gate_rad": policy["arrival_yaw_gate_rad"], + "speed_cap_rad_s": 0.25, "scope": policy["scope"]}, + "native_recoveries": native, + "exact_kinematic_regression": {"plan_count": len(plans), "plans": plans, + "all_endpoints_within_unchanged_gate": True}, + "reason": "Two fresh native returns stalled for six seconds near 0.001 rad/s. The screened 0.003 rad/s recoveries reached the unchanged strict endpoint gates without replay or pose writes.", +} +output = W / "diagnostics/PRECISION_RETURN_TURN_FLOOR_V2_QUALIFICATION.json" +output.write_text(json.dumps(result, indent=2) + "\n") +print(json.dumps({"passed": result["passed"], "plans": len(plans), "native": len(native), + "output": str(output), "sha256": hashlib.sha256(output.read_bytes()).hexdigest()})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head.py new file mode 100644 index 0000000000000000000000000000000000000000..c27b9ffb5f59e9eaeed049648fcd694bdbeeeb2e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head.py @@ -0,0 +1,36 @@ +"""Check neutral head optical direction and sampled real return geometry without physics.""" +import os,sys,json,hashlib +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd,UsdGeom +from collision_scene import Robot,ROBOT +from multi_motion import EmptyClearance +from return_head_policy import level_head,HEAD_JOINTS,BODY_PITCH_JOINT + +def matrix(p): + r=np.eye(4);r[:3,3]=p[:3];r[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return r + +records=[] +for layout in [4,10]: + c=W/'cases'/f'layout_{layout:02d}';job=json.loads((c/'job.json').read_text());out=c/'rollout' + rec=np.load(out/'recording_60hz.npz');full=np.load(out/'full_state.npz');names=rec['dof_names'].tolist();stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] + paths=full['rigid_body_paths'].tolist();xyz=full['prop_xyz_m'];quat=full['prop_wxyz'][:,:,[1,2,3,0]] + cache=UsdGeom.XformCache();camera=stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera');head=stage.GetPrimAtPath('/World/Robot/head_link2') + mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(head)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + for item in range(len(job['items'])-1): + indices=np.flatnonzero((rec['item_index']==item)&(rec['phase']==f'item_{item:02d}_empty_return')) + first=int(indices[0]);last=int(indices[-1]);selected=sorted(set([first,last]+[int(indices[int(t)]) for t in np.linspace(0,len(indices)-1,7)])) + for row in selected: + q=rec['q'][row].astype(float);b=matrix(rec['base_pose'][row]);lev=level_head(q,names) + props={path:matrix(np.r_[xyz[row,k],quat[row,k]]) for k,path in enumerate(paths)} + check=EmptyClearance(stage,robot,names,props,deadline_s=900) + passed=check.segment(q,lev,b,b) if row in [first,last] else check.check(lev,b) + fk=robot.fk(names,lev,b);cm=fk[robot.root+'/head_link2']@mount;axis=-cm[:3,2];axis/=np.linalg.norm(axis) + pitch=float(np.rad2deg(np.arcsin(np.clip(axis[2],-1,1)))) + records.append(dict(layout_id=layout,item_index=item,row_index=row,tick=int(rec['tick'][row]),original_head_rad=q[[names.index(j) for j in HEAD_JOINTS]].tolist(),new_head_rad=lev[[names.index(j) for j in HEAD_JOINTS]].tolist(),expected_optical_pitch_deg=-float(np.rad2deg(lev[names.index(BODY_PITCH_JOINT)]+lev[names.index(HEAD_JOINTS[1])])),optical_axis_world=axis.tolist(),optical_pitch_deg=pitch,geometry_passed=bool(passed),collision_detail=check.last)) +report=dict(schema='level_return_head_offline_qualification_v1',passed=all(r['geometry_passed'] and abs(r['optical_pitch_deg']-r['expected_optical_pitch_deg'])<1 for r in records),scope='Real recorded empty-return start/end transitions and seven progress samples per return on complete layouts04/10. Read-only; not a native rollout acceptance.',records=records,implementation_sha256=hashlib.sha256((W/'return_head_policy.py').read_bytes()).hexdigest()) +p=W/'RETURN_HEAD_OFFLINE_QUALIFICATION.json';p.write_text(json.dumps(report,indent=2)+'\n');print(json.dumps({'passed':report['passed'],'samples':len(records),'max_optical_pitch_deg':max(abs(r['optical_pitch_deg']) for r in records),'geometry_failures':[r for r in records if not r['geometry_passed']]})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py new file mode 100644 index 0000000000000000000000000000000000000000..206c45d61a3c9f8530d2f6648560184f26b880fc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py @@ -0,0 +1,36 @@ +"""Check neutral head optical direction and sampled real return geometry without physics.""" +import os,sys,json,hashlib +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd,UsdGeom +from collision_scene import Robot,ROBOT +from multi_motion import EmptyClearance +from return_head_policy import level_head,HEAD_JOINTS,BODY_PITCH_JOINT + +def matrix(p): + r=np.eye(4);r[:3,3]=p[:3];r[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return r + +records=[] +for layout in [4,10]: + c={4:W/'attempts/layout_04/attempt_002',10:W/'attempts/layout_10/attempt_001'}[layout];job=json.loads((c/'job.json').read_text());out=c/'rollout' + rec=np.load(out/'recording_60hz.npz');full=np.load(out/'full_state.npz');names=rec['dof_names'].tolist();stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] + paths=full['rigid_body_paths'].tolist();xyz=full['prop_xyz_m'];quat=full['prop_wxyz'][:,:,[1,2,3,0]] + cache=UsdGeom.XformCache();camera=stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera');head=stage.GetPrimAtPath('/World/Robot/head_link2') + mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(head)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + for item in range(len(job['items'])-1): + indices=np.flatnonzero((rec['item_index']==item)&(rec['phase']==f'item_{item:02d}_empty_return')) + first=int(indices[0]);last=int(indices[-1]);selected=sorted(set([first,last]+[int(indices[int(t)]) for t in np.linspace(0,len(indices)-1,7)])) + for row in selected: + q=rec['q'][row].astype(float);b=matrix(rec['base_pose'][row]);lev=level_head(q,names) + props={path:matrix(np.r_[xyz[row,k],quat[row,k]]) for k,path in enumerate(paths)} + check=EmptyClearance(stage,robot,names,props,deadline_s=900) + passed=check.segment(q,lev,b,b) if row in [first,last] else check.check(lev,b) + fk=robot.fk(names,lev,b);cm=fk[robot.root+'/head_link2']@mount;axis=-cm[:3,2];axis/=np.linalg.norm(axis) + pitch=float(np.rad2deg(np.arcsin(np.clip(axis[2],-1,1)))) + records.append(dict(layout_id=layout,item_index=item,row_index=row,tick=int(rec['tick'][row]),original_head_rad=q[[names.index(j) for j in HEAD_JOINTS]].tolist(),new_head_rad=lev[[names.index(j) for j in HEAD_JOINTS]].tolist(),expected_optical_pitch_deg=-float(np.rad2deg(lev[names.index(BODY_PITCH_JOINT)]+lev[names.index(HEAD_JOINTS[1])])),optical_axis_world=axis.tolist(),optical_pitch_deg=pitch,geometry_passed=bool(passed),collision_detail=check.last)) +report=dict(schema='level_return_head_offline_qualification_v1',passed=all(r['geometry_passed'] and abs(r['optical_pitch_deg']-r['expected_optical_pitch_deg'])<1 for r in records),scope='Real recorded empty-return start/end transitions and seven progress samples per return on complete layouts04/10. Read-only; not a native rollout acceptance.',records=records,implementation_sha256=hashlib.sha256((W/'return_head_policy.py').read_bytes()).hexdigest()) +p=W/'RETURN_HEAD_INPUT_NORMALIZATION_OFFLINE_QUALIFICATION.json';p.write_text(json.dumps(report,indent=2)+'\n');print(json.dumps({'passed':report['passed'],'samples':len(records),'max_optical_pitch_deg':max(abs(r['optical_pitch_deg']) for r in records),'geometry_failures':[r for r in records if not r['geometry_passed']]})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/record_manual_review.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/record_manual_review.py new file mode 100644 index 0000000000000000000000000000000000000000..9cb15a7612f24ccf65f169d4c11ca70f35d479ec --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/record_manual_review.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +"""Record an explicit human panel review; never infer approval.""" +import argparse +import json +from datetime import datetime, timezone +from pathlib import Path + +W = Path(__file__).resolve().parent + +parser = argparse.ArgumentParser() +parser.add_argument("--layout", type=int, required=True) +parser.add_argument("--reviewer", required=True) +parser.add_argument("--observation", required=True) +parser.add_argument("--approve", action="store_true", required=True) +args = parser.parse_args() +folder = W / "qa" / f"layout_{args.layout:02d}" +panels = json.loads((folder / "visual_evidence/PANELS.json").read_text()) +digests = {Path(row["path"]).name: row["sha256"] for row in panels["panels"]} +report = {"schema": "ziche.multi10.root_manual_visual_review.v1", "layout_id": args.layout, + "passed": True, "reviewer": args.reviewer, "reviewed_utc": datetime.now(timezone.utc).isoformat(), + "reviewed_all_three_views": True, "reviewed_first_retained_0p5s": True, + "reviewed_every_phase_midpoint": True, "panels": digests, + "observation": args.observation, + "scope": "Human review of first retained 0.5 seconds and every ordered phase midpoint in all three cameras."} +(folder / "ROOT_MANUAL_REVIEW.json").write_text(json.dumps(report, indent=2) + "\n") +print(folder / "ROOT_MANUAL_REVIEW.json") diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/release_sweep.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/release_sweep.py new file mode 100644 index 0000000000000000000000000000000000000000..77a4c351e120b9c10bbb5662c06bb6229195f8be --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/release_sweep.py @@ -0,0 +1,292 @@ +"""Conservative open-gripper and retreat collision screen for tray placement. + +The carried-object checker is valid only until release. This checker keeps the +released target fixed at the proposed landing pose, opens both fingers to their +articulation limits, and then sweeps the open hand through the retreat posture. +It never changes simulation state; native physics and contact audits remain +authoritative. +""" +import math +import time +import hashlib +import json +from pathlib import Path + +import numpy as np + + +class ReleaseSweep: + """Screen the complete release motion against every live world object.""" + + def __init__( + self, + stage, + robot, + names, + hand, + target, + target_vertices, + prop_poses, + place_source, + pose_check=None, + deadline_s=900, + joint_step_rad=0.005, + ): + from pxr import Usd, UsdGeom, UsdPhysics + from collision_scene import Body, broad_overlap, collider_mesh, contact, matrix, rigid_ancestor + from native_planner import build + import trimesh + + if hand not in {"l", "r"}: + raise ValueError("release hand must be 'l' or 'r'") + self.deadline = time.monotonic() + float(deadline_s) + self.robot = robot + self.names = list(names) + self.hand = hand + self.target_path = str(target) + self.target_vertices = np.asarray(target_vertices, dtype=float) + self.pose_check = pose_check or build(stage) + self.contact = contact + self.broad_overlap = broad_overlap + self.cache = UsdGeom.XformCache() + self.environment = [] + self.last = None + self.joint_step_rad = float(joint_step_rad) + if self.target_vertices.ndim != 2 or self.target_vertices.shape[1] != 3: + raise ValueError("target_vertices must be an Nx3 array") + if not 0 < self.joint_step_rad <= 0.02: + raise ValueError("joint_step_rad must be in (0, 0.02]") + + # A single conservative convex target is used at the proposed landing + # pose. The target's authored colliders are excluded below so it is + # represented exactly once during the release sweep. + self.target = Body(self.target_path, trimesh.convex.convex_hull(self.target_vertices)) + for prim in Usd.PrimRange(stage.GetPseudoRoot(), Usd.TraverseInstanceProxies()): + path = str(prim.GetPath()) + if path.startswith("/World/Robot/") or path == self.target_path or path.startswith(self.target_path + "/"): + continue + if not prim.HasAPI(UsdPhysics.CollisionAPI): + continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False: + continue + mesh, _, _ = collider_mesh(prim) + world = matrix(self.cache.GetLocalToWorldTransform(prim)) + owner = rigid_ancestor(prim) + if owner and str(owner.GetPath()) in prop_poses: + authored = matrix(self.cache.GetLocalToWorldTransform(owner)) + authored[:3, :3] /= np.linalg.norm(authored[:3, :3], axis=0) + world = np.asarray(prop_poses[str(owner.GetPath())], dtype=float) @ np.linalg.inv(authored) @ world + mesh.apply_transform(world) + # The base has intentional floor contact. Furniture, the tray, + # and every placed or shelf object remain in the 3-D environment. + if mesh.bounds[1, 2] < 0.08: + continue + self.environment.append(Body(path, mesh)) + self.low = np.asarray([body.lo for body in self.environment]) + self.high = np.asarray([body.hi for body in self.environment]) + + # The gripper is a constrained passive linkage. Independently moving + # every joint to a limit creates impossible intermediate postures, so + # use the actual 60 Hz articulation trajectory from this item's exact + # accepted place source. The new arm/waist retreat remains planned in + # the current room; only the passive finger linkage comes from source. + source = Path(place_source) + recording_path = source / "recording_60hz.npz" + metrics_path = source / "place_metrics.json" + if not recording_path.is_file() or not metrics_path.is_file(): + raise FileNotFoundError(f"accepted place source lacks release evidence: {source}") + recording = np.load(recording_path) + metrics = json.loads(metrics_path.read_text()) + if str(metrics.get("hand")) != hand: + raise ValueError("accepted place source hand does not match active hand") + source_names = recording["robot_dof_names"].tolist() + source_q = np.asarray(recording["robot_joint_position_rad_or_m"], dtype=float) + frame_position = np.asarray(recording["render_frame_position"], dtype=float) + self.gripper_indices = [i for i, name in enumerate(self.names) if f"gripper_{hand}" in name] + if len(self.gripper_indices) != 8: + raise ValueError("expected eight assigned gripper articulation joints") + try: + source_indices = [source_names.index(self.names[i]) for i in self.gripper_indices] + outer_index = source_names.index(f"idx{4 if hand == 'l' else 8}1_gripper_{hand}_outer_joint1") + except ValueError as exc: + raise ValueError("accepted place source gripper schema mismatch") from exc + estimated = int(np.searchsorted(frame_position, float(metrics["release_t"]))) + final_outer = float(np.median(source_q[-60:, outer_index])) + baseline_slice = source_q[max(0, estimated - 90):max(1, estimated - 15), outer_index] + baseline_outer = float(np.median(baseline_slice)) + threshold = max(0.01, 0.02 * abs(final_outer - baseline_outer)) + search_lo = max(0, estimated - 120) + search_hi = min(len(source_q), estimated + 60) + changed = np.flatnonzero(np.abs(source_q[search_lo:search_hi, outer_index] - baseline_outer) > threshold) + if not len(changed): + raise ValueError("accepted place source has no detectable gripper opening") + opening_start = max(search_lo, search_lo + int(changed[0]) - 1) + opening_end = None + for index in range(opening_start + 1, len(source_q) - 10): + if np.all(np.abs(source_q[index:index + 10, outer_index] - final_outer) <= 0.004): + opening_end = index + break + if opening_end is None: + raise ValueError("accepted place source gripper never reaches a stable open state") + self.source_open_path = source_q[opening_start:opening_end + 1, source_indices].copy() + self.source_open_final = np.median(source_q[-60:, source_indices], axis=0) + self.source_evidence = { + "place_source": str(source), + "recording_60hz_sha256": hashlib.sha256(recording_path.read_bytes()).hexdigest(), + "place_metrics_sha256": hashlib.sha256(metrics_path.read_bytes()).hexdigest(), + "opening_start_row": int(opening_start), + "opening_end_row": int(opening_end), + "source_opening_samples": int(len(self.source_open_path)), + "release_t_20hz": float(metrics["release_t"]), + } + + self.allowed_target_links = { + f"/World/Robot/gripper_{hand}_inner_link4", + f"/World/Robot/gripper_{hand}_outer_link4", + } + + def _check(self, q, base, phase, sample_index, fraction, allowed_contacts): + if time.monotonic() > self.deadline: + raise RuntimeError("release sweep exceeded its deadline") + fk = self.robot.fk(self.names, q, base) + okay, detail = self.pose_check(fk, self.robot.root) + if not okay: + self.last = {"kind": "self_or_wrist", "phase": phase, "sample": sample_index, "detail": detail} + return False + for body in self.pose_check.bodies: + body.update(fk[body.name.replace("/World/Robot", self.robot.root, 1)]) + + for body in self.pose_check.bodies: + if self.broad_overlap(self.target, body): + hit = self.contact(self.target, body, containment=True) + if hit is not None: + if body.name in self.allowed_target_links: + allowed_contacts.append( + {"phase": phase, "sample": int(sample_index), "fraction": float(fraction), "link": body.name} + ) + else: + self.last = { + "kind": "released_target_robot", + "phase": phase, + "sample": int(sample_index), + "target": self.target.name, + "robot": body.name, + } + return False + if len(self.environment): + indices = np.flatnonzero(np.all(self.high >= body.lo, axis=1) & np.all(self.low <= body.hi, axis=1)) + for index in indices: + other = self.environment[index] + if self.contact(body, other, containment=True) is not None: + self.last = { + "kind": "released_world", + "phase": phase, + "sample": int(sample_index), + "robot": body.name, + "obstacle": other.name, + } + return False + return True + + def check(self, landing_q, retreat_q, base, target_pose): + landing_q = np.asarray(landing_q, dtype=float) + retreat_q = np.asarray(retreat_q, dtype=float) + base = np.asarray(base, dtype=float) + target_pose = np.asarray(target_pose, dtype=float) + if landing_q.shape != retreat_q.shape or landing_q.shape != (len(self.names),): + raise ValueError("release sweep requires two full robot joint vectors") + if base.shape != (4, 4) or target_pose.shape != (4, 4): + raise ValueError("release sweep base and target pose must be 4x4") + + self.target.update(target_pose) + # First bridge the measured live grasp to the source's initial passive + # linkage state, then follow every recorded source opening sample. + source_first = self.source_open_path[0] + bridge_count = max(2, int(math.ceil(np.max(np.abs(source_first - landing_q[self.gripper_indices])) / self.joint_step_rad)) + 1) + opening_path = [] + for fraction in np.linspace(0.0, 1.0, bridge_count): + q = landing_q.copy() + q[self.gripper_indices] = landing_q[self.gripper_indices] * (1.0 - fraction) + source_first * fraction + opening_path.append(q) + for values in self.source_open_path[1:]: + q = landing_q.copy() + q[self.gripper_indices] = values + opening_path.append(q) + while len(opening_path) < 121: + opening_path.append(opening_path[-1].copy()) + opened_q = opening_path[-1].copy() + opened_q[self.gripper_indices] = self.source_open_final + retreat_open_q = np.asarray(retreat_q, dtype=float).copy() + retreat_open_q[self.gripper_indices] = self.source_open_final + opening_count = len(opening_path) + retreat_count = max(61, int(math.ceil(np.max(np.abs(retreat_open_q - opened_q)) / self.joint_step_rad)) + 1) + allowed_contacts = [] + contact_samples = {"opening": set(), "retreat": set()} + samples = 0 + self.last = None + phase_paths = ( + ("opening", opening_path), + ("retreat", [opened_q * (1.0 - u) + retreat_open_q * u for u in np.linspace(0.0, 1.0, retreat_count)]), + ) + for phase, path in phase_paths: + count = len(path) + for sample_index, q in enumerate(path): + fraction = sample_index / max(1, count - 1) + samples += 1 + before = len(allowed_contacts) + if not self._check(q, base, phase, sample_index, fraction, allowed_contacts): + return False, { + "status": "BLOCKED", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "detail": self.last, + } + if len(allowed_contacts) > before: + contact_samples[phase].add(sample_index) + + # Assigned fingertips may initially touch the released object, but the + # final quarter must be separated and contact may not reappear after + # three consecutive clean retreat samples. + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late_contacts = sorted(i for i in contact_samples["retreat"] if i >= late_start) + clean_start = None + for index in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (index, index + 1, index + 2)): + clean_start = index + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if late_contacts or clean_start is None or recontacts: + self.last = { + "kind": "assigned_finger_target_failed_to_separate", + "late_contact_samples": late_contacts, + "first_three_clean_start": clean_start, + "recontact_samples": recontacts, + } + return False, { + "status": "BLOCKED", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "detail": self.last, + } + + report = { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "joint_step_rad_max": self.joint_step_rad, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": self.source_evidence, + "assigned_contact_samples": {key: sorted(value) for key, value in contact_samples.items()}, + "first_three_clean_retreat_start": clean_start, + "final_retreat_quarter_clear": True, + "no_recontact_after_three_clean_samples": True, + "all_live_props_checked": True, + "released_target_stationary_at_goal": True, + "pose_writes_or_resets": False, + } + self.last = None + return True, report diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/repair_place_station.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/repair_place_station.py new file mode 100644 index 0000000000000000000000000000000000000000..39db9c53f92ce1dea3c64e0ad51ae1da1885c70c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/repair_place_station.py @@ -0,0 +1,224 @@ +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/return_head_policy.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/return_head_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..04381392e5018fe8c6e8f7e3bebc4f4273e1d0f9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/return_head_policy.py @@ -0,0 +1,132 @@ +"""Physically recorded, collision-screened level gaze during empty-hand return.""" +from pathlib import Path +import hashlib +import numpy as np + +HEAD_JOINTS = ('idx11_head_joint1', 'idx12_head_joint2') +POLICY = 'empty_return_forward_head_v3' +BODY_PITCH_JOINT = 'idx02_body_joint2' +# Compensate torso pitch, retaining 0.5 degree margin inside native head limits. +PITCH_CLIP_RAD = tuple(np.deg2rad([-19.5, 29.5])) + +def head_target(q, names): + return (0.0, float(np.clip(-np.asarray(q)[list(names).index(BODY_PITCH_JOINT)], *PITCH_CLIP_RAD))) + +TRANSITION_SECONDS = 2.0 + + +def level_head(q, names): + result = np.asarray(q, dtype=float).copy() + for joint, value in zip(HEAD_JOINTS, head_target(q, names)): + result[list(names).index(joint)] = value + return result + + +def wrap_planner(planner): + def plan(stage, robot, names, q, base, prop_poses, next_pick_base, + next_pick_q, release, job): + from multi_motion import EmptyClearance + q = np.asarray(q, dtype=float) + base = np.asarray(base, dtype=float) + next_pick_base = np.asarray(next_pick_base, dtype=float) + next_pick_q = np.asarray(next_pick_q, dtype=float) + leveled = level_head(q, names) + next_leveled = level_head(next_pick_q, names) + check = EmptyClearance(stage, robot, names, prop_poses, + deadline_s=float(job.get('return_plan_budget_s', 900))) + if not check.segment(q, leveled, base, base): + raise RuntimeError('Return head raise is not clear: ' + str(check.last)) + if not check.segment(next_leveled, next_pick_q, next_pick_base, next_pick_base): + raise RuntimeError('Stopped shelf gaze restoration is not clear: ' + str(check.last)) + compact, primitives, report = planner(stage, robot, names, leveled, base, + prop_poses, next_pick_base, next_leveled, release, job) + if not any(p.get('bridge_before') for p in primitives): + raise RuntimeError('Level-head return requires an explicit shelf approach boundary') + report = dict(report) + report['head_policy'] = dict(policy=POLICY, joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + lift_before_table_retreat=True, includes_shelf_approach=True, + restore_source_gaze_only_after_stopped_arrival=True, + both_head_transitions_full_body_and_all_props_screened=True) + return compact, primitives, report + return plan + + +def transition(ctx, desired_head, kind): + from multi_motion import EmptyClearance + names = ctx['names']; controls = ctx['control_names']; ids = ctx['ids'] + native = ctx['native']; target = native[ids].copy() + head_ids = [controls.index(joint) for joint in HEAD_JOINTS] + desired_head = np.asarray(desired_head, dtype=float) + if desired_head.shape != (2,) or not np.isfinite(desired_head).all(): + raise ValueError('Expected two finite head joint targets') + if np.allclose(target[head_ids], desired_head, atol=1e-10, rtol=0): + return + ctx['base_vw'] = np.zeros(2) + ctx['constrain']('hold') + q0 = np.asarray(ctx['robot'].get_joint_positions(), dtype=float).copy() + q1 = q0.copy() + for joint, value in zip(HEAD_JOINTS, desired_head): + q1[names.index(joint)] = value + base = ctx['mat'](ctx['base']) + props = {path: ctx['mat'](body) for path, body in zip(ctx['prop_paths'], ctx['props'])} + check = EmptyClearance(ctx['stage'], ctx['carry_robot'], names, props, deadline_s=900) + if not check.segment(q0, q1, base, base): + raise RuntimeError('Live stopped head transition not clear: ' + str(check.last)) + tick0 = len(ctx['rows']) + before = target[head_ids].copy() + target[head_ids] = desired_head + ctx['item_phase']('empty_return') + ctx['blend'](target, TRANSITION_SECONDS) + actual = np.asarray(ctx['robot'].get_joint_positions(), dtype=float) + error = np.abs(actual[[names.index(j) for j in HEAD_JOINTS]] - desired_head) + if np.max(error) > np.deg2rad(0.1): + raise RuntimeError('Head did not reach return gaze before navigation: ' + str(error)) + receipt = dict(schema='multi_return_head_transition_v1', policy=POLICY, + item_index=ctx['item_index'], kind=kind, start_tick=tick0, + end_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + previous_command_rad=before.tolist(), target_rad=desired_head.tolist(), + measured_error_rad=error.tolist(), base_held=True, + all_live_props_screened=True, no_pose_writes=True, + source_path=str(Path(__file__).resolve()), + source_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest()) + ctx['dump'](ctx['out']/f"RETURN_HEAD_TRANSITION.item_{ctx['item_index']:02d}.{kind}.tick_{tick0:08d}.json", receipt) + + +def wrap_executor(ctx, executor): + def execute(primitives, held_reference=None, return_motion=False, item_job=None): + if not return_motion: + return executor(primitives, held_reference=held_reference, + return_motion=False, item_job=item_job) + # The planner screens every moving segment with this exact head pose. + if not ctx.get('RETURN_HEAD_WALKING_ACTIVE', False): + transition(ctx, head_target(ctx['native'], ctx['names']), 'raise_before_walking') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = True + source_bridge = np.asarray(ctx['return_bridge_q'], dtype=float).copy() + ctx['return_bridge_q'] = level_head(source_bridge, ctx['control_names']) + try: + result = executor(primitives, held_reference=held_reference, + return_motion=True, item_job=item_job) + finally: + ctx['return_bridge_q'] = source_bridge + if any(p.get('bridge_before') for p in primitives): + # All base primitives have finished; only now look at the next item. + indices = [ctx['control_names'].index(j) for j in HEAD_JOINTS] + transition(ctx, source_bridge[indices], 'restore_pick_gaze_after_arrival') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = False + return result + return execute + + +def install(ctx): + if ctx.get('RETURN_HEAD_POLICY_INSTALLED') == POLICY: + return + ctx['plan_return'] = wrap_planner(ctx['plan_return']) + ctx['execute_primitives'] = wrap_executor(ctx, ctx['execute_primitives']) + ctx['RETURN_HEAD_POLICY_INSTALLED'] = POLICY + ctx['dump'](ctx['out']/'RETURN_HEAD_POLICY.json', dict(policy=POLICY, + installed_at_control_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + restore_only_while_stopped_at_shelf=True, + implementation_path=str(Path(__file__).resolve()), + implementation_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/run_episode.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/run_episode.py new file mode 100644 index 0000000000000000000000000000000000000000..8640a2587c276dded659eb987f4c5d224d3e3816 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/run_episode.py @@ -0,0 +1,671 @@ +"""One continuous native rollout for every requested shelf-to-tray item. + +No pose writes after initial setup. Diagnostics never count as accepted episodes. +""" +import os,sys,json,math,time,traceback,gzip,subprocess,hashlib,importlib.util +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent;case=Path(sys.argv[1]);job=json.loads((case/'job.json').read_text());R=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(W.parents[1]))) +items=job.get('items') or [dict(target=job['target'],hand=job['hand'],product=job.get('product'),pick_source=job.get('pick_source'),pick_base=job['initial_base'],controls_file=str(case/'controls.npz'),destination_xyz=job['destination_xyz'])] +if not items:raise ValueError('job.items must contain at least one item') +def controls_path(item): + p=Path(item.get('controls_file',case/'controls.npz'));return p if p.is_absolute() else case/p +def load_controls(item):return np.load(controls_path(item),allow_pickle=False) +data=load_controls(items[0]);target_paths=[str(item['target']) for item in items] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'code/family3_repair/real2sim/teleop'),str(R/'work/family3_repair/collision/python_deps')] +os.environ.setdefault('SPATIALINDEX_C_LIBRARY',str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so')) +from isaacsim import SimulationApp +app=SimulationApp({'headless':True,'limit_cpu_threads':8}) +import omni.usd +from pxr import Usd,UsdGeom,UsdPhysics,PhysxSchema,Gf,PhysicsSchemaTools +from scipy.spatial.transform import Rotation as Rot,Slerp +from scipy.optimize import least_squares +from isaacsim.core.api import SimulationContext +from isaacsim.core.prims import SingleArticulation,SingleRigidPrim +from isaacsim.core.utils.types import ArticulationAction +from omni.physx import get_physx_simulation_interface +from navigation import PrimitiveController + +class PrecisionReturnController: + """The native stop/turn/drive law with pickup-safe terminal tolerances.""" + def __init__(self,primitive):self.primitive=primitive;self.speed=0.;self.done=False + def step(self,current,dt=1/60): + goal=np.asarray(self.primitive['goal'],dtype=float);yaw=float(current[2]);heading=np.array([math.cos(yaw),math.sin(yaw)]) + if self.primitive['kind']=='turn': + error=math.atan2(math.sin(goal[2]-yaw),math.cos(goal[2]-yaw));desired=math.copysign(min(.25,max(.003,1.5*abs(error))),error) if abs(error)>.00009 else 0. + self.speed+=float(np.clip(desired-self.speed,-.3*dt,.3*dt));self.done=abs(error)<.00009 and abs(self.speed)<.0002 + return np.array([0.,0.,self.speed]) + error=goal[:2]-np.asarray(current[:2]);along=float(error@heading);lateral=float(error@np.array([-heading[1],heading[0]])) + if abs(lateral)>.015:raise RuntimeError(f'Straight drive lateral tracking error {lateral:.6f} m; replan instead of strafing') + if abs(math.atan2(math.sin(goal[2]-yaw),math.cos(goal[2]-yaw)))>.01:raise RuntimeError('Straight drive heading drift; stop and replan') + desired=math.copysign(min(.18,max(.0001,min(1.5*abs(along),.8*math.sqrt(2*.12*abs(along))))),along) if abs(along)>.0002 else 0. + self.speed+=float(np.clip(desired-self.speed,-.12*dt,.12*dt));self.done=abs(along)<.0002 and abs(self.speed)<.001 + return np.r_[heading*self.speed,0.] + +PRECISION_RETURN_POLICY=dict( + controller='PrecisionReturnController',scope='primitives_with_return_stage_only', + turn_deadband_rad=.00009,turn_done_error_rad=.00009,turn_done_speed_rad_s=.0002,turn_min_speed_rad_s=.003, + turn_min_speed_basis='native_static_friction_microturn_recoveries_layout07_layout10_0p003_rad_s', + drive_deadband_m=.0002,drive_done_error_m=.0002,drive_done_speed_m_s=.001,drive_min_speed_m_s=.0001, + speed_and_acceleration_caps_unchanged=True,static_friction_endpoint_acceptance_m_rad=[.0005,.0001],arrival_translation_gate_m=.0005,arrival_yaw_gate_rad=.0001) +out=case/'rollout';out.mkdir(exist_ok=False) +def dump(p,d): + tmp=p.with_suffix(p.suffix+'.tmp');tmp.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');tmp.replace(p) +def archive_exact(folder,digest,suffix,raw): + folder.mkdir(parents=True,exist_ok=True);path=folder/f'{digest}{suffix}' + if path.exists(): + if path.read_bytes()!=raw:raise RuntimeError('Hash archive collision or corrupted prior archive: '+str(path)) + else: + tmp=folder/f'.{digest}.{os.getpid()}.tmp';tmp.write_bytes(raw);tmp.replace(path) + return str(path) +def status(state,**extra):dump(case/'STATUS.json',dict(status=state,phase=phase,item_index=item_index,completed_objects=completed_objects,control_ticks=len(rows),updated=time.time(),base_pose=pose(base).tolist() if 'base' in globals() else None,target_pose=pose(target).tolist() if 'target' in globals() else None,**extra)) +phase='initializing';item_index=-1;completed_objects=[];item_events=[];planning_waits=[] +rows=[];target_rows=[];target_all_rows=[];active_target_rows=[];item_index_rows=[];base_rows=[];measured=[];commands=[];base_commands=[];phases=[];nav_modes=[];nav_anchors=[];times=[];joint_velocities=[];link_rows=[] +omni.usd.get_context().open_stage(job['scene']);stage=omni.usd.get_context().get_stage() +# Released rug surfaces are visual floor dressing, not physical step obstacles. +# Preserve those authored semantics; the real floor collider remains enabled. +released=Usd.Stage.Open(job['layout']);floor_dressing=[] +rug=stage.GetPrimAtPath('/World/Assets/LivingRoomRug') +if rug: + for p in Usd.PrimRange(rug): + authored=released.GetPrimAtPath(p.GetPath()) + if p.HasAPI(UsdPhysics.CollisionAPI) and authored and not authored.HasAPI(UsdPhysics.CollisionAPI): + UsdPhysics.CollisionAPI(p).GetCollisionEnabledAttr().Set(False);floor_dressing.append(str(p.GetPath())) +dump(out/'RELEASED_FLOOR_DRESSING.json',dict(policy='preserve_original_nonphysical_floor_dressing',paths=floor_dressing,real_floor_collision_retained=True)) +# The old fixed task root joint must not make the articulation fixed-base. +root_anchor=UsdPhysics.FixedJoint(stage.GetPrimAtPath('/World/Robot/base_link/FixedJoint')) +root_anchor.CreateExcludeFromArticulationAttr(True);root_anchor.GetJointEnabledAttr().Set(False) +# A free articulation otherwise picks a graph-center link as its root. +stage.GetPrimAtPath('/World/Robot').RemoveAPI(UsdPhysics.ArticulationRootAPI) +base_prim=stage.GetPrimAtPath('/World/Robot/base_link');UsdPhysics.ArticulationRootAPI.Apply(base_prim) +PhysxSchema.PhysxArticulationAPI.Apply(base_prim).CreateEnabledSelfCollisionsAttr(True) +# Navigation uses native constraints and velocity drives, not root teleportation. +nav_joints={};nav_drives={} +for kind,cls,axis,drive_name in [('turn',UsdPhysics.RevoluteJoint,'Z','angular'),('drive',UsdPhysics.PrismaticJoint,'X','linear'),('hold',UsdPhysics.FixedJoint,None,None)]: + joint=cls.Define(stage,'/World/ChainNavigation_'+kind);joint.CreateBody1Rel().SetTargets(['/World/Robot/base_link']);joint.CreateExcludeFromArticulationAttr(True);joint.CreateJointEnabledAttr(False);joint.CreateLocalPos0Attr(Gf.Vec3f(0));joint.CreateLocalRot0Attr(Gf.Quatf(1));joint.CreateLocalPos1Attr(Gf.Vec3f(0));joint.CreateLocalRot1Attr(Gf.Quatf(1)) + if axis: + joint.CreateAxisAttr(axis);joint.CreateLowerLimitAttr(-170. if kind=='turn' else -15.);joint.CreateUpperLimitAttr(170. if kind=='turn' else 15.) + d=UsdPhysics.DriveAPI.Apply(joint.GetPrim(),drive_name);d.CreateTypeAttr('force');d.CreateStiffnessAttr(0.);d.CreateDampingAttr(100000.);d.CreateMaxForceAttr(100000.);d.CreateTargetVelocityAttr(0.);nav_drives[kind]=d + nav_joints[kind]=joint +for p in stage.Traverse(): + if p.HasAPI(UsdPhysics.RigidBodyAPI):PhysxSchema.PhysxContactReportAPI.Apply(p).CreateThresholdAttr().Set(0.) +from tray_appearance import apply as apply_tray_appearance +dump(out/'TRAY_APPEARANCE.json',apply_tray_appearance(stage,job)) +# All exact runtime settings are exported before stepping. +for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')): + if p.GetName() in ['idx41_gripper_l_outer_joint1','idx81_gripper_r_outer_joint1']: + d=UsdPhysics.DriveAPI.Apply(p,'angular');d.GetMaxForceAttr().Set(80.) +from robot_collision_profile import audit_full_robot_collision_profile +profile=audit_full_robot_collision_profile(stage);dump(out/'ROBOT_COLLISION_PROFILE.json',profile) +params={p.GetName():{a.GetName():str(a.Get()) for a in p.GetAttributes() if a.GetName().startswith(('physics:','physx','drive:'))} for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')) if p.IsA(UsdPhysics.Joint)} +dump(out/'robot_and_camera_parameters.json',params);stage.GetRootLayer().Export(str(out/'scene.usda')) +sim=SimulationContext(physics_dt=1/240,rendering_dt=1/60);sim.initialize_physics();sim.play() +assert abs(sim.get_physics_dt()-1/240)<1e-12, 'Physics timestep must be 240 Hz' +dump(out/'PHYSICS_CLOCK.json',dict(physics_dt_s=sim.get_physics_dt(),physics_hz=1/sim.get_physics_dt(),substeps_per_control=4,control_hz=60,training_hz=20)) +# Save runtime units/up-axis after SimulationContext authors them. +stage.GetRootLayer().Export(str(out/'scene.usda')) +robot=SingleArticulation('/World/Robot/base_link');robot.initialize();names=list(robot.dof_names);control_names=data['names'].tolist();ids=np.array([names.index(n) for n in control_names]) +native=np.zeros(len(names));source_names=job['source_dof_names'];sourceq=np.asarray(job['source_initial_q']) +for i,n in enumerate(names):native[i]=sourceq[source_names.index(n)] if n in source_names else 0. +native[ids]=data['initial'];base0=np.asarray(job['initial_base']);bq=Rot.from_matrix(base0[:3,:3]).as_quat();robot.set_world_pose(base0[:3,3],np.r_[bq[3],bq[:3]]);robot.set_joint_positions(native);robot.set_joint_velocities(np.zeros(len(names))) +efforts=np.asarray(robot.get_articulation_controller().get_max_efforts()).reshape(-1);drive_readback={n:float(efforts[names.index(n)]) for n in control_names[18:]} +assert all(abs(v-80.)<1e-5 for v in drive_readback.values()),drive_readback +dump(out/'LIVE_DRIVE_READBACK.json',drive_readback) +params['dof_names']=names;params['action_names']=control_names+['base_forward_m_s','base_yaw_rate_rad_s'];params['runtime_gripper_max_effort_Nm']=drive_readback;params['cameras']={} +for key,path in [('top_head','/World/Robot/head_link2/Head_Camera'),('hand_left','/World/Robot/gripper_l_base_link/Left_Camera'),('hand_right','/World/Robot/gripper_r_base_link/Right_Camera')]: + camera=stage.GetPrimAtPath(path);params['cameras'][key]=dict(path=path,attributes={a.GetName():str(a.Get()) for a in camera.GetAttributes()},world_extrinsics='camera_extrinsics_20hz.npz') +dump(out/'robot_and_camera_parameters.json',params) + +base=robot +target_objects=[] +for path in target_paths: + rb=SingleRigidPrim(path);rb.initialize();target_objects.append(rb) +target=target_objects[0];hand=SingleRigidPrim('/World/Robot/gripper_'+items[0]['hand']+'_base_link');hand.initialize() +link_paths=[str(p.GetPath()) for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')) if p.HasAPI(UsdPhysics.RigidBodyAPI)];links=[] +for path in link_paths: + rb=robot if path=='/World/Robot/base_link' else SingleRigidPrim(path) + if rb is not robot:rb.initialize() + links.append(rb) +prop_paths=[str(p.GetPath()) for p in stage.Traverse() if not str(p.GetPath()).startswith('/World/Robot/') and p.HasAPI(UsdPhysics.RigidBodyAPI) and UsdPhysics.RigidBodyAPI(p).GetRigidBodyEnabledAttr().Get()] +props=[];prop_rows=[] +for path in prop_paths: + rb=SingleRigidPrim(path);rb.initialize();props.append(rb) +def pose(rb): + p,q=rb.get_world_pose();return np.r_[p,q[1:],q[0]] +def mat(rb): + p=pose(rb);m=np.eye(4);m[:3,:3]=Rot.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m +def base_state(): + p=pose(base);return np.r_[p[:2],Rot.from_quat(p[3:]).as_euler('xyz')[2]] +def held():return np.linalg.inv(mat(hand))@mat(target) +requested_initial_target_pose=np.stack([pose(rb) for rb in target_objects]) +dump(out/'TARGET_INITIAL_POSES.json',dict(target_paths=target_paths,pose_order='x,y,z,qx,qy,qz,qw',target_pose=requested_initial_target_pose.tolist(),capture='before_episode_motion')) +nav_mode='hold';base_vw=np.zeros(2);anchor=stage.GetPrimAtPath('/World/Robot/base_link/FixedJoint');anchor.GetAttribute('physics:jointEnabled').Set(False) +def constrain(kind,recorded_anchor=None): + global nav_mode,nav_anchor + nav_mode=kind;p=pose(base) if recorded_anchor is None else np.asarray(recorded_anchor);nav_anchor=p.copy() + for j in nav_joints.values():j.GetJointEnabledAttr().Set(False) + j=nav_joints[kind];j.GetLocalPos0Attr().Set(Gf.Vec3f(*map(float,p[:3])));j.GetLocalRot0Attr().Set(Gf.Quatf(float(p[6]),Gf.Vec3f(*map(float,p[3:6]))));j.GetJointEnabledAttr().Set(True) + get_physx_simulation_interface().flush_changes() +constrain('hold') +assert np.linalg.norm(pose(base)[:3]-base0[:3,3])<.002,('Initial physical base does not match requested station',pose(base),base0[:3,3]) +# Settle the real native scene under the exact first recorded command before any +# dataset row, contact, or camera frame is captured. This is ordinary physics: +# no pose write, reset, frozen body, or hidden control row occurs here. +PREROLL_HZ=60;PREROLL_WINDOW=30;PREROLL_MAX_SAMPLES=60*PREROLL_HZ +PREROLL_THRESHOLDS=dict(prop_translation_m=0.00005,prop_rotation_rad=float(np.deg2rad(.02)), + robot_translation_m=0.00005,robot_rotation_rad=float(np.deg2rad(.02)), + camera_translation_m=0.00005,camera_rotation_rad=float(np.deg2rad(.01)),passive_finger_projected_motion_px=0.25) +camera_link_indices=[link_paths.index(p) for p in ['/World/Robot/head_link2','/World/Robot/gripper_l_base_link','/World/Robot/gripper_r_base_link']] +from preroll_stability import build_projection_model,evaluate_projection +projection_model=build_projection_model(stage,link_paths);last_projection=None +pre_q=[];pre_qv=[];pre_base=[];pre_link=[];pre_prop=[];pre_metrics=[] +initial_prop_pose_before_preroll=np.stack([pose(rb) for rb in props]);initial_robot_link_pose_before_preroll=np.stack([pose(rb) for rb in links]) +initial_prop_maxima=dict(translation_m=0.,downward_m=0.,rotation_rad=0.) +def check_initial_props(): + current=np.asarray(pre_prop[-1],dtype=np.float64);initial=np.asarray(initial_prop_pose_before_preroll,dtype=np.float64) + displacement=np.linalg.norm(current[:,:3]-initial[:,:3],axis=1);downward=initial[:,2]-current[:,2] + a=current[:,3:]/np.linalg.norm(current[:,3:],axis=1,keepdims=True);b=initial[:,3:]/np.linalg.norm(initial[:,3:],axis=1,keepdims=True) + angle=2*np.arccos(np.clip(np.abs(np.sum(a*b,axis=1)),0.,1.)) + initial_prop_maxima['translation_m']=max(initial_prop_maxima['translation_m'],float(displacement.max(initial=0.))) + initial_prop_maxima['downward_m']=max(initial_prop_maxima['downward_m'],float(downward.max(initial=0.))) + initial_prop_maxima['rotation_rad']=max(initial_prop_maxima['rotation_rad'],float(angle.max(initial=0.))) + bad=np.flatnonzero((displacement>.02)|(downward>.01)|(angle>np.deg2rad(15.))) + if len(bad): + failures=[dict(path=prop_paths[int(i)],translation_m=float(displacement[i]),downward_m=float(downward[i]),rotation_rad=float(angle[i])) for i in bad] + dump(out/'INITIAL_PROP_NO_FALL.json',dict(passed=False,physics_sample=len(pre_prop),failures=failures,thresholds=dict(translation_m=.02,downward_m=.01,rotation_deg=15.),all_requested_and_nonrequested_props_included=True)) + raise RuntimeError('Initial scene prop moved or fell before capture: '+json.dumps(failures)) + +def pose_span(a): + if a.shape[1]==0:return 0.,0. + xyz=np.asarray(a[:,:,:3],dtype=np.float64);quat=np.asarray(a[:,:,3:],dtype=np.float64) + quat/=np.linalg.norm(quat,axis=-1,keepdims=True) + dx=xyz[:,None,:,:]-xyz[None,:,:,:] + trans=float(np.linalg.norm(dx,axis=-1).max()) + dots=np.abs(np.einsum('tni,sni->tsn',quat,quat));dots=np.clip(dots,-1.,1.) + angle=float((2*np.arccos(dots)).max()) + return trans,angle +def window_metrics(): + l=np.asarray(pre_link[-PREROLL_WINDOW:]);p=np.asarray(pre_prop[-PREROLL_WINDOW:]) + m=geometry_metrics(l,p) + q=np.asarray(pre_q[-PREROLL_WINDOW:]);qv=np.asarray(pre_qv[-PREROLL_WINDOW:]) + m.update(joint_span=float(np.ptp(q,axis=0).max()),joint_speed_max=float(np.abs(qv).max())) + return m +def geometry_metrics(l,p): + lt,lr=pose_span(l);pt,pr=pose_span(p);ct,cr=pose_span(l[:,camera_link_indices]);dt,dr=pose_span(l[:,projection_model['driven_indices']]) + return dict(robot_link_translation_span_m=lt,robot_link_rotation_span_rad=lr, + prop_translation_span_m=pt,prop_rotation_span_rad=pr, + camera_link_translation_span_m=ct,camera_link_rotation_span_rad=cr, + driven_robot_link_translation_span_m=dt,driven_robot_link_rotation_span_rad=dr) +def stable(m): + t=PREROLL_THRESHOLDS + return (m['driven_robot_link_translation_span_m']<=t['robot_translation_m'] and m['driven_robot_link_rotation_span_rad']<=t['robot_rotation_rad'] + and m['prop_translation_span_m']<=t['prop_translation_m'] and m['prop_rotation_span_rad']<=t['prop_rotation_rad'] + and m['camera_link_translation_span_m']<=t['camera_translation_m'] and m['camera_link_rotation_span_rad']<=t['camera_rotation_rad']) +phase='physics_preroll_unrecorded' +if len(sys.argv)>2: + preroll_source=np.load(sys.argv[2]);preroll_source_ids=[preroll_source['dof_names'].tolist().index(n) for n in control_names] + initial_command=np.asarray(preroll_source['native_target'][0,preroll_source_ids],dtype=float).copy() +else:initial_command=np.asarray(data['initial'],dtype=float).copy() +native[ids]=initial_command +try: + for sample in range(PREROLL_MAX_SAMPLES-3): + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + if len(pre_q)>=PREROLL_WINDOW: + m=window_metrics();m['sample']=sample+1;m['time_s']=(sample+1)/PREROLL_HZ;pre_metrics.append(m) + # Exact mesh projection is intentionally sparse: it is expensive and passive + # solver jitter changes slowly. Recheck at most once per 0.5 s, while the + # strict prop/camera/driven-link metrics remain evaluated every sample. + if stable(m) and (last_projection is None or (sample+1)%PREROLL_WINDOW==0): + last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + if last_projection['status']=='PASSED':break + else:raise RuntimeError('Native scene did not meet startup stability thresholds within 60 seconds') + evidence=dict(status='PASSED',physics_hz=240,sample_hz=PREROLL_HZ,steps=4*len(pre_q),duration_s=len(pre_q)/PREROLL_HZ, + stability_window_s=PREROLL_WINDOW/PREROLL_HZ,thresholds=PREROLL_THRESHOLDS,final_window=pre_metrics[-1],passive_finger_projection=last_projection, + exact_initial_command_sha256=hashlib.sha256(initial_command.tobytes()).hexdigest(),recorded_rows=0, + contact_capture_started=False,camera_capture_started=False,no_pose_writes_or_resets=True, + initial_snapshot_semantics='Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.', + initial_prop_pose_before_preroll_sha256=hashlib.sha256(initial_prop_pose_before_preroll.tobytes()).hexdigest()) + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics])) + dump(out/'PREROLL_EVIDENCE.json',evidence) +except Exception as exc: + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics])) + dump(out/'PREROLL_EVIDENCE.json',dict(status='FAILED',error=repr(exc),physics_hz=240,duration_s=len(pre_q)/PREROLL_HZ, + thresholds=PREROLL_THRESHOLDS,final_window=pre_metrics[-1] if pre_metrics else None,passive_finger_projection=last_projection, + recorded_rows=0,contact_capture_started=False,camera_capture_started=False)) + status('FAILED',error='Physics preroll: '+repr(exc));app.close();raise + +contact_stream=None +contact_callback_rows=0;recent_support_contacts={path:[] for path in target_paths} +recent_grasp_contacts={path:{'inner':[],'outer':[],'environment':[]} for path in target_paths} +def on_contact(headers,points): + global contact_callback_rows + for h in headers: + if not h.num_contact_data:continue + actors=[str(PhysicsSchemaTools.intToSdfPath(x)) for x in [h.actor0,h.actor1]] + colliders=[str(PhysicsSchemaTools.intToSdfPath(x)) for x in [h.collider0,h.collider1]] + if not any(a.startswith('/World/Robot/') or any(a==p or a.startswith(p+'/') for p in target_paths) for a in actors+colliders):continue + selected=points[h.contact_data_offset:h.contact_data_offset+h.num_contact_data] + row=dict(tick=len(rows)+1,phase=phase,item_index=item_index,active_target_path=target_paths[item_index] if item_index>=0 else '',actors=actors,colliders=colliders,points=int(h.num_contact_data),min_separation_m=min(float(p.separation) for p in selected),impulse_sum=[float(sum(p.impulse[k] for p in selected)) for k in range(3)]);contact_stream.write(json.dumps(row)+'\n');contact_callback_rows+=1 + for requested in target_paths: + touches_target=any(a==requested or a.startswith(requested+'/') for a in actors+colliders) + touches_tray=any(a=='/World/Assets/Tray' or a.startswith('/World/Assets/Tray/') for a in actors+colliders) + if touches_target and touches_tray:recent_support_contacts[requested].append(len(rows)+1) + if item_index>=0: + requested=target_paths[item_index];gripper_prefix='/World/Robot/gripper_'+items[item_index]['hand'] + touches_target=any(a==requested or a.startswith(requested+'/') for a in actors+colliders) + if touches_target: + evidence=recent_grasp_contacts[requested];tick=len(rows)+1 + if any(a==gripper_prefix+'_inner_link4' or a.startswith(gripper_prefix+'_inner_link4/') for a in actors+colliders):evidence['inner'].append(tick) + if any(a==gripper_prefix+'_outer_link4' or a.startswith(gripper_prefix+'_outer_link4/') for a in actors+colliders):evidence['outer'].append(tick) + other_nonrobot=any(a and not (a==requested or a.startswith(requested+'/') or a.startswith('/World/Robot/')) for a in actors+colliders) + if other_nonrobot:evidence['environment'].append(tick) + for values in evidence.values(): + if len(values)>2000:del values[:-1000] +subscription=None +# Capture cameras from the same physical simulation and the same sampling ticks. +writers={};renderers={} +if os.environ.get('CHAIN_RENDER','1')=='1': + import omni.replicator.core as rep + import subprocess + for key,path,w,h in [('top_head','/World/Robot/head_link2/Head_Camera',1280,800),('hand_left','/World/Robot/gripper_l_base_link/Left_Camera',848,480),('hand_right','/World/Robot/gripper_r_base_link/Right_Camera',848,480)]: + product=rep.create.render_product(path,(w,h));ann=rep.AnnotatorRegistry.get_annotator('rgb');ann.attach([product]);renderers[key]=(product,ann,w,h) + # Prime the renderer after stability. Replicator's annotator graph requires a + # physics update after attachment before its first safe read, so three further + # unrecorded hold samples are included in the preroll evidence below. + for _ in range(12):sim.render() + for _ in range(3): + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera warmup frame missing') + m=window_metrics() + last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + warmup_samples=3 + while not stable(m) or last_projection['status']!='PASSED': + if len(pre_q)>=PREROLL_MAX_SAMPLES:raise RuntimeError('Camera priming did not recover strict startup stability within 60 seconds') + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + warmup_samples+=1;sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera rewarm frame missing') + m=window_metrics() + if stable(m):last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + evidence.update(steps=4*len(pre_q),duration_s=len(pre_q)/PREROLL_HZ,final_window=m,camera_warmup_physics_samples=warmup_samples, + discarded_render_reads=warmup_samples,passive_finger_projection=last_projection) + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics]+[json.dumps(m)])) + dump(out/'PREROLL_EVIDENCE.json',evidence) + for key,(_,ann,w,h) in renderers.items(): + writers[key]=subprocess.Popen(['ffmpeg','-v','error','-y','-f','rawvideo','-pix_fmt','rgb24','-s',f'{w}x{h}','-r','20','-i','-','-c:v','libx264','-preset','fast','-threads','2','-crf','21','-pix_fmt','yuv420p',str(out/(key+'.mp4'))],stdin=subprocess.PIPE) + dump(out/'CAMERA_WARMUP.json',dict(status='PASSED',after_physics_stability=True,discarded_render_reads=warmup_samples,render_only_warmups=12, + unrecorded_hold_samples=warmup_samples,captured_frames=0,final_stability_window=m)) +dump(out/'INITIAL_PROP_NO_FALL.json',dict(passed=True,physics_samples=len(pre_prop),maxima=initial_prop_maxima,thresholds=dict(translation_m=.02,downward_m=.01,rotation_deg=15.),all_requested_and_nonrequested_props_included=True)) +contact_stream=gzip.open(out/'contacts.jsonl.gz','wt',compresslevel=3) +subscription=get_physx_simulation_interface().subscribe_contact_report_events(on_contact) +camera_sample_ticks=[];camera_sample_extrinsics=[] +startup_frames=out/'startup_frames';startup_frames.mkdir(exist_ok=True) +def capture_camera_pose(): + transforms=[] + for c in projection_model['cameras']: + pp=pose(links[c['link_index']]);m=np.eye(4,dtype=np.float64);m[:3,:3]=Rot.from_quat(pp[3:]).as_matrix();m[:3,3]=pp[:3] + transforms.append(m@c['relative']) + return np.asarray(transforms,dtype=np.float64) + +def write_startup_report(): + first_n=min(30,len(link_rows));first_m=geometry_metrics(np.asarray(link_rows[:first_n]),np.asarray(prop_rows[:first_n]));first_projection=evaluate_projection(np.asarray(link_rows[:first_n]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + passed=bool(first_n==30 and stable(first_m) and last_projection and last_projection['status']=='PASSED' and first_projection['status']=='PASSED') + report=dict(status='PASSED' if passed else 'FAILED',passed=passed,threshold_px=PREROLL_THRESHOLDS['passive_finger_projected_motion_px'],only_passive_distal_fingers=True,passive_path_pattern='/gripper_[lr]_(inner|outer)_link[234]$',strict_thresholds=PREROLL_THRESHOLDS, + windows=[dict(label='final_preroll_0p5s',row_range=[-30,-1],strict_geometry=evidence['final_window'],passive_projection=last_projection,passed=bool(stable(evidence['final_window']) and last_projection['status']=='PASSED')),dict(label='first_retained_30_control_rows',row_range=[0,first_n-1],strict_geometry=first_m,passive_projection=first_projection,passed=bool(first_n==30 and stable(first_m) and first_projection['status']=='PASSED'))], + evaluated_passive_paths=[b['path'] for b in projection_model['bodies']],evaluated_driven_paths=[link_paths[i] for i in projection_model['driven_indices']],evaluated_cameras=[c['path'] for c in projection_model['cameras']],scene_source=str(Path(job['scene']).resolve()),scene_sha256=hashlib.sha256(Path(job['scene']).read_bytes()).hexdigest(),projection_implementation=str((W/'preroll_stability.py').resolve()),projection_implementation_sha256=hashlib.sha256((W/'preroll_stability.py').read_bytes()).hexdigest()) + dump(out/'PASSIVE_FINGER_PROJECTION.json',report) + return passed + +def advance(q): + global native + q=np.asarray(q,dtype=float);assert q.shape==(20,) and np.isfinite(q).all() + if q[14]<-1e-6 or q[14]>.55+1e-6 or np.any(q[18:]<0) or np.any(q[18:]>np.pi/4+1e-6):raise ValueError('Action exceeds configured lift/grip limit') + native[ids]=q + robot.apply_action(ArticulationAction(joint_positions=q,joint_indices=ids)) + if nav_mode=='drive':nav_drives['drive'].GetTargetVelocityAttr().Set(float(base_vw[0])) + elif nav_mode=='turn':nav_drives['turn'].GetTargetVelocityAttr().Set(float(np.rad2deg(base_vw[1]))) + for _ in range(4):sim.step(render=False) + applied=np.asarray(robot.get_applied_action().joint_positions) + assert np.allclose(applied[ids],q,atol=1e-6), 'Applied target readback mismatch' + tick=len(rows)+1;actual=robot.get_joint_positions();bp=pose(base);tp=pose(target);all_targets=np.stack([pose(rb) for rb in target_objects]) + nav_modes.append(nav_mode);nav_anchors.append(nav_anchor.copy());rows.append(tick);measured.append(actual.copy());commands.append(native.copy());joint_velocities.append(robot.get_joint_velocities().copy());base_rows.append(bp);target_rows.append(tp);target_all_rows.append(all_targets);active_target_rows.append(target_paths[item_index] if item_index>=0 else '');item_index_rows.append(item_index);base_commands.append(base_vw.copy());phases.append(phase);link_rows.append(np.stack([pose(rb) for rb in links]));prop_rows.append(np.stack([pose(rb) for rb in props])) + if tick%3==0 and writers: + camera_sample_ticks.append(tick);camera_sample_extrinsics.append(capture_camera_pose()) + sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera frame missing at training tick') + writers[key].stdin.write(np.ascontiguousarray(rgb[:,:,:3]).tobytes()) + if tick<=30: + from PIL import Image + Image.fromarray(np.ascontiguousarray(rgb[:,:,:3])).save(startup_frames/f'{key}_{tick//3-1:02d}.jpg',quality=92) + if tick==30 and not write_startup_report():raise RuntimeError('First recorded 0.5 seconds failed strict stable-start gate') + if tick%60==0:status('RUNNING_PHYSICS') + if not np.isfinite(actual).all() or not np.isfinite(tp).all():raise RuntimeError('Nonfinite native physics state') + +def blend(end,seconds,held_reference=None): + start=native[ids].copy();end=np.asarray(end).copy();duration=max(seconds,abs(end[14]-start[14])*1.875/.1,abs(end[15]-start[15])*1.875/.5,float(np.max(abs(end[:14]-start[:14])))*1.875/.35) + for i in range(math.ceil(duration*60)): + u=(i+1)/math.ceil(duration*60);a=10*u**3-15*u**4+6*u**5;advance(start+a*(end-start)) + if held_reference is not None and np.linalg.norm(held()[:3,3]-held_reference[:3,3])>.025:raise RuntimeError('Target slipped during '+phase) + +def item_phase(name): + global phase + phase=f'item_{item_index:02d}_{name}' + +def full_q(control_q,control_data): + q=np.asarray(robot.get_joint_positions(),dtype=float).copy();cn=control_data['names'].tolist() + if cn!=control_names:raise ValueError('Every controls file must use the same ordered 20 action names') + q[[names.index(n) for n in cn]]=np.asarray(control_q,dtype=float);return q + +def grasp_contact_gate(path,item_job): + window_ticks=30;minimum_bilateral=max(15,int(item_job.get('pick_grasp_contact_min_bilateral_ticks',15)));tail_ticks=3;environment_clear_ticks=15 + if minimum_bilateral>window_ticks:raise ValueError('Invalid pickup bilateral grasp-contact gate configuration') + end=len(rows);start=max(1,end-window_ticks+1);tail_start=max(start,end-tail_ticks+1);environment_start=max(1,end-environment_clear_ticks+1);raw=recent_grasp_contacts[path] + inner={int(t) for t in raw['inner'] if start<=int(t)<=end};outer={int(t) for t in raw['outer'] if start<=int(t)<=end};bilateral=sorted(inner&outer);tail_bilateral=[t for t in bilateral if t>=tail_start];environment=sorted({int(t) for t in raw['environment'] if environment_start<=int(t)<=end}) + evidence=dict(active_target=path,active_hand=item_job['hand'],gripper_prefix='/World/Robot/gripper_'+item_job['hand'],window_control_ticks=window_ticks,window_start_tick=start,window_end_tick=end,inner_contact_ticks=sorted(inner),outer_contact_ticks=sorted(outer),simultaneous_bilateral_contact_ticks=bilateral,simultaneous_bilateral_contact_tick_count=len(bilateral),minimum_simultaneous_bilateral_ticks=minimum_bilateral,final_tail_control_ticks=tail_ticks,final_tail_bilateral_ticks=tail_bilateral,environment_clear_control_ticks=environment_clear_ticks,environment_contact_ticks=environment,native_contact_required=True) + if len(bilateral)xy_gate or yaw_error>yaw_gate:raise RuntimeError('Blocked navigation requires a screened live-state recovery to its endpoint: '+json.dumps(metrics,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) + return metrics + # Include this measured failure in the repair key so a prior repair file can + # never be consumed for a later partially executed primitive. + boundary_kind=('return_motion' if return_motion else 'carry_motion')+'_'+failure_sha[:12] + recovered=planning_boundary(boundary_kind,item_job,endpoint_call) + dump(out/f'NAVIGATION_MOTION_RECOVERY.item_{item_index:02d}.{failure_sha[:12]}.json',recovered) + return recovered + +def execute_primitives(primitives,held_reference=None,return_motion=False,item_job=None): + global base_vw + if item_job is None:item_job=globals().get('item_job') + if not isinstance(item_job,dict) or item_index<0 or item_index>=len(target_paths) or item_job.get('target')!=target_paths[item_index]:raise ValueError('execute_primitives requires the active item_job matching item_index and target') + for k,p in enumerate(primitives): + if return_motion and p.get('bridge_before'): + base_vw=np.zeros(2);constrain('hold');blend(return_bridge_q,4.) + if not return_motion and k==1: + base_vw=np.zeros(2);constrain('hold');item_phase('carry_raise') + raised=native[ids].copy();raised[14]=.55;blend(raised,3.,held_reference) + item_phase('carry_compact');compact=native[ids].copy();compact[:14]=carry_compact_q[ids][:14];blend(compact,4.,held_reference) + if return_motion:item_phase('empty_return') + else:item_phase('shelf_exit_reverse' if k==0 else 'forward_navigation') + constrain(p['kind']);precision=bool(return_motion and p.get('return_stage'));controller=PrecisionReturnController(p) if precision else PrimitiveController(p);last_progress=base_state().copy();stalled_ticks=0 + primitive_complete=False;failure_reason=None + for _ in range(90*60): + cur=base_state() + try:v=controller.step(cur) + except Exception as exc: + failure_reason='controller_error: '+repr(exc);break + base_vw=np.array([np.cos(cur[2])*v[0]+np.sin(cur[2])*v[1],v[2]]);advance(native[ids]);post=base_state() + if held_reference is not None and np.linalg.norm(held()[:3,3]-held_reference[:3,3])>.025:raise RuntimeError('Target slipped in navigation') + if controller.done: + if precision: + goal=np.asarray(p['goal'],dtype=float);xy_error=float(np.linalg.norm(post[:2]-goal[:2]));yaw_error=float(abs(math.atan2(math.sin(post[2]-goal[2]),math.cos(post[2]-goal[2])))) + endpoint=dict(schema='ziche.precision_return_endpoint.v1',primitive_index=k,primitive=p,base=post.tolist(),xy_error_m=xy_error,yaw_error_rad=yaw_error,xy_gate_m=PRECISION_RETURN_POLICY['arrival_translation_gate_m'],yaw_gate_rad=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'],measured_after_advance=True) + dump(out/f'PRECISION_RETURN_ENDPOINT.item_{item_index:02d}.primitive_{k:02d}.tick_{len(rows):08d}.json',endpoint) + if xy_error>PRECISION_RETURN_POLICY['arrival_translation_gate_m'] or yaw_error>PRECISION_RETURN_POLICY['arrival_yaw_gate_rad']: + failure_reason='precision_controller_done_outside_measured_endpoint_gate: '+json.dumps(endpoint);break + primitive_complete=True;break + moved=np.linalg.norm(post[:2]-last_progress[:2]) if p['kind']=='drive' else abs(math.atan2(math.sin(post[2]-last_progress[2]),math.cos(post[2]-last_progress[2]))) + progress_epsilon=(.00001 if p['kind']=='drive' else .000002) if precision else .003 + if moved>progress_epsilon:last_progress=post.copy();stalled_ticks=0 + else:stalled_ticks+=1 + if stalled_ticks>=6*60: + if precision: + terminal_state=base_state();goal=np.asarray(p['goal'],dtype=float);xy_error=float(np.linalg.norm(terminal_state[:2]-goal[:2]));yaw_error=float(abs(math.atan2(math.sin(terminal_state[2]-goal[2]),math.cos(terminal_state[2]-goal[2])))) + within_terminal=xy_error<=PRECISION_RETURN_POLICY['arrival_translation_gate_m'] and yaw_error<=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'] + if within_terminal: + dump(out/f'PRECISION_STATIC_FRICTION_TERMINAL.item_{item_index:02d}.tick_{len(rows):08d}.json',dict(primitive_index=k,primitive=p,base=terminal_state.tolist(),command=base_vw.tolist(),stalled_seconds=stalled_ticks/60.,xy_error_m=xy_error,yaw_error_rad=yaw_error,xy_gate_m=PRECISION_RETURN_POLICY['arrival_translation_gate_m'],yaw_gate_rad=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'],measured_after_advance=True,accepted_by_measured_endpoint_gate=True));primitive_complete=True;break + dump(out/f'NAVIGATION_BLOCKED.item_{item_index:02d}.json',dict(primitive_index=k,primitive=p,base=base_state().tolist(),command=base_vw.tolist(),stalled_seconds=stalled_ticks/60.)) + failure_reason='navigation_blocked_for_6_seconds';break + if not primitive_complete: + if failure_reason is None:failure_reason='navigation_primitive_timeout_90_seconds' + motion_recovery_boundary(p,k,failure_reason,item_job,return_motion) + base_vw=np.zeros(2);constrain('hold') + +def planning_boundary(kind,item_job,planner): + """Retry only a failed planner in-process after an explicit repair artifact.""" + repair_dir=case/'repairs';repair_dir.mkdir(exist_ok=True);repair=repair_dir/f'item_{item_index:02d}_{kind}.json';seen=None + while True: + try:return planner() + except Exception as exc: + traceback.print_exc();record=dict(item_index=item_index,kind=kind,error=repr(exc),tick=len(rows),repair_file=str(repair),time=time.time()) + planning_waits.append(record);dump(out/'PLANNING_WAITS.json',planning_waits);write_checkpoint();status('WAITING_FOR_PLANNING_REPAIR',planning_error=repr(exc),repair_file=str(repair)) + while True: + while True: + if repair.exists(): + raw=repair.read_bytes();digest=hashlib.sha256(raw).hexdigest() + if digest!=seen:break + time.sleep(2.) + seen=digest + try: + import copy + item_job_before=copy.deepcopy(item_job);repair_tick_before=len(rows) + repair_archive=archive_exact(repair_dir/'applied',digest,'.json',raw);record['repair_archive']=repair_archive + patch=json.loads(raw) + if patch.get('abort') is True:raise RuntimeError('Planning repair explicitly aborted: '+str(patch.get('reason'))) + overrides=patch.get('job_overrides',{}) + if not isinstance(overrides,dict):raise ValueError('planning repair job_overrides must be an object') + # A repair module may consume the configured station or target slot while + # performing its screened motion, so apply the hash-archived patch first. + item_job.update(overrides);record['repair_sha256']=digest;record['overrides']=overrides + if patch.get('repair_module'): + module_path=(repair_dir/patch['repair_module']).resolve() + if not module_path.is_relative_to(repair_dir.resolve()):raise ValueError('repair_module must remain inside this case repair directory') + module_raw=module_path.read_bytes();module_sha=hashlib.sha256(module_raw).hexdigest() + if module_sha!=patch.get('repair_module_sha256'):raise ValueError('repair_module_sha256 mismatch') + module_archive=archive_exact(repair_dir/'applied',module_sha,module_path.suffix or '.py',module_raw) + spec=importlib.util.spec_from_file_location(f'planning_repair_{item_index}_{kind}_{module_sha[:12]}',module_path);module=importlib.util.module_from_spec(spec);spec.loader.exec_module(module) + outcome=module.apply(globals(),item_job,dict(record)) + if outcome is not None: + if not isinstance(outcome,dict):raise ValueError('repair module result must be an object or None') + item_job.update(outcome.get('job_overrides',{})) + record['repair_module']=str(module_path);record['repair_module_sha256']=module_sha;record['repair_module_archive']=module_archive;record['repair_module_result']=outcome + dump(out/'PLANNING_WAITS.json',planning_waits);break + except Exception as repair_exc: + traceback.print_exc();motion_rows=max(0,len(rows)-repair_tick_before) + if motion_rows==0:item_job.clear();item_job.update(item_job_before) + failure=dict(item_index=item_index,kind=kind,event='repair_failed',repair_sha256=digest,error=repr(repair_exc),tick=len(rows),time=time.time(),motion_rows_executed=motion_rows,job_overrides_rolled_back=motion_rows==0,measured_prefix_preserved=True) + planning_waits.append(failure);dump(out/'PLANNING_WAITS.json',planning_waits);write_checkpoint();status('WAITING_FOR_PLANNING_REPAIR',planning_error=repr(repair_exc),repair_file=str(repair),failed_repair_sha256=digest) + +def support_gate(item_job,start_tick): + from shapely.geometry import Point,Polygon + path=target_paths[item_index];current=pose(target);window=np.asarray(target_all_rows[-min(60,len(target_all_rows)):])[:,item_index] + drift=float(np.max(np.linalg.norm(window[:,:3]-window[-1,:3],axis=1))) + linear_speed=float(np.linalg.norm(window[-1,:3]-window[0,:3])/max((len(window)-1)/60.,1/60.)) + angular_speed=float(Rot.from_quat(window[0,3:]).inv().__mul__(Rot.from_quat(window[-1,3:])).magnitude()/max((len(window)-1)/60.,1/60.)) + inside=Polygon(item_job['tray_polygon_xy']).buffer(-.005).covers(Point(current[:2])) + hand_clearance=float(np.linalg.norm(current[:3]-pose(hand)[:3]));support_ticks=[t for t in recent_support_contacts[path] if t>=start_tick] + metrics=dict(target=path,tick=len(rows),pose=current.tolist(),inside_tray=inside,drift_last_second_m=drift,linear_speed_m_s=linear_speed,angular_speed_rad_s=angular_speed,hand_clearance_m=hand_clearance,tray_support_contact_ticks=support_ticks[-20:],support_contact_observed=bool(support_ticks)) + if not inside or drift>.012 or linear_speed>.025 or angular_speed>.35 or hand_clearance<.07 or not support_ticks:raise RuntimeError('Physical tray support gate failed: '+json.dumps(metrics)) + return metrics + +def write_checkpoint(): + tmp=out/'checkpoint_60hz.npz.tmp';final=out/'checkpoint_60hz.npz' + with tmp.open('wb') as f:np.savez_compressed(f,q=np.array(measured),native_target=np.array(commands),dof_names=np.array(names),joint_velocity=np.array(joint_velocities),base_action_body=np.array(base_commands),base_pose=np.array(base_rows),nav_constraint_mode=np.array(nav_modes),nav_constraint_pose=np.array(nav_anchors),robot_link_paths=np.array(link_paths),robot_link_pose=np.array(link_rows),rigid_body_paths=np.array(prop_paths),prop_pose=np.array(prop_rows),target_paths=np.array(target_paths),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),item_index=np.array(item_index_rows,dtype=np.int16),active_target_path=np.array(active_target_rows),phase=np.array(phases),tick=np.array(rows)) + tmp.replace(final);dump(out/'CHECKPOINT.json',dict(schema='ziche.multi_checkpoint.v1',completed_objects=completed_objects,item_index=item_index,control_ticks=len(rows),recording=str(final),continuous_process=True,time=time.time())) + +def save(result,error=None): + for p in writers.values(): + p.stdin.close() + if p.wait()!=0:result='FAILED';error='Camera encoder exited unsuccessfully' + contact_stream.close() + ticks=np.asarray(camera_sample_ticks,dtype=np.int64) + np.savez_compressed(out/'camera_extrinsics_20hz.npz',camera_keys=np.asarray(['top_head','hand_left','hand_right']),control_tick=ticks,timestamp=ticks.astype(np.float64)/60.,global_physics_step=4*len(pre_q)+4*ticks,world_T_camera=np.asarray(camera_sample_extrinsics,dtype=np.float64).reshape(-1,3,4,4)) + if rows:write_startup_report() + dump(out/'PHYSICS_CLOCK.json',dict(schema='startup_preroll_clock_v1',physics_dt_s=1/240.,physics_hz=240,control_hz=60,training_hz=20,substeps_per_control=4,unrecorded_preroll_physics_steps=4*len(pre_q),unrecorded_preroll_duration_s=len(pre_q)/60.,retained_control_rows=len(rows),retained_first_control_row=0,retained_timestamp_formula='(row_index+1)/60',retained_first_post_step_global_physics_step=4*len(pre_q)+4 if rows else None,retained_post_step_global_physics_step_formula='unrecorded_preroll_physics_steps + 4*(row_index+1)',retained_camera_row_formula='control_tick % 3 == 0',retained_camera_frame_count=len(camera_sample_ticks),command_semantics='Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.',contact_semantics='Contact subscription begins after preroll and camera warmup; preroll contacts are excluded.')) + if rows: + np.savez_compressed(out/'recording_60hz.npz',q=np.array(measured),native_target=np.array(commands),dof_names=np.array(names),base_action_body=np.array(base_commands),base_pose=np.array(base_rows),target_pose=np.array(target_rows),target_paths=np.array(target_paths),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),active_target_path=np.array(active_target_rows),item_index=np.array(item_index_rows,dtype=np.int16),phase=np.array(phases),timestamp=np.array(rows)/60.,nav_constraint_mode=np.array(nav_modes),nav_constraint_pose=np.array(nav_anchors),tick=np.array(rows),joint_velocity=np.array(joint_velocities),robot_link_paths=np.array(link_paths),robot_link_pose=np.array(link_rows)) + if rows: + lp=np.asarray(link_rows);pp=np.asarray(prop_rows);uid=f"chain50_layout_{job['layout_id']:02d}" + payload=dict(episode_uid=uid,target_prim=target_paths[0],requested_target_paths=np.array(target_paths),active_target_path=np.array(active_target_rows),item_index=np.array(item_index_rows,dtype=np.int16),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),fps=60.,frame_index=np.arange(len(rows)),robot_dof_names=np.array(names),robot_joint_position_rad_or_m=np.array(measured),robot_joint_velocity_radps_or_mps=np.array(joint_velocities),robot_root_xyz_m=base0[:3,3],robot_root_wxyz=np.r_[bq[3],bq[:3]],robot_link_paths=np.array(link_paths),robot_link_xyz_m=lp[:,:,:3],robot_link_wxyz=lp[:,:,[6,3,4,5]],rigid_body_paths=np.array(prop_paths),prop_xyz_m=pp[:,:,:3],prop_wxyz=pp[:,:,[6,3,4,5]],robot_collision_profile_complete=True,robot_collision_profile_id=profile['profile_id'],robot_collision_enabled_paths=np.array(profile['collision_enabled_paths']),robot_collision_enabled_path_count=len(profile['collision_enabled_paths']),robot_collision_filtered_body_pairs=np.array(profile['filtered_body_pairs'])) + (out/'physics_ticks').mkdir(exist_ok=True);np.savez_compressed(out/'physics_ticks/full_state.npz',**payload);subprocess.run(['cp','--reflink=auto',str(out/'physics_ticks/full_state.npz'),str(out/'full_state.npz')],check=True) + if result=='PHYSICS_COMPLETE_UNVERIFIED' and (not json.loads((out/'PASSIVE_FINGER_PROJECTION.json').read_text())['passed'] or len(camera_sample_ticks)!=len(rows)//3):result='FAILED';error='Stable start or camera sampling gate failed' + if result=='PHYSICS_COMPLETE_UNVERIFIED': + try: + from runtime_collision_readback import CaptureCollisionExporter + from collision_inventory import enabled_nonrobot_convex_colliders + uid=f"chain50_layout_{job['layout_id']:02d}" + for folder,paths,selector in [('collision_readback',profile['collision_enabled_paths'],None),('collision_readback_nonrobot',[str(p.GetPath()) for p in enabled_nonrobot_convex_colliders(stage)],enabled_nonrobot_convex_colliders)]: + reader=CaptureCollisionExporter(stage,out/folder,uid,len(rows)//3-1,len(rows)-1,expected_paths=paths,collider_selector=selector,run_asynchronously=False);reader.start();receipt=reader.finish(len(rows)//3-1,len(rows)-1) + if receipt['status']!='CONTEMPORARY_USD_REPRESENTATIONS_RECORDED':raise RuntimeError('Incomplete capture-end geometry readback: '+folder) + except Exception as exc:result='FAILED';error='Capture-end collision representation: '+repr(exc) + dump(out/'ITEM_EVENTS.json',dict(schema='ziche.multi_item_events.v1',requested_objects=target_paths,completed_objects=completed_objects,events=item_events)) + dump(out/'CONTACT_CAPTURE.json',dict(schema='ziche.contact_capture.v1',requested_targets=target_paths,filter_semantics='robot_or_any_requested_target',all_physics_ticks=True,control_ticks=len(rows),dropped_rows=0,callback_rows=contact_callback_rows,stream='contacts.jsonl.gz')) + dump(out/'place_metrics.json',dict(hands=[item['hand'] for item in items],destination_body_path='/World/Assets/Tray',completed_objects=completed_objects)) + dump(out/'recording_metadata.json',dict(physics_hz=240,control_hz=60,training_hz=20,action_schema='g1_omnipicker_jointpos20_basevw_v1',gripper_max_force={'l':80,'r':80},pose_order='x,y,z,qx,qy,qz,qw',row_clock='post-control-step; same-step applied command',continuous_no_pose_reset=True,multi_item=True,item_count=len(items))) + dump(out/'RESULT.json',dict(status=result,accepted=False,error=error,control_ticks=len(rows),rendered=bool(writers),requested_objects=target_paths,completed_objects=completed_objects,item_count=len(items),requires='independent collision, task, drive, continuity and export validation')) + status(result,error=error) +if len(sys.argv)>2: + try: + replay=np.load(sys.argv[2]);replay_ids=[replay['dof_names'].tolist().index(n) for n in control_names];previous=None + for tick in range(len(replay['q'])): + if 'item_index' in replay: + item_index=int(replay['item_index'][tick]);target=target_objects[item_index];hand=SingleRigidPrim('/World/Robot/gripper_'+items[item_index]['hand']+'_base_link');hand.initialize() + phase=str(replay['phase'][tick]);kind=str(replay['nav_constraint_mode'][tick]);anchor_pose=replay['nav_constraint_pose'][tick];signature=(kind,anchor_pose.tobytes()) + if previous!=signature:constrain(kind,anchor_pose);previous=signature + base_vw=replay['base_action_body'][tick].copy();advance(replay['native_target'][tick,replay_ids]) + save('REPLAY_COMPLETE_UNVERIFIED') + except Exception as e:traceback.print_exc();save('FAILED',repr(e)) + finally:app.close() + sys.exit(0) +try: + from collision_scene import Robot,ROBOT + sys.path.insert(0,str(R/'work/place_training_tray_20260918')) + from carry_transition import plan as plan_carry,Clearance + from multi_motion import plan_return + from return_head_policy import install as install_return_head_policy + install_return_head_policy(globals()) + from placement import solve + from native_planner import build + from place_tray_layout import mesh_world_points + from shapely.geometry import Polygon + from scipy.spatial import ConvexHull + source_layout_id=int(job.get('source_layout_id',job['layout_id'])) + release_spec=json.loads((Path(job['layout']).parents[1]/'audits_release'/f"{source_layout_id:02d}.json").read_text()) + carry_robot=Robot(ROBOT);carry_robot.bodies=[];pose_check=build(stage) + phase='initial_upper_shelf_posture';blend(native[ids],.5) + for i,item in enumerate(items): + item_index=i;data=load_controls(item);target=target_objects[i];hand=SingleRigidPrim('/World/Robot/gripper_'+item['hand']+'_base_link');hand.initialize() + item_job=dict(job);item_job.update(item);item_job['target']=item['target'];item_job['hand']=item['hand'] + item_job['reserved_tray_footprints']=[x['placement_slot']['footprint_xy'] for x in items[i+1:] if x.get('placement_slot')] + target_initial=pose(target).copy();expected_pick_pose=requested_initial_target_pose[i].copy();item_job['expected_pick_pose']=expected_pick_pose.tolist();item_events.append(dict(event='item_started',item_index=i,target=item['target'],tick=len(rows)+1,pose=target_initial.tolist())) + item_phase('waist_to_selected_shelf');blend(data['pick'][0],1.) + item_phase('shelf_pick') + def pick_preflight_call(): + current=pose(target);translation=float(np.linalg.norm(current[:3]-expected_pick_pose[:3]));rotation=float(Rot.from_quat(expected_pick_pose[3:]).inv().__mul__(Rot.from_quat(current[3:])).magnitude()) + metrics=dict(target=item['target'],expected_pose=expected_pick_pose.tolist(),live_pose=current.tolist(),translation_error_m=translation,rotation_error_rad=rotation) + if translation>float(item_job.get('pick_preflight_translation_m',.025)) or rotation>float(item_job.get('pick_preflight_rotation_rad',.35)):raise RuntimeError('Target disturbed before source pickup: '+json.dumps(metrics)) + return metrics + pick_preflight=planning_boundary('pick_preflight',item_job,pick_preflight_call);dump(out/f'PICK_PREFLIGHT.item_{i:02d}.json',pick_preflight);target_initial=pose(target).copy() + for control in data['pick']: + for _ in range(3):advance(control) + def pick_gate_call(): + current=pose(target);lift=float(current[2]-target_initial[2]);contact_evidence=grasp_contact_gate(item['target'],item_job);metrics=dict(target=item['target'],pre_pick_pose=target_initial.tolist(),live_pose=current.tolist(),lift_m=lift,grasp_contact=contact_evidence) + if lift<.025:raise RuntimeError('Pickup did not lift target at least 25 mm: '+json.dumps(metrics)) + return metrics + pick_gate=planning_boundary('pick_recovery',item_job,pick_gate_call);dump(out/f'PICK_GATE.item_{i:02d}.json',pick_gate) + held0=held();grip_idx=18 if item['hand']=='l' else 19 + item_phase('carry_planning');status('RUNNING_PHYSICS') + prop_live=lambda:{p:mat(rb) for p,rb in zip(prop_paths,props)} + def carry_call():return plan_carry(stage,carry_robot,names,np.asarray(robot.get_joint_positions(),dtype=float),mat(base),item['hand'],item['target'],data['target_local'],mat(target),prop_live(),item_job,release_spec) + carry_compact_q,carry_primitives,carry_report=planning_boundary('carry',item_job,carry_call) + dump(out/f'CARRY_PLAN.item_{i:02d}.json',carry_report);dump(out/f'navigation_primitives.item_{i:02d}.json',carry_primitives) + execute_primitives(carry_primitives,held0,return_motion=False,item_job=item_job) + item_phase('bridge_to_place_initial');end=data['place_initial'].copy();end[18:]=native[ids][18:] + def bridge_call(): + start_full=np.asarray(robot.get_joint_positions(),dtype=float).copy();end_full=start_full.copy();end_full[ids]=end + checker=Clearance(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],held(),prop_live());checker.deadline=time.monotonic()+900 + candidates=[[]] + high_end=end_full.copy();high_end[names.index('idx01_body_joint1')]=start_full[names.index('idx01_body_joint1')];candidates.append([high_end]) + for waypoints in candidates: + chain=[start_full]+waypoints+[end_full] + if all(checker.segment(a,b,mat(base),mat(base)) for a,b in zip(chain,chain[1:])):return [q[ids].copy() for q in waypoints]+[end.copy()] + raise RuntimeError('No collision-screened held-object posture bridge: '+str(checker.last)) + bridge_controls=planning_boundary('place_bridge',item_job,bridge_call) + for bridge_target in bridge_controls:blend(bridge_target,6.,held0) + item_phase('place_planning');status('RUNNING_PHYSICS');obstacles=[] + for path in completed_objects: + rb=props[prop_paths.index(path)];prim=stage.GetPrimAtPath(path);world=mesh_world_points(stage,prim) + authored=np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=mat(rb);verts=local@current[:3,:3].T+current[:3,3];obstacles.append(Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2])) + def place_call(): + from release_sweep import ReleaseSweep + item_job['require_release_sweep']=True + release_checker=ReleaseSweep(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],prop_live(),item['place_source'],deadline_s=900) + live_q=np.asarray(robot.get_joint_positions(),dtype=np.float64).copy();live_base=mat(base) + world_check=Clearance(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],held(),prop_live());world_check.deadline=time.monotonic()+900 + return solve(carry_robot,names,live_q,live_base,mat(target),data['target_local'],item_job,obstacles,pose_check,world_check=world_check,release_sweep=release_checker) + planned,retreat,placement_report=planning_boundary('place',item_job,place_call) + dump(out/f'PLACEMENT_PLAN.item_{i:02d}.json',placement_report);np.savez_compressed(out/f'place_planned_targets.item_{i:02d}.npz',q=planned[:,ids],names=control_names) + item_phase('place_descent') + for targetq in planned[:,ids]: + for _ in range(3):advance(targetq) + item_phase('place_release');opened=native[ids].copy();opened[grip_idx]=np.pi/4;blend(opened,2.) + item_phase('release_retreat');retreat_control=retreat[ids].copy();retreat_control[grip_idx]=np.pi/4;blend(retreat_control,3.) + settle_start=len(rows)+1;item_phase('settle');blend(native[ids],2.) + gate=support_gate(item_job,settle_start);completed_objects.append(item['target']);item_events.append(dict(event='item_supported',item_index=i,target=item['target'],tick=len(rows),metrics=gate));write_checkpoint() + base_error=None;yaw_error=None + if i+1PRECISION_RETURN_POLICY['arrival_translation_gate_m'] or rotation>PRECISION_RETURN_POLICY['arrival_yaw_gate_rad']:raise RuntimeError('Return did not reach precision pickup gate: '+json.dumps(metrics)) + return metrics + arrival=planning_boundary('return_arrival',item_job,return_arrival_call);dump(out/f'RETURN_ARRIVAL.item_{i:02d}.json',arrival);base_error=arrival['translation_error_m'];yaw_error=arrival['yaw_error_rad'] + item_phase('complete');blend(native[ids],.25);item_events.append(dict(event='item_completed',item_index=i,target=item['target'],tick=len(rows),support=gate,return_base_error_m=base_error,return_yaw_error_rad=yaw_error)) + write_checkpoint();status('RUNNING_PHYSICS') + save('PHYSICS_COMPLETE_UNVERIFIED') +except Exception as e: + traceback.print_exc();save('FAILED',repr(e)) +finally:app.close() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/runtime_evidence.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/runtime_evidence.py new file mode 100644 index 0000000000000000000000000000000000000000..5db31f321346fb68eb4f49f4e09c97b4d61b7587 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/runtime_evidence.py @@ -0,0 +1,15 @@ +"""Reconcile snapshot metadata only from matching actual capture readbacks.""" +import json,shutil,time +from pathlib import Path +from pxr import Usd,UsdGeom + +def reconcile(case): + out=case/'rollout';a=json.loads((out/'collision_readback/INPUT.json').read_text());b=json.loads((out/'collision_readback_nonrobot/INPUT.json').read_text()) + for key in ['episode_uid','stage_id','root_layer','request_tick','stage_meters_per_unit','stage_up_axis']: + assert a.get(key)==b.get(key),key + p=out/'scene.usda';s=Usd.Stage.Open(str(p));old=[UsdGeom.GetStageMetersPerUnit(s),str(UsdGeom.GetStageUpAxis(s))];new=[a['stage_meters_per_unit'],a['stage_up_axis']] + if old!=new: + backup=out/'scene.before_runtime_metadata_fix.usda' + if not backup.exists():shutil.copy2(p,backup) + UsdGeom.SetStageMetersPerUnit(s,new[0]);UsdGeom.SetStageUpAxis(s,new[1]);tmp=p.with_suffix('.metadata.tmp');tmp.write_text(s.GetRootLayer().ExportToString());tmp.replace(p) + (out/'SCENE_METADATA_REPAIR.json').write_text(json.dumps(dict(before=old,after=new,source='matching actual robot/nonrobot capture INPUT.json',updated=time.time()),indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/startup_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/startup_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..e5c29f5518d4f29aa76af23d7ddf8920e362086c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/startup_validation.py @@ -0,0 +1,690 @@ +"""Strict startup, no-fall, camera-clock, video, and immutable-gate helpers. + +This module is deliberately independent of the controller. It consumes only +producer evidence and the completed native recording. Missing evidence fails; +there are no layout-specific exceptions. +""" +from __future__ import annotations + +import hashlib +import json +import os +import re +import shutil +import time +from pathlib import Path + +import numpy as np + + +CAMERAS = { + "top_head": (1280, 800), + "hand_left": (848, 480), + "hand_right": (848, 480), +} +CAMERA_LINKS = { + "top_head": "/World/Robot/head_link2", + "hand_left": "/World/Robot/gripper_l_base_link", + "hand_right": "/World/Robot/gripper_r_base_link", +} +PASSIVE_FINGER = re.compile(r"^/World/Robot/gripper_[lr]_(?:inner|outer)_link[234]$") +STRICT = { + "prop_translation_m": 5e-5, + "prop_rotation_rad": float(np.deg2rad(0.02)), + "camera_translation_m": 5e-5, + "camera_rotation_rad": float(np.deg2rad(0.01)), + "driven_robot_translation_m": 5e-5, + "driven_robot_rotation_rad": float(np.deg2rad(0.02)), + "passive_finger_projected_motion_px": 0.25, +} +NO_FALL = { + "max_translation_m": 0.020, + "max_downward_m": 0.010, + "max_rotation_deg": 15.0, + "authored_to_first_translation_m": 0.001, + "authored_to_first_downward_m": 0.001, + "authored_to_first_rotation_deg": 0.5, +} + + +def sha256(path: Path) -> str: + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def write_json(path: Path, payload: dict) -> None: + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + pending = path.with_suffix(path.suffix + ".pending") + pending.write_text(json.dumps(payload, indent=2, default=str) + "\n") + os.replace(pending, path) + + +def _load_state(out: Path): + path = out / "full_state.npz" + if not path.is_file(): + path = out / "physics_ticks/full_state.npz" + return path, np.load(path, allow_pickle=False) + + +def _normalize_quaternion(q): + q = np.asarray(q, dtype=np.float64) + norm = np.linalg.norm(q, axis=-1, keepdims=True) + if np.any(norm < 1e-15): + raise ValueError("zero quaternion") + return q / norm + + +def angular_from_reference(q, reference): + q = _normalize_quaternion(q) + reference = _normalize_quaternion(np.asarray(reference, dtype=np.float64)) + dots = np.clip(np.abs(np.sum(q * reference, axis=-1)), 0.0, 1.0) + return 2.0 * np.arccos(dots) + + +def pairwise_span(pose): + pose = np.asarray(pose, dtype=np.float64) + if pose.shape[0] < 1 or pose.shape[1] < 1: + return 0.0, 0.0 + xyz = pose[:, :, :3] + q = _normalize_quaternion(pose[:, :, 3:]) + translation = float(np.linalg.norm(xyz[:, None] - xyz[None, :], axis=-1).max()) + dots = np.clip(np.abs(np.einsum("tni,sni->tsn", q, q)), 0.0, 1.0) + rotation = float((2.0 * np.arccos(dots)).max()) + return translation, rotation + + +def clock_audit(out: Path, recording, preroll_npz) -> dict: + out = Path(out) + path = out / "PHYSICS_CLOCK.json" + failures = [] + try: + clock = json.loads(path.read_text()) + except Exception as exc: + return {"schema": "multi_startup_clock_audit_v1", "passed": False, + "failures": ["missing_or_invalid_clock"], "error": repr(exc)} + rows = len(recording["q"]) + preroll_rows = len(preroll_npz["q"]) + expected_steps = 4 * preroll_rows + checks = { + "schema": clock.get("schema") == "startup_preroll_clock_v1", + "rates": clock.get("physics_hz") == 240 and clock.get("control_hz") == 60 + and clock.get("training_hz") == 20 and clock.get("substeps_per_control") == 4, + "unrecorded_preroll_steps": clock.get("unrecorded_preroll_physics_steps") == expected_steps, + "unrecorded_preroll_duration": abs(float(clock.get("unrecorded_preroll_duration_s", -1)) + - expected_steps / 240.0) <= 1e-12, + "retained_rows": clock.get("retained_control_rows") == rows + and clock.get("retained_first_control_row") == 0, + "first_global_step": clock.get("retained_first_post_step_global_physics_step") == expected_steps + 4, + "timestamp_formula": clock.get("retained_timestamp_formula") == "(row_index+1)/60", + "global_step_formula": clock.get("retained_post_step_global_physics_step_formula") + == "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "camera_formula": clock.get("retained_camera_row_formula") == "control_tick % 3 == 0" + and clock.get("retained_camera_frame_count") == rows // 3, + "command_semantics": bool(clock.get("command_semantics")), + "contact_semantics": bool(clock.get("contact_semantics")), + "recording_tick": np.array_equal(recording["tick"], np.arange(1, rows + 1)), + "recording_timestamp": np.allclose(recording["timestamp"], np.arange(1, rows + 1) / 60.0, + atol=1e-12, rtol=0), + } + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_startup_clock_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "clock": clock, + "clock_sha256": sha256(path), "retained_rows": rows, + "preroll_rows_60hz": preroll_rows, + } + + +def _pose_matrix_xyzw(pose): + from scipy.spatial.transform import Rotation as Rot + pose = np.asarray(pose, dtype=np.float64) + matrices = np.zeros(pose.shape[:-1] + (4, 4), dtype=np.float64) + matrices[..., 3, 3] = 1.0 + matrices[..., :3, :3] = Rot.from_quat(pose[..., 3:]).as_matrix() + matrices[..., :3, 3] = pose[..., :3] + return matrices + + +def camera_extrinsics_audit(out: Path, recording, clock: dict) -> dict: + out = Path(out) + path = out / "camera_extrinsics_20hz.npz" + failures = [] + try: + camera = np.load(path, allow_pickle=False) + required = {"camera_keys", "control_tick", "timestamp", "global_physics_step", "world_T_camera"} + missing = sorted(required - set(camera.files)) + if missing: + raise ValueError(f"missing keys {missing}") + keys = camera["camera_keys"].tolist() + ticks = np.asarray(camera["control_tick"], dtype=np.int64) + timestamp = np.asarray(camera["timestamp"], dtype=np.float64) + global_steps = np.asarray(camera["global_physics_step"], dtype=np.int64) + transforms = np.asarray(camera["world_T_camera"], dtype=np.float64) + except Exception as exc: + return {"schema": "multi_camera_extrinsics_audit_v1", "passed": False, + "failures": ["missing_or_invalid_camera_extrinsics"], "error": repr(exc)} + rows = len(recording["q"]) + expected_ticks = np.arange(3, rows + 1, 3, dtype=np.int64) + preroll_steps = int(clock.get("unrecorded_preroll_physics_steps", -1)) + checks = { + "camera_order": keys == list(CAMERAS), + "shape": transforms.shape == (len(expected_ticks), 3, 4, 4), + "control_tick_mapping": np.array_equal(ticks, expected_ticks), + "timestamp_mapping": np.allclose(timestamp, expected_ticks / 60.0, atol=1e-12, rtol=0), + "global_step_mapping": np.array_equal(global_steps, preroll_steps + 4 * expected_ticks), + "finite": bool(np.isfinite(transforms).all()), + "homogeneous_row": bool(np.allclose(transforms[..., 3, :], [0, 0, 0, 1], atol=1e-10)), + } + if checks["shape"] and checks["finite"]: + rotation = transforms[..., :3, :3] + identity_error = float(np.max(np.abs(rotation.swapaxes(-1, -2) @ rotation - np.eye(3)))) + determinant_error = float(np.max(np.abs(np.linalg.det(rotation) - 1.0))) + else: + identity_error = determinant_error = float("inf") + checks["rigid_rotation"] = identity_error <= 1e-5 and determinant_error <= 1e-5 + + # Prove every camera stays rigidly mounted to the recorded robot link at the + # exact control row associated with that encoded frame. The authored mount + # can differ by camera, but it must be constant throughout the episode. + mount_errors = {} + checks["rigid_mount_alignment"] = False + if checks["shape"] and checks["control_tick_mapping"]: + paths = recording["robot_link_paths"].tolist() + try: + link_index = [paths.index(CAMERA_LINKS[key]) for key in keys] + link_pose = np.asarray(recording["robot_link_pose"], dtype=np.float64)[ticks - 1][:, link_index] + world_T_link = _pose_matrix_xyzw(link_pose) + relative = np.linalg.inv(world_T_link) @ transforms + for index, key in enumerate(keys): + reference = relative[0, index] + translation = float(np.linalg.norm(relative[:, index, :3, 3] - reference[:3, 3], axis=1).max()) + from scipy.spatial.transform import Rotation as Rot + delta = Rot.from_matrix(reference[:3, :3]).inv() * Rot.from_matrix(relative[:, index, :3, :3]) + rotation = float(delta.magnitude().max()) + mount_errors[key] = {"translation_m": translation, "rotation_rad": rotation} + checks["rigid_mount_alignment"] = all( + row["translation_m"] <= 1e-5 and row["rotation_rad"] <= 1e-5 + for row in mount_errors.values()) + except Exception as exc: + mount_errors["error"] = repr(exc) + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_camera_extrinsics_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "frames": len(expected_ticks), + "rotation_orthogonality_max_error": identity_error, + "rotation_determinant_max_error": determinant_error, + "mount_errors": mount_errors, "camera_extrinsics_sha256": sha256(path), + } + + +def camera_warmup_audit(out: Path, preroll_evidence: dict, result: dict) -> dict: + """Require native three-view capture to start only after stable priming.""" + out = Path(out) + path = out / "CAMERA_WARMUP.json" + failures = [] + try: + report = json.loads(path.read_text()) + final = report.get("final_stability_window", {}) + startup = out / "startup_frames" + names = sorted(p.name for p in startup.glob("*.jpg")) + expected = sorted(f"{camera}_{index:02d}.jpg" for camera in CAMERAS for index in range(10)) + checks = { + "native_rendered": result.get("rendered") is True, + "status": report.get("status") == "PASSED", + "after_stability": report.get("after_physics_stability") is True, + "render_warmups": int(report.get("render_only_warmups", -1)) >= 12, + "discarded_reads": int(report.get("discarded_render_reads", -1)) >= 3, + "unrecorded_hold_samples": int(report.get("unrecorded_hold_samples", -1)) >= 3, + "preroll_hold_accounting": int(preroll_evidence.get("camera_warmup_physics_samples", -1)) + == int(report.get("unrecorded_hold_samples", -2)), + "no_captured_warmup_frames": int(report.get("captured_frames", -1)) == 0, + "final_prop_stable": float(final.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera_stable": float(final.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven_stable": float(final.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "startup_frame_set": names == expected, + "startup_frames_nonempty": names == expected and all((startup / name).stat().st_size > 0 for name in names), + } + failures.extend(name for name, passed in checks.items() if not passed) + except Exception as exc: + return {"schema": "multi_camera_warmup_audit_v1", "passed": False, + "checks": {}, "failures": ["missing_or_invalid_camera_warmup"], "error": repr(exc)} + return {"schema": "multi_camera_warmup_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "receipt": report, + "receipt_sha256": sha256(path), + "startup_frame_sha256": {name: sha256(out / "startup_frames" / name) for name in names}} + + +def _projection_audit(out: Path, pre_path: Path, state_path: Path) -> dict: + path = out / "PASSIVE_FINGER_PROJECTION.json" + try: + report = json.loads(path.read_text()) + windows = {row.get("label"): row for row in report.get("windows", [])} + required = {"final_preroll_0p5s", "first_retained_30_control_rows"} + implementation = Path(report["projection_implementation"]) + checks = { + "status": report.get("status") == "PASSED" and report.get("passed") is True, + "threshold": report.get("threshold_px") == STRICT["passive_finger_projected_motion_px"], + "scope": report.get("only_passive_distal_fingers") is True, + "windows": set(windows) == required and all( + row.get("passed") is True + and row.get("passive_projection", {}).get("status") == "PASSED" + and 0 <= float(row.get("passive_projection", {}).get("max_projected_motion_px", 1)) < 0.25 + for row in windows.values()), + "bodies": bool(report.get("evaluated_passive_paths")) and bool(report.get("evaluated_driven_paths")), + "cameras": len(report.get("evaluated_cameras", [])) == 3, + "implementation_hash": implementation.is_file() + and report.get("projection_implementation_sha256") == sha256(implementation), + } + failures = [name for name, passed in checks.items() if not passed] + return {"passed": not failures, "checks": checks, "failures": failures, + "receipt": report, "receipt_sha256": sha256(path), "windows": windows, + "independently_bound_pose_sha256": { + pre_path.name: sha256(pre_path), state_path.name: sha256(state_path)}} + except Exception as exc: + return {"passed": False, "checks": {}, "failures": ["missing_or_invalid_projection"], + "error": repr(exc), "windows": {}} + + +def startup_stability_audit(case: Path, recording, action_names) -> dict: + case = Path(case) + out = case / "rollout" + pre_json_path = out / "PREROLL_EVIDENCE.json" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + failures = [] + try: + evidence = json.loads(pre_json_path.read_text()) + pre = np.load(pre_path, allow_pickle=False) + except Exception as exc: + return {"schema": "multi_startup_stability_audit_v1", "passed": False, + "failures": ["missing_preroll_evidence"], "error": repr(exc)} + projection = _projection_audit(out, pre_path, state_path) + rows = min(30, len(recording["q"])) + paths = recording["robot_link_paths"].tolist() + try: + camera_indices = [paths.index(path) for path in CAMERA_LINKS.values()] + driven_indices = [index for index, path in enumerate(paths) if not PASSIVE_FINGER.match(path)] + retained_links = np.asarray(recording["robot_link_pose"][:rows], dtype=np.float64) + retained_props = np.concatenate([ + np.asarray(state["prop_xyz_m"][:rows], dtype=np.float64), + np.asarray(state["prop_wxyz"][:rows, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + prop_translation, prop_rotation = pairwise_span(retained_props) + camera_translation, camera_rotation = pairwise_span(retained_links[:, camera_indices]) + driven_translation, driven_rotation = pairwise_span(retained_links[:, driven_indices]) + except Exception as exc: + prop_translation = prop_rotation = camera_translation = camera_rotation = float("inf") + driven_translation = driven_rotation = float("inf") + failures.append("retained_pose_metrics") + metric_error = repr(exc) + else: + metric_error = None + first_projection = projection.get("windows", {}).get("first_retained_30_control_rows", {}) + retained_checks = { + "rows": rows == 30, + "prop_translation": prop_translation < STRICT["prop_translation_m"], + "prop_rotation": prop_rotation < STRICT["prop_rotation_rad"], + "camera_translation": camera_translation < STRICT["camera_translation_m"], + "camera_rotation": camera_rotation < STRICT["camera_rotation_rad"], + "driven_translation": driven_translation < STRICT["driven_robot_translation_m"], + "driven_rotation": driven_rotation < STRICT["driven_robot_rotation_rad"], + "passive_projection": first_projection.get("passed") is True, + } + failures.extend("first_retained_" + name for name, passed in retained_checks.items() if not passed) + thresholds = evidence.get("thresholds", {}) + final_window = evidence.get("final_window", {}) + names = recording["dof_names"].tolist() + try: + command_indices = [names.index(name) for name in action_names[:20]] + exact_initial = np.array_equal(np.asarray(pre["initial_command"], dtype=np.float64), + np.asarray(recording["native_target"][0, command_indices], dtype=np.float64)) + retained_initial_hold = (rows == 30 + and np.array_equal(np.asarray(recording["native_target"][:rows, command_indices], dtype=np.float64), + np.repeat(np.asarray(pre["initial_command"], dtype=np.float64)[None], rows, axis=0)) + and np.array_equal(np.asarray(recording["base_action_body"][:rows], dtype=np.float64), + np.zeros((rows, 2), dtype=np.float64)) + and set(np.asarray(recording["phase"][:rows]).astype(str).tolist()) == {"initial_upper_shelf_posture"} + and set(np.asarray(recording["item_index"][:rows], dtype=np.int64).tolist()).issubset({-1, 0})) + except Exception: + exact_initial = False + retained_initial_hold = False + preroll_checks = { + "status": evidence.get("status") == "PASSED", + "rates": evidence.get("physics_hz") == 240 and evidence.get("sample_hz") == 60, + "unrecorded": evidence.get("recorded_rows") == 0 + and evidence.get("contact_capture_started") is False + and evidence.get("camera_capture_started") is False, + "no_pose_writes": evidence.get("no_pose_writes_or_resets") is True, + "duration": float(evidence.get("duration_s", 0)) >= 0.5, + "thresholds": thresholds.get("prop_translation_m") == STRICT["prop_translation_m"] + and thresholds.get("prop_rotation_rad") == STRICT["prop_rotation_rad"] + and thresholds.get("camera_translation_m") == STRICT["camera_translation_m"] + and thresholds.get("camera_rotation_rad") == STRICT["camera_rotation_rad"] + and thresholds.get("passive_finger_projected_motion_px") == 0.25, + "final_prop": float(final_window.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final_window.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera": float(final_window.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final_window.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven": float(final_window.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final_window.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "exact_initial_command": exact_initial, + "first_retained_30_exact_initial_hold": retained_initial_hold, + "projection": projection["passed"], + } + failures.extend("preroll_" + name for name, passed in preroll_checks.items() if not passed) + return { + "schema": "multi_startup_stability_audit_v1", "passed": not failures, + "failures": failures, "strict_thresholds": STRICT, + "retained_first_30_control_rows": { + "checks": retained_checks, "prop_translation_span_m": prop_translation, + "prop_rotation_span_rad": prop_rotation, + "camera_translation_span_m": camera_translation, + "camera_rotation_span_rad": camera_rotation, + "driven_translation_span_m": driven_translation, + "driven_rotation_span_rad": driven_rotation, + "metric_error": metric_error, + }, + "preroll_checks": preroll_checks, "preroll_evidence": evidence, + "projection_audit": projection, + "evidence_sha256": {"PREROLL_EVIDENCE.json": sha256(pre_json_path), + "PREROLL_EVIDENCE.npz": sha256(pre_path), + state_path.name: sha256(state_path)}, + } + + +def prop_no_fall_audit(case: Path, recording, requested: list[dict]) -> dict: + """Audit every prop from the authored pose over its physically relevant scopes. + + Non-target props cover the entire preroll and episode. Requested targets + cover preroll + all rows before their own shelf_pick, and then the whole + interval from their first settle row through episode end. The manipulation + interval is intentionally excluded; placement gates cover it separately. + """ + case = Path(case) + out = case / "rollout" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + try: + pre = np.load(pre_path, allow_pickle=False) + pre_paths = pre["prop_paths"].tolist() + initial = np.asarray(pre["initial_prop_pose_before_preroll"], dtype=np.float64) + pre_pose = np.asarray(pre["prop_pose"], dtype=np.float64) + full_paths = state["rigid_body_paths"].tolist() + if len(set(pre_paths)) != len(pre_paths) or set(pre_paths) != set(full_paths): + raise ValueError("preroll/full-state prop inventory mismatch") + order = [full_paths.index(path) for path in pre_paths] + retained = np.concatenate([ + np.asarray(state["prop_xyz_m"][:, order], dtype=np.float64), + np.asarray(state["prop_wxyz"][:, order][:, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + except Exception as exc: + return {"schema": "multi_prop_no_fall_audit_v1", "passed": False, + "failures": ["missing_or_invalid_prop_evidence"], "error": repr(exc)} + producer_path = out / "INITIAL_PROP_NO_FALL.json" + try: + producer = json.loads(producer_path.read_text()) + maxima = producer.get("maxima", {}) + producer_checks = { + "passed": producer.get("passed") is True, + "all_props": producer.get("all_requested_and_nonrequested_props_included") is True, + "all_preroll_samples": int(producer.get("physics_samples", -1)) == len(pre_pose), + "translation": float(maxima.get("translation_m", 1)) <= NO_FALL["max_translation_m"], + "downward": float(maxima.get("downward_m", 1)) <= NO_FALL["max_downward_m"], + "rotation": float(maxima.get("rotation_rad", 1)) <= np.deg2rad(NO_FALL["max_rotation_deg"]), + } + except FileNotFoundError: + producer = {"present": False, "semantics": "optional producer fail-fast; independent full trace remains mandatory"} + producer_checks = {"optional_receipt_absent": True} + except Exception as exc: + producer = {"present": True, "error": repr(exc)} + producer_checks = {"receipt_valid_if_present": False} + phases = np.asarray(recording["phase"]).astype(str) + item_index = np.asarray(recording["item_index"], dtype=np.int64) + try: + events = json.loads((out / "ITEM_EVENTS.json").read_text()).get("events", []) + except Exception: + events = [] + target_to_index = {row["target"]: index for index, row in enumerate(requested)} + failures = [] + rows = [] + + def segment_metrics(trace, reference): + trace = np.asarray(trace, dtype=np.float64) + if len(trace) == 0: + return {"rows": 0, "max_translation_m": float("inf"), + "max_downward_m": float("inf"), "max_rotation_deg": float("inf"), "passed": False} + translation = np.linalg.norm(trace[:, :3] - reference[:3], axis=1) + rotation = np.degrees(angular_from_reference(trace[:, 3:], reference[3:])) + metrics = { + "rows": len(trace), "max_translation_m": float(translation.max()), + "max_downward_m": float(max(0.0, reference[2] - trace[:, 2].min())), + "max_rotation_deg": float(rotation.max()), + } + metrics["passed"] = (metrics["max_translation_m"] <= NO_FALL["max_translation_m"] + and metrics["max_downward_m"] <= NO_FALL["max_downward_m"] + and metrics["max_rotation_deg"] <= NO_FALL["max_rotation_deg"]) + return metrics + + for prop_index, path in enumerate(pre_paths): + first = pre_pose[0, prop_index] + authored = initial[prop_index] + supplemental = { + "authored_to_first_translation_m": float(np.linalg.norm(first[:3] - authored[:3])), + "authored_to_first_downward_m": float(max(0.0, authored[2] - first[2])), + "authored_to_first_rotation_deg": float(np.degrees(angular_from_reference(first[None, 3:], authored[3:]))[0]), + } + supplemental_checks = {name: supplemental[name] <= NO_FALL[name] for name in supplemental} + segments = [] + if path not in target_to_index: + trace = np.concatenate([pre_pose[:, prop_index], retained[:, prop_index]], axis=0) + segments.append({"scope": "full_preroll_and_capture", **segment_metrics(trace, authored)}) + else: + index = target_to_index[path] + pick = np.flatnonzero((item_index == index) & (phases == f"item_{index:02d}_shelf_pick")) + completed = [row for row in events if row.get("event") == "item_completed" + and row.get("item_index") == index and row.get("target") == path] + if len(pick): + pre_pick = np.concatenate([pre_pose[:, prop_index], retained[:int(pick[0]), prop_index]], axis=0) + segments.append({"scope": "preroll_and_rows_before_own_pick", **segment_metrics(pre_pick, authored)}) + else: + segments.append({"scope": "preroll_and_rows_before_own_pick", "rows": 0, "passed": False, + "reason": "missing own shelf_pick"}) + if len(completed) == 1 and 1 <= int(completed[0].get("tick", 0)) <= len(retained): + start = int(completed[0]["tick"]) - 1 + post = retained[start:, prop_index] + segments.append({"scope": "item_completed_through_episode_end", + "source_control_tick_start": start + 1, + **segment_metrics(post, post[0])}) + else: + segments.append({"scope": "item_completed_through_episode_end", "rows": 0, "passed": False, + "reason": "missing or ambiguous item_completed event"}) + passed = all(supplemental_checks.values()) and all(row.get("passed") is True for row in segments) + if not passed: + failures.append(path) + rows.append({"path": path, "requested_item_index": target_to_index.get(path), + "authored_to_first_preroll": supplemental, + "authored_to_first_checks": supplemental_checks, + "segments": segments, "passed": passed}) + producer_passed = all(producer_checks.values()) + if not producer_passed: + failures.append("producer_initial_prop_no_fall_receipt") + return { + "schema": "multi_prop_no_fall_audit_v1", "passed": not failures, + "thresholds": NO_FALL, "quaternions_normalized_float64": True, + "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step", + "non_target_scope": "every preroll sample and every retained control row through episode end", + "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end", + "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates", + "paths": rows, "failures": failures, "producer_initial_prop_no_fall": producer, + "producer_initial_prop_no_fall_checks": producer_checks, + "evidence_sha256": {**{"PREROLL_EVIDENCE.npz": sha256(pre_path), state_path.name: sha256(state_path)}, + **({"INITIAL_PROP_NO_FALL.json": sha256(producer_path)} if producer_path.is_file() else {})}, + } + + +def video_decode_audit(out: Path, expected_frames: int) -> dict: + """Perform the one authoritative sequential decode of all three videos.""" + import av + out = Path(out) + videos = {} + all_passed = True + for camera, (width, height) in CAMERAS.items(): + path = out / f"{camera}.mp4" + total = np.zeros(3, dtype=np.float64) + total2 = np.zeros(3, dtype=np.float64) + low = np.ones(3, dtype=np.float64) + high = np.zeros(3, dtype=np.float64) + sample_count = 0 + frame_count = 0 + first_gray = [] + near_black = 0 + nonfinite = 0 + previous_digest = None + exact_run = longest_exact_run = 0 + with av.open(str(path)) as container: + stream = container.streams.video[0] + fps = float(stream.average_rate) + actual_width, actual_height = stream.width, stream.height + for frame in container.decode(video=0): + rgb = frame.to_ndarray(format="rgb24") + gray = rgb.astype(np.float32).mean(axis=2) / 255.0 + if frame_count < 4: + first_gray.append(gray) + fraction = float((gray < (4.0 / 255.0)).mean()) + near_black += int(fraction > 0.98) + nonfinite += int(not np.isfinite(gray).all()) + digest = hashlib.sha256(rgb.tobytes()).digest() + exact_run = exact_run + 1 if digest == previous_digest else 1 + longest_exact_run = max(longest_exact_run, exact_run) + previous_digest = digest + if frame_count % max(1, expected_frames // 100) == 0: + sampled = rgb[::16, ::16].reshape(-1, 3) / 255.0 + total += sampled.sum(axis=0) + total2 += (sampled * sampled).sum(axis=0) + low = np.minimum(low, sampled.min(axis=0)) + high = np.maximum(high, sampled.max(axis=0)) + sample_count += len(sampled) + frame_count += 1 + adjacent = [float(np.mean(np.abs(first_gray[i + 1] - first_gray[i]))) + for i in range(max(0, len(first_gray) - 1))] + checks = { + "frame_count": frame_count == expected_frames, + "fps": fps == 20, + "dimensions": (actual_width, actual_height) == (width, height), + "first_frame_synchronized": len(adjacent) == 3 and adjacent[0] < 0.05, + "no_near_black_frames": near_black == 0, + "finite_metrics": nonfinite == 0, + "no_long_exact_frame_run": longest_exact_run < 10, + } + passed = all(checks.values()) + all_passed &= passed + mean = total / max(sample_count, 1) + videos[camera] = { + "passed": passed, "path": str(path), "sha256": sha256(path), + "frames": frame_count, "fps": fps, "width": actual_width, "height": actual_height, + "checks": checks, "first_three_adjacent_mean_abs_gray_differences": adjacent, + "near_black_gt_0_98_frames": near_black, "nonfinite_metric_count": nonfinite, + "longest_exact_frame_run": longest_exact_run, + "image_stats": { + "min": low.reshape(3, 1, 1).tolist(), "max": high.reshape(3, 1, 1).tolist(), + "mean": mean.reshape(3, 1, 1).tolist(), + "std": np.sqrt(np.maximum(total2 / max(sample_count, 1) - mean * mean, 0)).reshape(3, 1, 1).tolist(), + "count": [frame_count], + }, + } + report = { + "schema": "multi_video_decode_audit_v1", "passed": all_passed, + "method": "one authoritative sequential PyAV decode of every frame in all three views", + "expected_frames": expected_frames, "videos": videos, + } + write_json(out / "VIDEO_DECODE_AUDIT.json", report) + return report + + +FROZEN_AUDITS = [ + "TASK_SCHEMA_AUDIT.json", "CONTACT_CAPTURE_AUDIT.json", "GRASP_RETENTION_AUDIT.json", + "GRASP_STABILITY_AUDIT.json", "NON_TARGET_PROP_STABILITY_AUDIT.json", + "PHYSICS_CLOCK_AUDIT.json", "STARTUP_STABILITY_AUDIT.json", "CAMERA_WARMUP_AUDIT.json", + "CAMERA_EXTRINSICS_AUDIT.json", + "VIDEO_DECODE_AUDIT.json", + "SELF_COLLISION_AUDIT.json", "WORLD_COLLISION_AUDIT.json", "WRIST_AUDIT.json", + "VISIBILITY_AUDIT.json", +] +RAW_EVIDENCE = [ + "recording_60hz.npz", "full_state.npz", "PHYSICS_CLOCK.json", "PREROLL_EVIDENCE.json", + "PREROLL_EVIDENCE.npz", "PASSIVE_FINGER_PROJECTION.json", "CAMERA_WARMUP.json", + "camera_extrinsics_20hz.npz", "RESULT.json", "ITEM_EVENTS.json", "CHECKPOINT.json", + "CONTACT_CAPTURE.json", "recording_metadata.json", "LIVE_DRIVE_READBACK.json", + "scene.usda", "contacts.jsonl.gz", "top_head.mp4", "hand_left.mp4", "hand_right.mp4", +] +OPTIONAL_RAW_EVIDENCE = ["INITIAL_PROP_NO_FALL.json"] + + +def freeze_physical_gate(case: Path, world_audit_shards: int | None = None) -> dict: + case = Path(case).resolve() + out = case / "rollout" + destination = out / "physical_evidence" + if destination.exists(): + raise FileExistsError(destination) + pending = out / f".physical_evidence.pending.{os.getpid()}" + pending.mkdir() + try: + frozen = {} + for name in FROZEN_AUDITS: + source = out / name + target = pending / name + shutil.copy2(source, target) + frozen[name] = sha256(target) + os.replace(pending, destination) + except Exception: + shutil.rmtree(pending, ignore_errors=True) + raise + raw_names = RAW_EVIDENCE + [name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()] + raw = {name: sha256(out / name) for name in raw_names} + report = { + "schema": "multi_startup_physical_gate_v1", "passed": True, + "case": str(case), "visual_acceptance_pending": True, + "world_audit_shards": world_audit_shards, + "frozen_audit_dir": str(destination), "frozen_audit_sha256": frozen, + "raw_evidence_sha256": raw, + "semantics": "Physical and startup acceptance is frozen before staged export. Visual/manual and official-reader acceptance remain separate required gates.", + "completed_unix": time.time(), + } + write_json(out / "PHYSICAL_GATE_RESULT.json", report) + return report + + +def verify_physical_gate(case: Path) -> dict: + case = Path(case).resolve() + out = case / "rollout" + failures = [] + try: + receipt = json.loads((out / "PHYSICAL_GATE_RESULT.json").read_text()) + frozen_dir = Path(receipt["frozen_audit_dir"]).resolve() + if frozen_dir != (out / "physical_evidence").resolve(): + failures.append("frozen_directory") + for name, digest in receipt.get("frozen_audit_sha256", {}).items(): + path = frozen_dir / name + if not path.is_file() or sha256(path) != digest: + failures.append("frozen:" + name) + for name, digest in receipt.get("raw_evidence_sha256", {}).items(): + path = out / name + if not path.is_file() or sha256(path) != digest: + failures.append("raw:" + name) + if set(receipt.get("frozen_audit_sha256", {})) != set(FROZEN_AUDITS): + failures.append("frozen_scope") + expected_raw = set(RAW_EVIDENCE) | {name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()} + if set(receipt.get("raw_evidence_sha256", {})) != expected_raw: + failures.append("raw_scope") + except Exception as exc: + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": False, + "failures": ["missing_or_invalid_receipt"], "error": repr(exc)} + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": not failures, + "failures": failures, "receipt_sha256": sha256(out / "PHYSICAL_GATE_RESULT.json")} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/supervise.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/supervise.py new file mode 100644 index 0000000000000000000000000000000000000000..3a3cdaef555b58edcd81e007f1cef7324fe126cc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/supervise.py @@ -0,0 +1,75 @@ +"""Own new multi-item cases only; preserve every failed or paused native prefix.""" +import os,sys,time,json,fcntl,subprocess +from pathlib import Path +W=Path(__file__).resolve().parent +CPU='/mnt/agent-bench-data/lingjun/envs/mesh311/bin/python' +lock=(W/'supervisor.lock').open('a+');fcntl.flock(lock,fcntl.LOCK_EX|fcntl.LOCK_NB) +children={};reviews={};logs=[] +def read(p,default=None): + try:return json.loads(p.read_text()) + except (FileNotFoundError,json.JSONDecodeError):return default + +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) + +def start(cmd,log,env=None): + f=log.open('a');logs.append(f) + return subprocess.Popen(cmd,stdout=f,stderr=subprocess.STDOUT,env=env) + +def validation_files_writable(case): + """Do not race the launcher's final recursive chown. + + RESULT is written by the container before launch.py exits. It is not a handoff: + launch.py still owns the case until its finally block has completed. Once that + owner has exited, prove the supervisor account can update STATUS and create an + audit file in rollout before changing status or spawning validate_case. + """ + out=case/'rollout';required=[out/'RESULT.json',out/'recording_60hz.npz',out/'full_state.npz', + out/'PHYSICS_CLOCK.json',out/'top_head.mp4',out/'hand_left.mp4',out/'hand_right.mp4'] + if not all(p.is_file() and os.access(p,os.R_OK) for p in required):return False + if not os.access(case/'STATUS.json',os.W_OK) or not os.access(out,os.W_OK):return False + probe=out/f'.validation_write_probe.{os.getpid()}' + try: + fd=os.open(probe,os.O_WRONLY|os.O_CREAT|os.O_EXCL,0o600);os.close(fd);probe.unlink();return True + except OSError: + try:probe.unlink(missing_ok=True) + except OSError:pass + return False + +while True: + control=read(W/'CONTROL.json',{'enabled':False,'allowed_layouts':[],'gpus':[0]}) + for gpu,(case,p) in list(children.items()): + if p.poll() is None:continue + s=read(case/'STATUS.json',{}) + if s.get('status') not in ['FAILED','PHYSICS_COMPLETE_UNVERIFIED','REVIEW_REQUIRED','ACCEPTED']: + write(case/'STATUS.json',dict(status='REVIEW_REQUIRED',phase='launcher_exit',exit_code=p.returncode,updated=time.time())) + del children[gpu] + for name,(case,p) in list(reviews.items()): + if p.poll() is None:continue + if p.returncode and read(case/'STATUS.json',{}).get('status')!='REVIEW_REQUIRED': + write(case/'STATUS.json',dict(status='REVIEW_REQUIRED',phase='validation_exit',exit_code=p.returncode,updated=time.time())) + del reviews[name] + cases=sorted((W/'cases').glob('layout_*')) + if control.get('enabled'): + for gpu in control.get('gpus',[0]): + if gpu in children:continue + candidates=[c for c in cases if read(c/'STATUS.json',{}).get('status')=='PREPARED' and read(c/'job.json',{}).get('layout_id') in control.get('allowed_layouts',[]) and not (c/'rollout').exists()] + if not candidates:break + case=candidates[0];layout=read(case/'job.json')['layout_id'] + write(case/'STATUS.json',dict(status='LAUNCHING',phase='gpu_reservation',gpu=gpu,updated=time.time())) + p=start([sys.executable,str(W/'launch.py'),str(layout),str(gpu)],case/'launcher.log');children[gpu]=(case,p) + if (W/'VALIDATION_READY').exists(): + native_owned={c.resolve() for c,p in children.values() if p.poll() is None} + for case in cases: + if len(reviews)>=1:break + if (read(case/'STATUS.json',{}).get('status')!='PHYSICS_COMPLETE_UNVERIFIED' + or case.name in reviews or case.resolve() in native_owned + or not validation_files_writable(case)):continue + write(case/'STATUS.json',dict(status='QUEUED_VALIDATION',phase='validation_start',updated=time.time())) + env=dict(os.environ,CHAIN_WORLD_AUDIT_SHARDS='8',CHAIN_PARALLEL_COLLISION_AUDITS='1',OPENBLAS_NUM_THREADS='1',OMP_NUM_THREADS='1') + p=start([CPU,str(W/'validate_case.py'),str(case)],case/'validation.log',env);reviews[case.name]=(case,p) + states=[{**read(c/'STATUS.json',{}), 'layout_id':read(c/'job.json',{}).get('layout_id'), 'case':str(c)} for c in cases] + accepted=sum(s.get('status')=='ACCEPTED' for s in states) + write(W/'SUPERVISOR.json',dict(pid=os.getpid(),updated=time.time(),requested=10,accepted=accepted,native=[dict(gpu=g,case=str(c),pid=p.pid) for g,(c,p) in children.items()],reviews=[dict(case=str(c),pid=p.pid) for c,p in reviews.values()],cases=states)) + if accepted==10 and not children and not reviews:break + time.sleep(5) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/task_collision_scope.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/task_collision_scope.py new file mode 100644 index 0000000000000000000000000000000000000000..5e29f2540b8f62498affa56eb14fa3e2fa003494 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/task_collision_scope.py @@ -0,0 +1,32 @@ +"""Robot and every requested target stay in scope for the full multi-item run.""" +import copy +POLICY=dict(version='robot_and_all_requested_targets_vs_environment_v2',included=['robot_vs_environment','robot_vs_any_requested_target','every_requested_target_vs_environment','requested_target_vs_requested_target'],excluded=['environment_vs_environment','unrelated_stock_support'],separate_required=['robot_self_collision_all_ticks','per_item_physical_pick_place_success','final_multi_item_nonoverlap'],authority='Multi-item task retains the task-scoped environment omission while keeping the robot and every requested target in scope at every tick.') + +def in_scope(pair,targets): + targets=tuple(targets) + def task_body(path): + if path.startswith(('/G01/','/World/Robot/')):return True + return any(path==target or path.startswith(target+'/') or path.startswith(target+'#') for target in targets) + return any(task_body(str(pair.get(k,''))) for k in ('a','b','a_owner','b_owner')) + +def summarize_scoped(original,report,tolerance,targets,nonphysical_paths=()): + scoped=copy.copy(report);pairs=report.get('pairs',[]);scoped['pairs']=[p for p in pairs if in_scope(p,targets) and not any(str(p.get(k,'')).split('#')[0] in nonphysical_paths for k in ('a','b'))];scoped['unrelated_stock_support']={} + # Keep all_scene_pairs_checked truthful. Remove only the deliberate scope omission. + result=original(scoped,tolerance) + result['unresolved_review']=[x for x in result['unresolved_review'] if x['reason']!='unrelated scene pairs were not checked'] + result['geometry_status']='REJECT' if result['hard_failures'] else 'REVIEW' if result['unresolved_review'] else 'CLEAR_AT_CHECKED_SAMPLES' + result['omitted_nonphysical_decorative_paths']=list(nonphysical_paths);result['collision_scope']=POLICY;result['excluded_environment_pair_count']=len(pairs)-len(scoped['pairs']);result['all_scene_pairs_checked']=bool(report.get('all_scene_pairs_checked')) + result['requested_targets']=list(targets) + result['limitations'].append('Clearance applies to the robot and every requested target, not environment assembly or unrelated object pairs.') + return result + +def install(acceptance,targets,nonphysical_paths=()): + original=acceptance.summarize + acceptance.summarize=lambda report,contact_tolerance_mm=None:summarize_scoped(original,report,contact_tolerance_mm,targets,nonphysical_paths) + + +def nonphysical_rug_paths(stage): + from pxr import Usd,UsdPhysics + root=stage.GetPrimAtPath('/World/Assets/LivingRoomRug') + if not root:return [] + return [str(p.GetPath()) for p in Usd.PrimRange(root) if p.HasAPI(UsdPhysics.CollisionAPI) and p.GetAttribute('physics:collisionEnabled').Get() is False] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..f9959a05280f366084a12f4d2009627868d11d6b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python3 +"""Read-only regression for the held-target/robot carry preflight rule.""" +import hashlib +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +from pxr import Usd, UsdGeom # noqa: E402 +from collision_scene import Body, ROBOT, Robot, collider_mesh, matrix as usd_matrix, rigid_part # noqa: E402 +from carry_transition import Clearance # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + ticks = checkpoint["tick"].astype(int) + phases = np.array([value.decode() if isinstance(value, bytes) else str(value) for value in checkpoint["phase"]]) + names = checkpoint["dof_names"].tolist() + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + # Deepest native assigned-finger contact in the accepted pickup prefix. + safe_frame = int(np.flatnonzero(ticks == 10297)[0]) + bad_frames = [int(np.flatnonzero(ticks == tick)[0]) for tick in (15138, 15139)] + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][safe_frame]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + vertices = np.load(item["controls_file"])["target_local"] + initial_held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][safe_frame, hand_index])) @ matrix( + checkpoint["target_pose_all"][safe_frame, target_index] + ) + checker = Clearance(stage, robot, names, item["hand"], item["target"], vertices, initial_held, prop_poses) + checker.deadline = time.monotonic() + 900 + allowed = {f"/World/Robot/gripper_r_{side}_link4" for side in ("inner", "outer")} + # Also retain the exact authored physical target cube. The planner target + # hull can sit inside PhysX's contact offsets and have no literal crossing; + # the exact cube exercises the intended-link 10 mm witness on the accepted + # physical grasp state without changing Clearance's production geometry. + cache = UsdGeom.XformCache() + target_prim = stage.GetPrimAtPath(item["target"] + "/CanonicalGraspCollision") + target_owner = stage.GetPrimAtPath(item["target"]) + target_mesh, target_method, target_approximation = collider_mesh(target_prim) + target_mesh.apply_transform( + np.linalg.inv(rigid_part(usd_matrix(cache.GetLocalToWorldTransform(target_owner)))) + @ usd_matrix(cache.GetLocalToWorldTransform(target_prim)) + ) + physical_target = Body(item["target"] + "/CanonicalGraspCollision", target_mesh) + + def target_robot_detail(frame): + q = checkpoint["q"][frame].astype(float) + base = matrix(checkpoint["base_pose"][frame]) + recorded_hand = matrix(checkpoint["robot_link_pose"][frame, hand_index]) + recorded_target = matrix(checkpoint["target_pose_all"][frame, target_index]) + held = np.linalg.inv(recorded_hand) @ recorded_target + checker.held = held + checker.results.clear() + local = robot.fk(names, q, np.eye(4)) + self_ok, self_detail = checker.self_check(local, robot.root) + fk = {name: base @ transform for name, transform in local.items()} + for body in checker.self_check.bodies: + body.update(fk[body.name.replace("/World/Robot", robot.root, 1)]) + checker.target.update(fk[robot.root + "/gripper_r_base_link"] @ held) + physical_target.update(recorded_target) + rows = [] + for body in checker.self_check.bodies: + if not checker.broad_overlap(checker.target, body): + continue + hit = checker.contact(checker.target, body, containment=True) + if hit is None: + continue + witness = None + permitted = False + if body.name in allowed: + witness = checker.separation_witness(checker.target, body, hit, tolerance_mm=10.0, vertical_support=False) + permitted = bool(witness.get("certified")) + rows.append({"robot_body": body.name, "contact": hit, "allowed_distal": body.name in allowed, "separation_witness": witness, "permitted": permitted}) + physical_rows = [] + for body in checker.self_check.bodies: + if not checker.broad_overlap(physical_target, body): + continue + hit = checker.contact(physical_target, body, containment=True) + if hit is None: + continue + witness = None + permitted = False + if body.name in allowed: + witness = checker.separation_witness(physical_target, body, hit, tolerance_mm=10.0, vertical_support=False) + permitted = bool(witness.get("certified")) + physical_rows.append({"robot_body": body.name, "contact": hit, "allowed_distal": body.name in allowed, "separation_witness": witness, "permitted": permitted}) + overall = checker.check(q, base) + return { + "source_control_tick": int(ticks[frame]), + "phase": phases[frame], + "self_and_wrist_ok": bool(self_ok), + "self_and_wrist_detail": self_detail, + "target_robot_intersections": rows, + "target_robot_rule_passed": all(row["permitted"] for row in rows), + "authored_physical_target_robot_intersections": physical_rows, + "authored_physical_target_robot_rule_passed": all(row["permitted"] for row in physical_rows), + "clearance_check_passed": bool(overall), + "clearance_last": None if overall else checker.last, + } + + safe = target_robot_detail(safe_frame) + bad = [target_robot_detail(frame) for frame in bad_frames] + safe_ok = (safe["clearance_check_passed"] and safe["target_robot_rule_passed"] + and bool(safe["authored_physical_target_robot_intersections"]) + and safe["authored_physical_target_robot_rule_passed"] + and {row["robot_body"] for row in safe["authored_physical_target_robot_intersections"]} <= allowed) + bad_ok = all( + not row["clearance_check_passed"] + and row["clearance_last"].get("kind") == "held_target_robot" + and row["clearance_last"].get("robot") == "/World/Robot/body_link2" + for row in bad + ) + result = { + "schema": "multi_item.carry_target_robot_regression.v1", + "passed": bool(safe_ok and bad_ok), + "read_only": True, + "carry_transition_sha256": hashlib.sha256((W / "carry_transition.py").read_bytes()).hexdigest(), + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "accepted_prefix_state": safe, + "confirmed_bad_states": bad, + "assertions": { + "accepted_source_final_pick_has_only_certified_assigned_distal_contacts": bool(safe_ok), + "case5_ticks_15138_15139_reject_body_link2": bool(bad_ok), + "whole_gripper_prefix_exemption_absent": True, + }, + "authored_physical_target_geometry": {"method": target_method, "approximation": target_approximation}, + "limitations": "The safe state is the physically retained case5 final shelf-pick state from the same continuous prefix; runtime bilateral contact evidence remains a separate pickup gate.", + "active_case_written": False, + "physics_executed": False, + } + output = W / "CARRY_TARGET_ROBOT_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"output": str(output), "passed": result["passed"], "safe": safe, "bad": bad}, indent=2)) + raise SystemExit(0 if result["passed"] else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_multi_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_multi_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..ab4d7850c3e29e863c0de4285f06b0ae81c68cf4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_multi_validation.py @@ -0,0 +1,107 @@ +"""Focused contract tests; these do not launch or step the simulator.""" +import gzip +import json +import tempfile +import unittest +from pathlib import Path + +import numpy as np + +from multi_validation import audit_ranges, contact_capture_audit, grasp_retention_audit, recording_contract, validate_phase_order + + +def phases(count=3): + names = ["initial_upper_shelf_posture"] + indices = [-1] + core = ["waist_to_selected_shelf", "shelf_pick", "shelf_exit_reverse", + "forward_navigation", "bridge_to_place_initial", "place_descent", + "place_release", "release_retreat", "settle"] + for item in range(count): + suffixes = core + (["empty_return"] if item < count - 1 else []) + ["complete"] + names += [f"item_{item:02d}_{suffix}" for suffix in suffixes] + indices += [item] * len(suffixes) + return names, np.asarray(indices) + + +class Recording: + def __init__(self, names, indices, targets): + n = len(names) + self.files = ["q", "phase", "item_index", "active_target_path", "target_paths", "target_pose_all"] + self.values = dict(q=np.zeros((n, 1)), phase=np.asarray(names), item_index=indices, + active_target_path=np.asarray(["" if i < 0 else targets[i] for i in indices]), + target_paths=np.asarray(targets), target_pose_all=np.zeros((n, len(targets), 7))) + + def __getitem__(self, key): + return self.values[key] + + +class MultiValidationTests(unittest.TestCase): + def test_valid_order_and_no_final_return(self): + names, indices = phases() + self.assertEqual(len(validate_phase_order(names, indices, 3)), 3) + + def test_live_pilot_initial_item_zero_encoding_is_authentic(self): + names, indices = phases();indices[0]=0;targets=["/A","/B","/C"] + recording=Recording(names,indices,targets);recording.values["active_target_path"][0]=targets[0] + recording_contract(recording,[dict(target=x) for x in targets]) + self.assertEqual(len(validate_phase_order(names,indices,3)),3) + + def test_final_return_is_rejected(self): + names, indices = phases() + names.insert(-1, "item_02_empty_return"); indices = np.insert(indices, -1, 2) + with self.assertRaisesRegex(ValueError, "final item"): + validate_phase_order(names, indices, 3) + + def test_skipping_nonfinal_return_is_rejected(self): + names, indices = phases();at = names.index("item_00_empty_return") + names.pop(at);indices=np.delete(indices,at) + with self.assertRaisesRegex(ValueError, "return empty-handed"): + validate_phase_order(names, indices, 3) + + def test_audit_ranges_are_target_homogeneous_and_complete(self): + names, indices = phases();targets=["/A", "/B", "/C"] + requested=[dict(target=x) for x in targets];ranges=audit_ranges(Recording(names,indices,targets),requested,4,16) + self.assertEqual([x for a,b,_ in ranges for x in range(a,b)],list(range(len(names)))) + active=indices.copy();active[active<0]=0 + self.assertTrue(all(np.all(active[a:b]==item) for a,b,item in ranges)) + + def test_contact_receipt_requires_every_target(self): + requested=[dict(target="/A"),dict(target="/B"),dict(target="/C")] + with tempfile.TemporaryDirectory() as td: + out=Path(td);receipt=dict(requested_targets=["/A","/B","/C"],filter_semantics="robot_or_any_requested_target",all_physics_ticks=True,dropped_rows=0,control_ticks=9,callback_rows=2) + (out/"CONTACT_CAPTURE.json").write_text(json.dumps(receipt)) + with gzip.open(out/"contacts.jsonl.gz","wt") as stream: + for tick,target in enumerate(("/A","/B"),1):stream.write(json.dumps(dict(tick=tick,actors=[target,"/World/Assets/Tray"]))+"\n") + self.assertFalse(contact_capture_audit(out,requested,9)["passed"]) + + def test_contact_rows_align_with_active_item(self): + requested=[dict(target="/A"),dict(target="/B"),dict(target="/C")] + with tempfile.TemporaryDirectory() as td: + out=Path(td);receipt=dict(requested_targets=["/A","/B","/C"],filter_semantics="robot_or_any_requested_target",all_physics_ticks=True,dropped_rows=0,control_ticks=3,callback_rows=3) + (out/"CONTACT_CAPTURE.json").write_text(json.dumps(receipt));indices=np.array([0,1,2]);active=np.array(["/A","/B","/C"]);phase=np.array(["item_00_settle","item_01_settle","item_02_settle"]) + with gzip.open(out/"contacts.jsonl.gz","wt") as stream: + for tick,target in enumerate(active,1):stream.write(json.dumps(dict(tick=tick,item_index=tick-1,active_target_path=target,phase=phase[tick-1],actors=[target,"/World/Assets/Tray"]))+"\n") + self.assertTrue(contact_capture_audit(out,requested,3,indices,active,phase)["passed"]) + + def test_grasp_retention_requires_bilateral_final_contact_and_environment_clearance(self): + phase=np.asarray(["item_00_shelf_pick"]*30);indices=np.zeros(30,dtype=int) + requested=[dict(target="/Target",hand="r")] + rows=[] + for tick in range(1,31): + for finger in ("inner","outer"): + rows.append(dict(tick=tick,actors=["/Target",f"/World/Robot/gripper_r_{finger}_link4"],colliders=[])) + self.assertTrue(grasp_retention_audit(rows,phase,indices,requested)["passed"]) + rows.append(dict(tick=30,actors=["/Target","/World/Assets/Shelf"],colliders=[])) + report=grasp_retention_audit(rows,phase,indices,requested) + self.assertFalse(report["passed"]) + self.assertEqual(report["items"][0]["environment_contact_ticks"],[30]) + + def test_grasp_retention_rejects_height_only_pick_without_contacts(self): + phase=np.asarray(["item_00_shelf_pick"]*30);indices=np.zeros(30,dtype=int) + report=grasp_retention_audit([],phase,indices,[dict(target="/Target",hand="l")]) + self.assertFalse(report["passed"]) + self.assertEqual(report["items"][0]["simultaneous_bilateral_contact_tick_count"],0) + + +if __name__ == "__main__": + unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_return_head_policy.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_return_head_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..0a12ec943068ab5aa12d4e6023fd70c099201c87 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_return_head_policy.py @@ -0,0 +1,74 @@ +"""Behavior checks for head commands at return navigation boundaries.""" +import unittest +from unittest.mock import patch +import numpy as np +import return_head_policy as policy + +NAMES=[f'joint{i}' for i in range(15)]+[policy.BODY_PITCH_JOINT]+list(policy.HEAD_JOINTS)+['grip_l','grip_r'] + +class Robot: + def __init__(self,ctx):self.ctx=ctx + def get_joint_positions(self):return self.ctx['native'].copy() + +class ReturnHeadTests(unittest.TestCase): + def context(self): + q=np.zeros(20);q[15]=np.deg2rad(30);q[16:18]=[.1,.7] + ctx=dict(names=NAMES,control_names=NAMES,ids=np.arange(20),native=q, + return_bridge_q=np.r_[np.zeros(16),.0,.45,.0,.0],rows=[],item_index=0, + stage=None,carry_robot=None,base=None,prop_paths=[],props=[],out=__import__('pathlib').Path('/unused')) + ctx['robot']=Robot(ctx);ctx['mat']=lambda body:np.eye(4) + ctx['constrain']=lambda mode:None;ctx['item_phase']=lambda phase:None;ctx['dump']=lambda path,record:None + def blend(target,seconds): + ctx['native'][:]=target;ctx['rows'].extend(range(round(seconds*60))) + ctx['blend']=blend + return ctx + + @patch('multi_motion.EmptyClearance') + def test_every_return_drive_is_level_then_source_gaze_restored(self,check): + check.return_value.segment.return_value=True + ctx=self.context();moving=[] + def original(primitives,**kwargs): + for primitive in primitives: + if primitive.get('bridge_before'):ctx['blend'](ctx['return_bridge_q'],4.) + moving.append(ctx['native'][16:18].copy()) + ctx['base_vw']=np.zeros(2) + execute=policy.wrap_executor(ctx,original) + source=ctx['return_bridge_q'].copy() + execute([dict(kind='drive',return_stage='table_retreat')],return_motion=True,item_job={}) + self.assertTrue(np.array_equal(ctx['native'][16:18],[0,policy.PITCH_CLIP_RAD[0]])) + execute([dict(kind='drive',return_stage='room_navigation'),dict(kind='drive',bridge_before=True)],return_motion=True,item_job={}) + np.testing.assert_array_equal(moving, [[0,policy.PITCH_CLIP_RAD[0]],[0,policy.PITCH_CLIP_RAD[0]],[0,0]]) + np.testing.assert_array_equal(ctx['native'][16:18],source[16:18]) + np.testing.assert_array_equal(ctx['return_bridge_q'],source) + self.assertEqual(check.return_value.segment.call_count,2) + + @patch('multi_motion.EmptyClearance') + def test_unsafe_head_raise_stops_before_navigation(self,check): + check.return_value.segment.return_value=False;check.return_value.last='collision' + ctx=self.context();calls=[];before=ctx['native'].copy() + with self.assertRaisesRegex(RuntimeError,'not clear'): + policy.wrap_executor(ctx,lambda *a,**k:calls.append(1))([{}],return_motion=True,item_job={}) + self.assertEqual(calls,[]);self.assertEqual(len(ctx['rows']),0) + np.testing.assert_array_equal(ctx['native'],before) + + @patch('multi_motion.EmptyClearance') + def test_planner_receives_same_level_head_as_executor_and_preserves_inputs(self,check): + check.return_value.segment.return_value=True + q=np.arange(20)/100;next_q=q+.02;original=q.copy();next_original=next_q.copy();received=[] + def planner(stage,robot,names,start,base,props,next_base,end,release,job): + received.extend([start.copy(),end.copy()]);return start.copy(),[{'bridge_before':True}],{} + # Job JSON supplies the base transforms as nested lists. The wrapper + # must normalize them before its collision checks. + _,_,report=policy.wrap_planner(planner)(None,None,NAMES,q,np.eye(4).tolist(),{},np.eye(4).tolist(),next_q,{}, {}) + for r,s in zip(received,[q,next_q]): + np.testing.assert_array_equal(r[16:18],policy.head_target(s,NAMES));np.testing.assert_array_equal(r[:16],s[:16]);np.testing.assert_array_equal(r[18:],s[18:]) + np.testing.assert_array_equal(q,original);np.testing.assert_array_equal(next_q,next_original) + self.assertTrue(report['head_policy']['includes_shelf_approach']) + self.assertEqual(check.return_value.segment.call_count,2) + + def test_carry_motion_is_unmodified(self): + ctx=self.context();before=ctx['native'].copy();seen=[] + policy.wrap_executor(ctx,lambda *a,**k:seen.append(k))([{}],return_motion=False,item_job={}) + np.testing.assert_array_equal(ctx['native'],before);self.assertFalse(seen[0]['return_motion']) + +if __name__=='__main__':unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_startup_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_startup_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..6ba19d8e1f9dcee21bcb51a8178537d04f5100d9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/test_startup_validation.py @@ -0,0 +1,106 @@ +import json +import tempfile +import unittest +from pathlib import Path + +import numpy as np + +import startup_validation as sv + + +class StartupValidationTests(unittest.TestCase): + def test_quaternions_are_normalized_before_angle(self): + q = np.array([[0.0, 0.0, 0.0, 0.99999994]], dtype=np.float32) + self.assertEqual(float(sv.angular_from_reference(q, q[0])[0]), 0.0) + + def test_clock_contract_and_wrong_rate(self): + with tempfile.TemporaryDirectory() as folder: + out = Path(folder) + recording = {"q": np.zeros((31, 1)), "tick": np.arange(1, 32), + "timestamp": np.arange(1, 32) / 60.0} + preroll = {"q": np.zeros((33, 1))} + clock = {"schema": "startup_preroll_clock_v1", "physics_hz": 240, + "control_hz": 60, "training_hz": 20, "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 132, + "unrecorded_preroll_duration_s": 33 / 60, + "retained_control_rows": 31, "retained_first_control_row": 0, + "retained_first_post_step_global_physics_step": 136, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 10, "command_semantics": "native", + "contact_semantics": "post-preroll"} + sv.write_json(out / "PHYSICS_CLOCK.json", clock) + self.assertTrue(sv.clock_audit(out, recording, preroll)["passed"]) + clock["physics_hz"] = 120 + sv.write_json(out / "PHYSICS_CLOCK.json", clock) + self.assertFalse(sv.clock_audit(out, recording, preroll)["passed"]) + + def test_camera_exact_tick_and_mount_mapping(self): + with tempfile.TemporaryDirectory() as folder: + out = Path(folder) + rows = 9 + paths = list(sv.CAMERA_LINKS.values()) + pose = np.zeros((rows, 3, 7)); pose[..., 6] = 1 + pose[:, :, 0] = np.arange(rows)[:, None] * 1e-4 + recording = {"q": np.zeros((rows, 1)), "robot_link_paths": np.asarray(paths), + "robot_link_pose": pose} + ticks = np.arange(3, rows + 1, 3) + transforms = sv._pose_matrix_xyzw(pose[ticks - 1]) + np.savez(out / "camera_extrinsics_20hz.npz", camera_keys=np.asarray(list(sv.CAMERAS)), + control_tick=ticks, timestamp=ticks / 60, global_physics_step=120 + 4 * ticks, + world_T_camera=transforms) + clock = {"unrecorded_preroll_physics_steps": 120} + self.assertTrue(sv.camera_extrinsics_audit(out, recording, clock)["passed"]) + np.savez(out / "camera_extrinsics_20hz.npz", camera_keys=np.asarray(list(sv.CAMERAS)), + control_tick=ticks + 1, timestamp=ticks / 60, global_physics_step=120 + 4 * ticks, + world_T_camera=transforms) + self.assertFalse(sv.camera_extrinsics_audit(out, recording, clock)["passed"]) + + def test_prop_scope_rejects_distractor_drop_and_excludes_active_pick(self): + with tempfile.TemporaryDirectory() as folder: + case = Path(folder); out = case / "rollout"; (out / "physics_ticks").mkdir(parents=True) + paths = np.asarray(["/distractor", "/target"]) + initial = np.zeros((2, 7)); initial[:, 6] = 1; initial[:, 2] = 1 + pre = np.repeat(initial[None], 30, axis=0) + np.savez(out / "PREROLL_EVIDENCE.npz", q=np.zeros((30, 1)), prop_paths=paths, + prop_pose=pre, initial_prop_pose_before_preroll=initial) + sv.write_json(out / "INITIAL_PROP_NO_FALL.json", {"passed": True, "physics_samples": 30, + "maxima": {"translation_m": 0, "downward_m": 0, "rotation_rad": 0}, + "all_requested_and_nonrequested_props_included": True}) + retained = np.repeat(initial[None], 8, axis=0) + retained[3:, 0, 2] -= 0.011 + retained[2:4, 1, 0] += 0.20 + np.savez(out / "physics_ticks/full_state.npz", rigid_body_paths=paths, + prop_xyz_m=retained[:, :, :3], prop_wxyz=retained[:, :, [6, 3, 4, 5]]) + sv.write_json(out / "ITEM_EVENTS.json", {"events": [ + {"event": "item_completed", "item_index": 0, "target": "/target", "tick": 5}]}) + recording = {"phase": np.asarray(["initial", "initial", "item_00_shelf_pick", + "item_00_shelf_pick", "item_00_complete", + "item_00_complete", "item_00_complete", "item_00_complete"]), + "item_index": np.zeros(8, dtype=int)} + report = sv.prop_no_fall_audit(case, recording, [{"target": "/target"}]) + self.assertFalse(report["passed"]) + rows = {row["path"]: row for row in report["paths"]} + self.assertFalse(rows["/distractor"]["passed"]) + self.assertTrue(rows["/target"]["passed"]) + + def test_frozen_gate_detects_later_mutation(self): + with tempfile.TemporaryDirectory() as folder: + case = Path(folder); out = case / "rollout"; out.mkdir() + old_frozen, old_raw = sv.FROZEN_AUDITS, sv.RAW_EVIDENCE + try: + sv.FROZEN_AUDITS = ["audit.json"] + sv.RAW_EVIDENCE = ["raw.bin"] + sv.write_json(out / "audit.json", {"passed": True}) + (out / "raw.bin").write_bytes(b"native") + sv.freeze_physical_gate(case, 4) + self.assertTrue(sv.verify_physical_gate(case)["passed"]) + (out / "raw.bin").write_bytes(b"changed") + self.assertFalse(sv.verify_physical_gate(case)["passed"]) + finally: + sv.FROZEN_AUDITS, sv.RAW_EVIDENCE = old_frozen, old_raw + + +if __name__ == "__main__": + unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/tray_appearance.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/tray_appearance.py new file mode 100644 index 0000000000000000000000000000000000000000..95a16cd84f09a11ba51ce976946600a06e1af299 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/tray_appearance.py @@ -0,0 +1,10 @@ +"""Original tray, same white/gray/black solid palette as the standalone task.""" +import random,json +from pxr import UsdShade,Sdf,Gf + +def apply(stage,job): + rng=random.Random(json.dumps(['chain_original_tray',job['seed']]));palette={'white':.85,'gray':.14,'black':.025};name=rng.choice(list(palette));value=palette[name] + material=UsdShade.Material.Define(stage,'/World/Looks/ChainOriginalTray');shader=UsdShade.Shader.Define(stage,'/World/Looks/ChainOriginalTray/Surface');shader.CreateIdAttr('UsdPreviewSurface') + shader.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).Set(Gf.Vec3f(value));shader.CreateInput('roughness',Sdf.ValueTypeNames.Float).Set(.5);shader.CreateOutput('surface',Sdf.ValueTypeNames.Token);material.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(),'surface') + UsdShade.MaterialBindingAPI.Apply(stage.GetPrimAtPath('/World/Assets/Tray')).Bind(material,UsdShade.Tokens.strongerThanDescendants) + return dict(policy='standalone_original_neutral_tray_palette',color=name,linear_rgb=[value]*3,texture=None,geometry_changed=False) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_case.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_case.py new file mode 100644 index 0000000000000000000000000000000000000000..bdd041017eeb792fea5d4c07b4a67ba899aae96b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_case.py @@ -0,0 +1,113 @@ +"""Validate one completed native episode and stage it for independent review. + +This program never publishes or accepts an episode. It freezes physical and +startup evidence, exports a candidate, and leaves manual visual plus official +LeRobot reader QA as separate mandatory gates. +""" +import fcntl +import json +import os +import subprocess +import sys +import time +from pathlib import Path + +W = Path(__file__).resolve().parent +case = Path(sys.argv[1]).resolve() +out = case / "rollout" +CPU = sys.executable +sys.path.insert(0, "/mnt/agent-bench-data/lingjun/ziche/work/family3_repair/collision/python_deps") +from startup_validation import freeze_physical_gate, video_decode_audit +from validate_export import task_audit, write + + +def run(script, args, log, env=None): + with (out / log).open("w") as stream: + result = subprocess.run([CPU, str(W / script), str(case), *args], stdout=stream, + stderr=subprocess.STDOUT, env=env) + if result.returncode: + raise RuntimeError(f"{script} {args} exited {result.returncode}; see {log}") + + +lock_dir = W / "validation_locks" +lock_dir.mkdir(exist_ok=True) +case_lock = (lock_dir / f"{case.name}.lock").open("a+") +fcntl.flock(case_lock, fcntl.LOCK_EX | fcntl.LOCK_NB) +capacity = None +while capacity is None: + for index in range(int(os.environ.get("CHAIN_VALIDATION_CAPACITY", "4"))): + candidate = (lock_dir / f"capacity_{index}.lock").open("a+") + try: + fcntl.flock(candidate, fcntl.LOCK_EX | fcntl.LOCK_NB) + capacity = candidate + break + except BlockingIOError: + candidate.close() + if capacity is None: + time.sleep(10) + +try: + write(case / "STATUS.json", dict(status="VERIFYING", phase="startup_task_views_collisions", + updated=time.time())) + from runtime_evidence import reconcile + reconcile(case) + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Task/startup/schema: " + str(report["failures"])) + + run("audit_views.py", [], "views_audit.log") + for name in ("WRIST_AUDIT.json", "VISIBILITY_AUDIT.json"): + if json.loads((out / name).read_text()).get("passed") is not True: + raise RuntimeError(name + " failed") + + run("audit_geometry.py", ["self"], "self_audit.log") + if json.loads((out / "SELF_COLLISION_AUDIT.json").read_text()).get("passed") is not True: + raise RuntimeError("Native self collision requires replanning") + + world_env = dict(os.environ, OPENBLAS_NUM_THREADS="1", OMP_NUM_THREADS="1") + run("audit_geometry.py", ["world"], "world_audit.log", world_env) + world = json.loads((out / "WORLD_COLLISION_AUDIT.json").read_text()) + if world.get("geometry_status") != "CLEAR_AT_CHECKED_SAMPLES" or world.get("complete_trajectory_checked") is not True: + raise RuntimeError("World collision review is not clear and complete") + + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Final task/startup/schema: " + str(report["failures"])) + decode = video_decode_audit(out, report["training_frames"]) + if not decode["passed"]: + raise RuntimeError("Full three-view video decode audit failed") + gate = freeze_physical_gate(case, world.get("parallel_shards")) + if gate["passed"] is not True: + raise RuntimeError("Physical gate freeze failed") + + export_python = "/mnt/agent-bench-data/lingjun/ziche/work/shelf_training_target_layer60_20260916/lerobot_env/bin/python" + with (out / "export.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "validate_export.py"), str(case)], + stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Staged export verification failed; see export.log") + run("prepare_visual_qa.py", [], "visual_evidence.log") + dataset = W / "staged_datasets" / case.name + layout = int(json.loads((case / "job.json").read_text())["layout_id"]) + reader_report = W / "qa" / f"layout_{layout:02d}" / "OFFICIAL_LEROBOT_READER_QA.json" + reader_report.parent.mkdir(parents=True, exist_ok=True) + with (out / "official_reader.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "official_lerobot_reader_qa.py"), + "--layout", str(layout), "--dataset", str(dataset), + "--output", str(reader_report)], stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Official LeRobot reader QA failed; see official_reader.log") + write(case / "STATUS.json", dict(status="MANUAL_REVIEW_PENDING", phase="first_0p5s_and_all_phase_panels", + frames=report["training_frames"], updated=time.time(), + staged_dataset=str(dataset), physical_gate=str(out / "PHYSICAL_GATE_RESULT.json"), + official_reader=str(reader_report), accepted=False)) +except Exception as exc: + write(case / "STATUS.json", dict(status="REVIEW_REQUIRED", phase="validation_failure", + error=repr(exc), updated=time.time(), accepted=False)) + raise +finally: + if capacity is not None: + fcntl.flock(capacity, fcntl.LOCK_UN) + capacity.close() + fcntl.flock(case_lock, fcntl.LOCK_UN) + case_lock.close() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_export.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_export.py new file mode 100644 index 0000000000000000000000000000000000000000..ef2944855983730ca700c1c1b78803a54dd62949 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_export.py @@ -0,0 +1,318 @@ +"""Verify schema/task evidence; export only after independent collision gates pass.""" +import json,sys,shutil,os,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent +sys.path.insert(0,str(W.parents[1]/'work/family3_repair/collision/python_deps')) +sys.path.insert(0,str(W.parents[1]/'tools/family3')) +# The requested CPU 3.11 environment carries AV but shares the existing +# Python-3.11 Arrow build used by the export workers. +PYARROW_SITE=Path('/mnt/agent-bench-data/lingjun/runs/microwave-batch-20260911/export_env/lib/python3.11/site-packages') +if PYARROW_SITE.exists():sys.path.append(str(PYARROW_SITE)) + +def write(p,d): + p.parent.mkdir(parents=True,exist_ok=True);p.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n') +def link_or_copy(source,destination): + # Container-owned read-only snapshots can forbid hardlinks; retain source permissions. + import errno + try:os.link(source,destination) + except OSError as exc: + if exc.errno not in (errno.EPERM,errno.EACCES,errno.EXDEV):raise + shutil.copy2(source,destination) + with open(source,'rb') as a,open(destination,'rb') as b: + assert hashlib.file_digest(a,'sha256').digest()==hashlib.file_digest(b,'sha256').digest() + return str(destination) + +def pack(z,schema): + names=z['dof_names'].tolist();ids=[names.index(n) for n in schema['action_names'][:20]];samples=np.arange(2,len(z['q']),3) + quat=z['base_pose'][:,3:];x,y,zq,w=quat.T;yaw=np.unwrap(np.arctan2(2*(w*zq+x*y),1-2*(y*y+zq*zq))) + action=np.c_[z['native_target'][:,ids],z['base_action_body']].astype(np.float32) + state=np.c_[z['q'][:,ids],z['base_pose'][:,:2],yaw].astype(np.float32) + assert action.shape==(len(z['q']),22) and state.shape==(len(z['q']),23) + assert np.isfinite(action).all() and np.isfinite(state).all() + return samples,action[samples],state[samples] + +def task_audit(case): + from scipy.spatial.transform import Rotation as Rot + from scipy.spatial import ConvexHull + from shapely.geometry import Polygon + from multi_validation import (contact_capture_audit,controls,grasp_retention_audit,items,item_phase_indices, + recording_contract,validate_phase_order) + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + z=np.load(out/'recording_60hz.npz',allow_pickle=False);phases,item_index,active,target_pose_all=recording_contract(z,requested);phases=np.asarray(phases) + phase_error=None + try:phase_cycles=validate_phase_order(phases,item_index,len(requested)) + except ValueError as exc: + # Preserve a useful audit report for immutable failed native attempts. A + # completed episode still fails this gate; diagnostics continue so schema, + # alignment, contact capture, and completed-prefix behavior can be assessed. + phase_cycles=None;phase_error=str(exc) + schema=json.loads((W/'action_space.schema.json').read_text());samples,action,state=pack(z,schema) + failures=[];checks={} + def check(key,value,detail=None): + checks[key]=dict(passed=bool(value),detail=detail) + if not value:failures.append(key) + result=json.loads((out/'RESULT.json').read_text());expected_targets=[row['target'] for row in requested] + check('physics_finished',result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED',result) + check('all_requested_objects_completed_in_order',result.get('completed_objects')==expected_targets and result.get('requested_objects')==expected_targets and result.get('item_count')==len(requested),result) + # Stable-start evidence is independent of the task and collision reviewers. + # Every report is persisted even on failure so rejected native captures remain + # diagnosable without changing their bytes. + from startup_validation import (camera_extrinsics_audit,camera_warmup_audit,clock_audit, + prop_no_fall_audit,startup_stability_audit) + pre=np.load(out/'PREROLL_EVIDENCE.npz',allow_pickle=False) + clock_report=clock_audit(out,z,pre);write(out/'PHYSICS_CLOCK_AUDIT.json',clock_report) + check('strict_240hz_preroll_retained_clock',clock_report['passed'],clock_report) + startup_report=startup_stability_audit(case,z,schema['action_names']);write(out/'STARTUP_STABILITY_AUDIT.json',startup_report) + check('strict_unrecorded_preroll_and_first_retained_0p5s_stable',startup_report['passed'],startup_report) + preroll_evidence=json.loads((out/'PREROLL_EVIDENCE.json').read_text()) + warmup_report=camera_warmup_audit(out,preroll_evidence,result);write(out/'CAMERA_WARMUP_AUDIT.json',warmup_report) + check('native_three_view_warmup_after_stability',warmup_report['passed'],warmup_report) + camera_report=camera_extrinsics_audit(out,z,clock_report.get('clock',{}));write(out/'CAMERA_EXTRINSICS_AUDIT.json',camera_report) + check('camera_extrinsics_exact_clock_and_rigid_mount',camera_report['passed'],camera_report) + prop_report=prop_no_fall_audit(case,z,requested);write(out/'NON_TARGET_PROP_STABILITY_AUDIT.json',prop_report) + check('all_props_no_fall_and_completed_items_remain_stable',prop_report['passed'],prop_report) + readback_input=out/'collision_readback/INPUT.json' + evidence=json.loads(readback_input.read_text()) if readback_input.exists() else None + check('capture_end_collision_readback_present',evidence is not None,str(readback_input)) + if evidence: + rates=[scene.get('physxScene:timeStepsPerSecond') for scene in evidence['physics_scenes'].values()] + rate_source='capture_end_collision_readback' + else: + clock_path=out/'PHYSICS_CLOCK.json';clock=json.loads(clock_path.read_text()) if clock_path.exists() else {} + rates=[clock.get('physics_hz')] if clock.get('physics_hz') is not None else [] + rate_source='native_physics_clock_receipt' + check('actual_physics_240_hz',bool(rates) and all(hz==240 for hz in rates),rates) + checks['actual_physics_240_hz']['source']=rate_source + check('native_control_60_hz',np.array_equal(z['tick'],np.arange(1,len(z['q'])+1)) and np.allclose(z['timestamp'],np.arange(1,len(z['q'])+1)/60,atol=1e-12)) + readback=json.loads((out/'LIVE_DRIVE_READBACK.json').read_text());check('both_runtime_grippers_80',len(readback)==2 and all(abs(x-80)<1e-5 for x in readback.values()),readback) + check('continuous_per_item_phase_order',phase_error is None,phase_cycles if phase_error is None else phase_error) + # Native continuity and alignment: a single full-state stream must match every + # control row and every requested target pose. No concatenated replay is admitted. + full=np.load(out/'physics_ticks/full_state.npz',allow_pickle=False);n=len(z['q']) + aligned=(len(full['robot_joint_position_rad_or_m'])==n and np.array_equal(full['frame_index'],np.arange(n)) + and full['robot_dof_names'].tolist()==z['dof_names'].tolist() + and np.array_equal(full['robot_joint_position_rad_or_m'],z['q']) + and full['requested_target_paths'].tolist()==expected_targets + and np.array_equal(full['item_index'],z['item_index']) + and full['active_target_path'].tolist()==z['active_target_path'].tolist() + and np.array_equal(full['target_pose_all'],z['target_pose_all']) + and full['robot_link_paths'].tolist()==z['robot_link_paths'].tolist() + and np.array_equal(full['robot_link_xyz_m'],z['robot_link_pose'][:,:,:3]) + and np.array_equal(full['robot_link_wxyz'][:,:,[1,2,3,0]],z['robot_link_pose'][:,:,3:])) + paths=full['rigid_body_paths'].tolist();prop_aligned=True;target_errors={} + for i,target in enumerate(expected_targets): + if target not in paths:prop_aligned=False;target_errors[target]='missing from full-state rigid bodies';continue + p=paths.index(target);pose=np.c_[full['prop_xyz_m'][:,p],full['prop_wxyz'][:,p][:,[1,2,3,0]]] + error=float(np.max(abs(pose-target_pose_all[:,i])));target_errors[target]=error;prop_aligned &= error<=1e-6 + check('single_native_stream_source_alignment',aligned and prop_aligned,dict(episode_uid=str(full['episode_uid']),frames=n,target_max_abs_errors=target_errors)) + metadata=json.loads((out/'recording_metadata.json').read_text());checkpoint=json.loads((out/'CHECKPOINT.json').read_text()) + completed_prefix=result.get('completed_objects',[]) + checkpoint_prefix=checkpoint.get('completed_objects',[]) + prefix_consistent=(checkpoint_prefix==completed_prefix[:len(checkpoint_prefix)] and len(checkpoint_prefix)<=len(completed_prefix) + and int(checkpoint.get('control_ticks',0))<=n) + if result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED':prefix_consistent &= checkpoint_prefix==completed_prefix + check('no_pose_reset_or_stitched_replay',metadata.get('continuous_no_pose_reset') is True and metadata.get('multi_item') is True and checkpoint.get('continuous_process') is True and prefix_consistent,dict(recording_metadata=metadata,checkpoint=checkpoint,result_completed_objects=completed_prefix)) + events=json.loads((out/'ITEM_EVENTS.json').read_text());event_rows=events.get('events',[]);event_order=[(x.get('event'),x.get('item_index'),x.get('target')) for x in event_rows] + expected_events=[(event,i,item['target']) for i,item in enumerate(requested) for event in ('item_started','item_supported','item_completed')] + ticks=[int(x.get('tick',0)) for x in event_rows] + check('item_event_evidence_complete_ordered',events.get('requested_objects')==expected_targets and events.get('completed_objects')==expected_targets and event_order==expected_events and ticks==sorted(ticks) and all(1<=x<=n for x in ticks),dict(events=event_order,ticks=ticks)) + for i,item in enumerate(requested): + supported=event_rows[3*i+1] if len(event_rows)>3*i+1 else {};metrics=supported.get('metrics',{}) + physical=(metrics.get('target')==item['target'] and metrics.get('inside_tray') is True and metrics.get('support_contact_observed') is True + and float(metrics.get('drift_last_second_m',float('inf')))<=.012 + and float(metrics.get('linear_speed_m_s',float('inf')))<=.025 + and float(metrics.get('angular_speed_rad_s',float('inf')))<=.35 + and float(metrics.get('hand_clearance_m',-float('inf')))>=.07 + and bool(metrics.get('tray_support_contact_ticks'))) + check(f'item_{i:02d}_producer_physical_support_gate',physical,metrics) + completed=event_rows[3*i+2] if len(event_rows)>3*i+2 else {} + if i+1=-.001)) + base=z['base_pose'];steps=np.linalg.norm(np.diff(base[:,:2],axis=0),axis=1);check('base_no_teleport',steps.max()<.006,float(steps.max())) + yaw=Rot.from_quat(base[:,3:]).as_euler('xyz')[:,2];velocity=np.diff(base[:,:2],axis=0)*60;lateral=-np.sin(yaw[:-1])*velocity[:,0]+np.cos(yaw[:-1])*velocity[:,1];check('base_no_strafe',np.max(abs(lateral))<.02,float(np.max(abs(lateral)))) + ids=[z['dof_names'].tolist().index(n) for n in schema['action_names'][:20]];targets=z['native_target'][:,ids] + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());limits=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;entry=runtime[name];limits.append([float(entry['physics:lowerLimit'])*unit,float(entry['physics:upperLimit'])*unit]) + limits=np.asarray(limits);check('actual_configured_command_joint_limits',np.all(targets>=limits[:,0]-2e-5) and np.all(targets<=limits[:,1]+2e-5),limits.tolist()) + check('reference_command_envelope_reported',True,dict(within_reference=bool(np.all(targets>=LOWER-2e-5) and np.all(targets<=UPPER+2e-5)),authored_robot_limits_preserved=True)) + check('waist_speed_limit',np.max(abs(np.diff(targets[:,14])))*60<=.1001 and np.max(abs(np.diff(targets[:,15])))*60<=.5001) + from grasp_stability import metrics as stability_metrics + stability=stability_metrics(z,requested);write(out/'GRASP_STABILITY_AUDIT.json',stability);check('held_object_and_hand_stability_every_item',stability['passed'],stability) + floor=Polygon(job['tray_polygon_xy']);final=np.arange(max(0,n-120),n);final_footprints={};item_geometry=[] + for i,item in enumerate(requested): + control=controls(case,item);local=np.asarray(control['target_local']);p=target_pose_all[:,i];settle=item_phase_indices(phases,item_index,i,'settle');pick=item_phase_indices(phases,item_index,i,'shelf_pick') + check(f'item_{i:02d}_target_lifted',len(pick)>0 and p[pick[-1],2]>p[pick[0],2]+.025,dict(start_z=float(p[pick[0],2]) if len(pick) else None,end_z=float(p[pick[-1],2]) if len(pick) else None)) + check(f'item_{i:02d}_settle_duration',len(settle)>=120,len(settle)) + rot=Rot.from_quat(p[final,3:]);verts=np.einsum('nij,vj->nvi',rot.as_matrix(),local)+p[final,None,:3] + footprints=[Polygon(x[ConvexHull(x[:,:2]).vertices,:2]) for x in verts];final_footprints[i]=footprints + bottom=verts[:,:,2].min(1);inside=all(floor.buffer(.001).covers(f) for f in footprints) + check(f'item_{i:02d}_final_tray_containment',inside) + check(f'item_{i:02d}_final_tray_support',np.max(abs(bottom-job['tray_floor_z']))<.006,[float(bottom.min()),float(bottom.max()),job['tray_floor_z']]) + check(f'item_{i:02d}_final_upright',np.min(rot.as_matrix()[:,2,2])>np.cos(np.deg2rad(8))) + check(f'item_{i:02d}_final_stable',np.ptp(p[final,:3],axis=0).max()<.004,np.ptp(p[final,:3],axis=0).tolist()) + completed=item_phase_indices(phases,item_index,i,'complete');after=np.arange(settle[-1],n) if len(settle) else np.array([],dtype=int) + displacement=float(np.max(np.linalg.norm(p[after,:3]-p[after[0],:3],axis=1))) if len(after) else float('inf') + angular=float(np.max((Rot.from_quat(p[after[0],3:]).inv()*Rot.from_quat(p[after,3:])).magnitude())) if len(after) else float('inf') + check(f'item_{i:02d}_not_displaced_by_later_cycles',len(completed)>0 and displacement<.004 and angular.15,float(distance.min())) + if i+1max_overlap:max_overlap=overlap;worst=dict(source_control_tick=int(final[frame_number]+1),item_a=a,item_b=b,overlap_m2=overlap) + check('all_final_items_nonoverlapping',max_overlap<=1e-8,worst or dict(max_overlap_m2=0.)) + # The requested items all begin off the empty tray. + initial_intersection=[] + for i,item in enumerate(requested): + local=np.asarray(controls(case,item)['target_local']);p=target_pose_all[0,i];verts=local@Rot.from_quat(p[3:]).as_matrix().T+p[:3];foot=Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2]);initial_intersection.append(float(foot.intersection(floor).area)) + check('initial_tray_empty_of_requested_items',max(initial_intersection)<=1e-8,initial_intersection) + # Independently inspect every captured nonrobot rigid prop, including objects + # that are not task targets or declared clutter. A metadata count alone does + # not establish that the physical tray began empty. + from pxr import Usd,UsdGeom + from place_tray_layout import mesh_world_points + stage=Usd.Stage.Open(str(out/'scene.usda'));cache=UsdGeom.XformCache();occupants=[];unresolved=[] + for prop_index,path in enumerate(paths): + if path=='/World/Assets/Tray' or path.startswith('/World/Assets/Tray/'): + continue + try: + prim=stage.GetPrimAtPath(path);world=np.asarray(mesh_world_points(stage,prim),float);authored=np.asarray(cache.GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=np.eye(4);current[:3,:3]=Rot.from_quat(full['prop_wxyz'][0,prop_index,[1,2,3,0]]).as_matrix();current[:3,3]=full['prop_xyz_m'][0,prop_index] + vertices=local@current[:3,:3].T+current[:3,3] + footprint=Polygon(vertices[ConvexHull(vertices[:,:2]).vertices,:2]);overlap=float(footprint.intersection(floor).area);bottom=float(vertices[:,2].min());top=float(vertices[:,2].max()) + if overlap>1e-8 and bottom<=job['tray_floor_z']+.025 and top>=job['tray_floor_z']-.005: + occupants.append(dict(path=path,footprint_overlap_m2=overlap,bottom_z_m=bottom,top_z_m=top)) + except Exception as exc: + unresolved.append(dict(path=path,error=repr(exc))) + check('initial_tray_empty_all_recorded_props',not occupants and not unresolved,dict(recorded_props=len(paths),occupants=occupants,unresolved_geometry=unresolved)) + report=dict(schema_version='ziche.shelf_multi10_stable.task_schema_audit.v3',recording_sha256=hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest(),passed=not failures,checks=checks,failures=failures,training_frames=len(samples),action_schema=schema['version'],item_geometry=item_geometry,collision_validation='separate_required_all_ticks_all_requested_targets',startup_validation='strict_unrecorded_preroll_plus_first_retained_0p5s',prop_stability_scope='all_non_targets_full_trace; requested targets pre-pick and after completion') + write(out/'TASK_SCHEMA_AUDIT.json',report);return report + +def export(case): + import pyarrow as pa,pyarrow.parquet as pq + from startup_validation import CAMERAS,sha256,verify_physical_gate + from multi_validation import controls_path,items + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + physical_verification=verify_physical_gate(case);assert physical_verification['passed'],physical_verification + frozen=out/'physical_evidence';audit=json.loads((frozen/'TASK_SCHEMA_AUDIT.json').read_text());assert audit['passed'],audit['failures'];assert audit['recording_sha256']==hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest() + for file,field,value in [('SELF_COLLISION_AUDIT.json','passed',True),('WORLD_COLLISION_AUDIT.json','geometry_status','CLEAR_AT_CHECKED_SAMPLES'),('WRIST_AUDIT.json','passed',True),('VISIBILITY_AUDIT.json','passed',True)]: + assert json.loads((frozen/file).read_text())[field]==value,file + schema=json.loads((W/'action_space.schema.json').read_text());z=np.load(out/'recording_60hz.npz');samples,action,state=pack(z,schema);n=len(samples) + decode=json.loads((frozen/'VIDEO_DECODE_AUDIT.json').read_text());assert decode['passed'] and decode['expected_frames']==n + cameras=CAMERAS;image_stats={camera:decode['videos'][camera]['image_stats'] for camera in cameras} + for camera in cameras:assert decode['videos'][camera]['sha256']==sha256(out/(camera+'.mp4')) + destination=W/'staged_datasets'/f"layout_{job['layout_id']:02d}";temp=destination.with_name(destination.name+'.pending');assert not destination.exists() + if temp.exists(): + import time + archive=W/'history/incomplete_exports';archive.mkdir(parents=True,exist_ok=True);temp.rename(archive/(temp.name+'_'+str(time.time_ns()))) + temp.mkdir(parents=True,exist_ok=False) + meta=temp/'meta';meta.mkdir();data=temp/'data/chunk-000';data.mkdir(parents=True) + phase_names=list(dict.fromkeys(z['phase'][samples].tolist()));products=', '.join(row['product'] for row in requested);task=f"Starting with an empty tray, pick up {products} from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + clock=json.loads((out/'PHYSICS_CLOCK.json').read_text());preroll_duration=float(clock['unrecorded_preroll_duration_s']) + columns={'action':pa.array(action.tolist(),type=pa.list_(pa.float32(),22)),'observation.state':pa.array(state.tolist(),type=pa.list_(pa.float32(),23)),'timestamp':pa.array(np.arange(n,dtype=np.float32)/20),'simulator_time_s':pa.array((preroll_duration+(samples+1)/60).astype(np.float32)),'source_control_tick':pa.array(samples+1),'frame_index':pa.array(np.arange(n)),'index':pa.array(np.arange(n)),'episode_index':pa.array(np.zeros(n,dtype=np.int64)),'task_index':pa.array(np.zeros(n,dtype=np.int64)),'phase_index':pa.array([phase_names.index(p) for p in z['phase'][samples]]),'item_index':pa.array(z['item_index'][samples].astype(np.int64)),'next.done':pa.array(np.arange(n)==n-1)} + parquet=data/'episode_000000.parquet';pq.write_table(pa.table(columns),parquet,compression='zstd');read=pq.read_table(parquet) + assert np.array_equal(np.array(read['action'].to_pylist(),np.float32),action) and np.array_equal(np.array(read['observation.state'].to_pylist(),np.float32),state) + assert np.array_equal(read['source_control_tick'].to_numpy(),samples+1) + assert np.array_equal(read['item_index'].to_numpy(),z['item_index'][samples]) + assert np.array_equal(read['phase_index'].to_numpy(),np.array([phase_names.index(p) for p in z['phase'][samples]])) + def statistics(a):return {k:v.tolist() for k,v in dict(min=a.min(0),max=a.max(0),mean=a.mean(0),std=a.std(0),count=np.array([len(a)])).items()} + stats={'action':statistics(action.astype(float)),'observation.state':statistics(state.astype(float))};features={k:dict(dtype='float32',shape=[len(schema[n])],names=schema[n]) for k,n in [('action','action_names'),('observation.state','state_names')]} + for key in columns: + if key not in features:features[key]=dict(dtype='bool' if key=='next.done' else 'float32' if 'time' in key else 'int64',shape=[1],names=None) + for camera,(width,height) in cameras.items(): + key='observation.images.'+camera;p=temp/'videos/chunk-000'/key;p.mkdir(parents=True);link_or_copy(out/(camera+'.mp4'),p/'episode_000000.mp4') + features[key]=dict(dtype='video',shape=[height,width,3],names=['height','width','channel'],video_info={'video.fps':20,'video.codec':'h264','video.pix_fmt':'yuv420p','video.is_depth_map':False,'has_audio':False});stats[key]=image_stats[camera] + write(meta/'info.json',dict(codebase_version='v2.1',robot_type='G1_omnipicker',total_episodes=1,total_frames=n,total_tasks=1,total_videos=3,total_chunks=1,chunks_size=1000,fps=20,splits={'train':'0:1'},features=features,data_path='data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet',video_path='videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4')) + write(meta/'stats.json',stats) + for name,row in [('tasks',dict(task_index=0,task=task)),('episodes',dict(episode_index=0,tasks=[task],length=n)),('episodes_stats',dict(episode_index=0,stats=stats))]:(meta/(name+'.jsonl')).write_text(json.dumps(row)+'\n') + sim=temp/'sim_info/episode_000000';sim.mkdir(parents=True) + for root in [out,case]: + for p in root.iterdir(): + if p.is_file() and p.suffix in ['.json','.npz','.usda'] and not (sim/p.name).exists():link_or_copy(p,sim/p.name) + if (out/'contacts.jsonl.gz').exists():link_or_copy(out/'contacts.jsonl.gz',sim/'contacts.jsonl.gz') + shutil.copytree(out/'physical_evidence',sim/'physical_evidence',copy_function=link_or_copy) + if (out/'startup_frames').exists():shutil.copytree(out/'startup_frames',sim/'startup_frames',copy_function=link_or_copy) + shutil.copytree(case/'code_snapshot',sim/'replay_code');shutil.copy2(W/'action_space.schema.json',sim/'action_space.schema.json') + validation_code=sim/'validation_code';validation_code.mkdir();validation_hashes={} + for name in ['validate_case.py','validate_export.py','audit_geometry.py','audit_views.py','grasp_stability.py','parallel_world_audit.py','task_collision_scope.py','multi_validation.py','startup_validation.py','prepare_visual_qa.py','official_lerobot_reader_qa.py','record_manual_review.py','validate_staged.py']: + source=W/name;shutil.copy2(source,validation_code/name);validation_hashes[name]=hashlib.sha256(source.read_bytes()).hexdigest() + write(sim/'VALIDATION_CODE_HASHES.json',validation_hashes) + # Planning repairs are part of the native execution history. Keep the + # producer-authored files byte-for-byte, and add a portable manifest because + # PLANNING_WAITS records the producer's absolute repair path. + repairs=case/'repairs';repair_evidence=[] + if repairs.exists(): + exported_repairs=sim/'repairs';exported_repairs.mkdir() + for source in sorted(p for p in repairs.rglob('*') if p.is_file()): + relative=source.relative_to(repairs);destination=exported_repairs/relative + destination.parent.mkdir(parents=True,exist_ok=True);link_or_copy(source,destination) + repair_evidence.append(dict(source_case_relative=str(Path('repairs')/relative), + exported_file=str(Path('repairs')/relative), + sha256=hashlib.sha256(destination.read_bytes()).hexdigest(), + bytes=destination.stat().st_size)) + waits=[] + waits_path=out/'PLANNING_WAITS.json' + if waits_path.exists(): + for row in json.loads(waits_path.read_text()): + source_path=Path(row['repair_file']) if row.get('repair_file') else None + # A later retry may overwrite the ordinary filename after archiving the + # applied bytes as repairs/applied/.json. The native receipt digest + # is authoritative; filenames are only a fallback for legacy receipts. + recorded_hash=row.get('repair_sha256') + match=next((entry for entry in repair_evidence if recorded_hash and entry['sha256']==recorded_hash),None) + if match is None and not recorded_hash and source_path is not None: + match=next((entry for entry in repair_evidence + if Path(entry['source_case_relative']).name==source_path.name),None) + waits.append(dict(item_index=row.get('item_index'),kind=row.get('kind'),tick=row.get('tick'), + native_repair_file=row.get('repair_file'),native_repair_sha256=row.get('repair_sha256'), + exported_file=match['exported_file'] if match else None, + portable_match=match is not None)) + manifest=dict(schema='ziche.repair_evidence.v1', + source_case=str(case),files=repair_evidence,planning_wait_references=waits, + native_planning_waits_preserved=True,all_referenced_repairs_portable=all(row['portable_match'] for row in waits)) + write(sim/'REPAIR_EVIDENCE_MANIFEST.json',manifest) + assert manifest['all_referenced_repairs_portable'],waits + control_sources=[] + for i,row in enumerate(requested): + source=controls_path(case,row);destination=sim/f'item_{i:02d}_controls.npz';link_or_copy(source,destination) + control_sources.append(dict(item_index=i,target=row['target'],source=str(source),exported_file=destination.name,sha256=hashlib.sha256(destination.read_bytes()).hexdigest())) + write(sim/'MULTI_ITEM_CONTROLS.json',dict(items=control_sources,all_controls_preserved=True)) + for name in ['collision_readback','collision_readback_nonrobot','world_geometry']: + if (out/name).exists():shutil.copytree(out/name,sim/name,copy_function=link_or_copy) + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());actual=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;actual.append([float(runtime[name]['physics:lowerLimit'])*unit,float(runtime[name]['physics:upperLimit'])*unit]) + write(sim/'ROBOT_CONFIGURATION_DIFFERENCES.json',dict(fields_units_timing_match_reference=True,authored_robot_parameters_preserved_except_requested_gripper_effort=True,runtime_gripper_effort_Nm={'left':80,'right':80},joint_names=schema['action_names'][:20],actual_joint_limits=actual,reference_joint_limits=np.c_[LOWER,UPPER].tolist(),joint_limits_match_reference=bool(np.allclose(actual,np.c_[LOWER,UPPER],atol=2e-5)),note='The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training.')) + + write(sim/'sim_info.json',dict(action_schema=schema['version'],physics_hz=240,control_hz=60,training_hz=20,action_names=schema['action_names'],state_names=schema['state_names'],phase_names=phase_names,item_index_semantics='0..M-1 identify the active requested target; initial_upper_shelf_posture may authentically use either -1 with an empty active path or 0 with target0, as disambiguated by phase',requested_items=[dict(item_index=i,target=row['target'],product=row['product'],hand=row['hand'],pick_source=row['pick_source'],controls_file=row['controls_file'],destination_xyz=row['destination_xyz']) for i,row in enumerate(requested)],initial_tray_items=0,continuous_native_episode=True,action_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['action_names'][:20]]+['m/s','rad/s'],state_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['state_names'][:20]]+['m','m','rad'],normalization=None,time_semantics='same-step applied command and post-step measured state; training samples arange(2,N,3); dataset timestamp begins at zero while simulator_time_s includes the unrecorded stable-start preroll',unrecorded_preroll_duration_s=preroll_duration,image_generation_mode='native_live_three_view',manual_visual_review_required=True,gripper_max_effort_Nm={'left':80,'right':80},base_policy='stationary_turn_or_straight_body_forward_v1',source_layout=job['layout'])) + alignment=dict(passed=True,checked_frames=n,action_exact_float32=True,state_exact_float32=True,item_index_exact=True,phase_index_exact=True,source_ticks=(samples+1).tolist(),simulator_time_includes_preroll=True,unrecorded_preroll_duration_s=preroll_duration) + write(sim/'PARQUET_ALIGNMENT_CHECK.json',alignment) + provenance_files=['PHYSICAL_GATE_RESULT.json','PHYSICS_CLOCK.json','PREROLL_EVIDENCE.json','PREROLL_EVIDENCE.npz','PASSIVE_FINGER_PROJECTION.json','CAMERA_WARMUP.json','camera_extrinsics_20hz.npz','VIDEO_DECODE_AUDIT.json','TASK_SCHEMA_AUDIT.json','NON_TARGET_PROP_STABILITY_AUDIT.json','STARTUP_STABILITY_AUDIT.json','CAMERA_WARMUP_AUDIT.json','CAMERA_EXTRINSICS_AUDIT.json'] + provenance=dict(schema='ziche.multi10_stable_start_provenance.v1',passed=True,image_generation_mode='native_live_three_view',source_case=str(case),continuous_native_episode=True,actual_physics_hz=240,all_original_command_rows_retained=True,unrecorded_preroll_duration_s=preroll_duration,physical_gate_verification=physical_verification,evidence_sha256={name:sha256(sim/name) for name in provenance_files},video_sha256={camera:sha256(out/(camera+'.mp4')) for camera in cameras},parquet_sha256=sha256(parquet),validation_code_sha256=validation_hashes,visual_acceptance_pending=True,official_reader_pending=True) + write(sim/'STARTUP_PREROLL_PROVENANCE.json',provenance) + temp.rename(destination);return destination +if __name__=='__main__': + case=Path(sys.argv[1]);print(task_audit(case) if '--audit-only' in sys.argv else export(case)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_staged.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_staged.py new file mode 100644 index 0000000000000000000000000000000000000000..88d5f8ee86d702f799a7b69c4d5b66d63e51f97c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000001/sim_info/episode_000000/replay_code/validate_staged.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 +"""Admit a staged candidate to VALIDATION_READY after independent QA only.""" +import argparse +import hashlib +import json +import time +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq + +from startup_validation import sha256, verify_physical_gate, write_json + +W = Path(__file__).resolve().parent +CAMERAS = ("top_head", "hand_left", "hand_right") + + +def load(path): + return json.loads(Path(path).read_text()) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + args = parser.parse_args() + lid = f"{args.layout:02d}" + case = (W / "cases" / f"layout_{lid}").resolve() + out = case / "rollout" + dataset = W / "staged_datasets" / f"layout_{lid}" + sim = dataset / "sim_info/episode_000000" + evidence_dir = W / "qa" / f"layout_{lid}" / "visual_evidence" + panels_path = evidence_dir / "PANELS.json" + manual_path = W / "qa" / f"layout_{lid}" / "ROOT_MANUAL_REVIEW.json" + reader_path = W / "qa" / f"layout_{lid}" / "OFFICIAL_LEROBOT_READER_QA.json" + failures = [] + + physical = verify_physical_gate(case) + if not physical["passed"]: + failures.append("immutable_physical_gate") + provenance = load(sim / "STARTUP_PREROLL_PROVENANCE.json") + evidence_hashes = provenance.get("evidence_sha256", {}) + bad_evidence = [name for name, digest in evidence_hashes.items() + if not (sim / name).is_file() or sha256(sim / name) != digest] + if bad_evidence: + failures.append("exported_provenance:" + ",".join(bad_evidence)) + + panels = load(panels_path) + panel_hashes = {Path(row["path"]).name: row["sha256"] for row in panels["panels"]} + if any(not (evidence_dir / name).is_file() or sha256(evidence_dir / name) != digest + for name, digest in panel_hashes.items()): + failures.append("visual_panel_hashes") + manual = load(manual_path) + manual_ok = (manual.get("schema") == "ziche.multi10.root_manual_visual_review.v1" + and manual.get("layout_id") == args.layout and manual.get("passed") is True + and manual.get("panels") == panel_hashes + and manual.get("reviewed_all_three_views") is True + and manual.get("reviewed_first_retained_0p5s") is True + and manual.get("reviewed_every_phase_midpoint") is True) + if not manual_ok: + failures.append("manual_visual_review") + + reader = load(reader_path) + parquet = dataset / "data/chunk-000/episode_000000.parquet" + reader_ok = (reader.get("passed") is True and reader.get("layout_id") == args.layout + and reader.get("parquet_sha256") == sha256(parquet)) + if not reader_ok: + failures.append("official_lerobot_reader") + + decode = load(sim / "VIDEO_DECODE_AUDIT.json") + video_hashes = {} + for camera in CAMERAS: + video = dataset / "videos/chunk-000" / f"observation.images.{camera}" / "episode_000000.mp4" + video_hashes[camera] = sha256(video) + if (video_hashes[camera] != provenance["video_sha256"].get(camera) + or video_hashes[camera] != decode["videos"][camera]["sha256"] + or decode["videos"][camera].get("passed") is not True): + failures.append("video:" + camera) + + table = pq.read_table(parquet) + recording = np.load(out / "recording_60hz.npz", allow_pickle=False) + samples = np.arange(2, len(recording["q"]), 3) + ticks = np.asarray(table["source_control_tick"].to_numpy(), dtype=np.int64) + items = np.asarray(table["item_index"].to_numpy(), dtype=np.int64) + clock = load(out / "PHYSICS_CLOCK.json") + sim_time = np.asarray(table["simulator_time_s"].to_numpy(), dtype=np.float64) + alignment = (len(table) == len(samples) and np.array_equal(ticks, samples + 1) + and np.array_equal(items, recording["item_index"][samples]) + and np.allclose(sim_time, float(clock["unrecorded_preroll_duration_s"]) + + (samples + 1) / 60.0, atol=2e-6, rtol=0)) + if not alignment: + failures.append("staged_source_alignment") + + report = {"schema": "ziche.multi10.staged_final_qa.v1", "layout_id": args.layout, + "passed": not failures, "failures": failures, "case": str(case), + "dataset": str(dataset), "physical_gate_verification": physical, + "provenance_sha256": sha256(sim / "STARTUP_PREROLL_PROVENANCE.json"), + "manual_review": {"path": str(manual_path), "sha256": sha256(manual_path), "passed": manual_ok}, + "official_reader": {"path": str(reader_path), "sha256": sha256(reader_path), "passed": reader_ok}, + "panels_receipt_sha256": sha256(panels_path), "video_sha256": video_hashes, + "parquet_sha256": sha256(parquet), "staged_source_alignment": alignment, + "status_semantics": "VALIDATION_READY is review complete but not publication or ACCEPTED", + "completed_unix": time.time()} + qa_path = W / "qa" / f"layout_{lid}.json" + write_json(qa_path, report) + if not report["passed"]: + raise SystemExit(1) + write_json(case / "STATUS.json", {"status": "VALIDATION_READY", "phase": "review_complete", + "accepted": False, "dataset": str(dataset), "qa": str(qa_path), + "qa_sha256": sha256(qa_path), "updated": time.time()}) + print(qa_path) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/COPY_READBACK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/COPY_READBACK.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf151d741ee402dd123f445792847e1d65056fd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/COPY_READBACK.json @@ -0,0 +1,49353 @@ +{ + "source_host": "l1", + "source_root": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006", + "destination": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered", + "direct_byte_stream_readback": true, + "source_modified": false, + "files": [ + { + "relative_path": "datasets/layout_01/meta/tasks.jsonl", + "bytes": 217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/episodes_stats.jsonl", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/episodes.jsonl", + "bytes": 239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/stats.json", + "bytes": 7553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00007845.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 177630, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 172227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84348, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 84667, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 84544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 180686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 82628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85282, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 81931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 83102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 83736, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 179863, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 81490, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 83525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 176706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 82730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 182369, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 82245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 178712, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 83327, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 174827, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 81973, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 81792, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 84651, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 178045, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 176869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54833, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 32535695, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00005918.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020356.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RESULT.json", + "bytes": 539, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1998, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5401, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80094, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 73704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26471, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/full_state.npz", + "bytes": 30326729, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/job.json", + "bytes": 26725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 5017, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5880, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20099, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 4706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 4664, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 7436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 142149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19968, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 5552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 6329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 24753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19984, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19995, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 7422, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4738, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 8292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 6331, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 5830, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5011, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4166, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 6182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 5700, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 5514, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 8982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 9504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5036, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 6317, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1369193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4716, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 7397, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 7336, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 8933, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 5564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 7313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 5536, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 7928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16406, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 7402, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00018577.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 28244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6615, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30880, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00019338.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 94894, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 25656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_02_controls.npz", + "bytes": 13067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007354.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00016636.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/scene.usda", + "bytes": 50494, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009645.json", + "bytes": 781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/recording_60hz.npz", + "bytes": 28752704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 152342, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_01.npz", + "bytes": 13982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 82, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_profile.usda", + "bytes": 178431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008628.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_metrics.json", + "bytes": 248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 443, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2126543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_03.npz", + "bytes": 13067, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 15271, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls.npz", + "bytes": 13982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/sim_info.json", + "bytes": 5664, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/camera_extrinsics_native_backup.npz", + "bytes": 2126543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8707, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2577, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 558, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00020356.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 18215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6204, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2348, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/scene_physical.usda", + "bytes": 483, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_00_controls.npz", + "bytes": 13982, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 26267035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2667, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018115.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2122, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009645.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016098.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005381.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 64693832, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 37862671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 37010381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/data/chunk-000/episode_000000.parquet", + "bytes": 1170156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/tasks.jsonl", + "bytes": 216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/episodes_stats.jsonl", + "bytes": 4697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/episodes.jsonl", + "bytes": 238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/stats.json", + "bytes": 7570, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 186146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 180024, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84896, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 85342, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84670, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 85192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 189476, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84740, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 80732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85937, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 79940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 81186, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 84027, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 188660, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 79451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 81759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 185063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 81024, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 191381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 80452, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 187826, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 81589, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 183007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 80117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 79697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 85280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 187164, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 185438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54834, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 31624854, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00019461.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RESULT.json", + "bytes": 537, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 44088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25692, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009706.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/full_state.npz", + "bytes": 29494995, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/job.json", + "bytes": 53220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/WRIST_AUDIT.json", + "bytes": 513, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4727, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 5535, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_291_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 6182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 5682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 180295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19968, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_290.json", + "bytes": 5847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_286.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 5817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_281_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_283_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 8933, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_286_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_291.json", + "bytes": 5853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 5700, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 8293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_283.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_278_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_284.json", + "bytes": 5547, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5563, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 28311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5879, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_282_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_277_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 7436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_288_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_289_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 7315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4161, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_280_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5036, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 6302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 9503, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_290_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7846, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 8983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_279_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1733872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 7423, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_292_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_287_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 5820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4665, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_292.json", + "bytes": 5783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_284_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 7335, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 6329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5018, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_288.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4738, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 5512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 6191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_285.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 7927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 6332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 5011, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_289.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_276_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_285_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_287.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 5287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 6317, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6654, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6614, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30878, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00020411.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020411.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005449.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 918, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 94311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 6200, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_02_controls.npz", + "bytes": 16469, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/scene.usda", + "bytes": 49192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/recording_60hz.npz", + "bytes": 28330350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 149980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14562, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 917, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 81, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_profile.usda", + "bytes": 182357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 104, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_metrics.json", + "bytes": 247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007470.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2117307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009706.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_03.npz", + "bytes": 16469, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls.npz", + "bytes": 14562, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1118, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00018754.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00007944.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016199.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/sim_info.json", + "bytes": 5689, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json", + "bytes": 1789, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8626, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2581, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/camera_extrinsics_reconstructed_by_view_audit.npz", + "bytes": 2043489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 15927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00005992.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VISIBILITY_AUDIT.json", + "bytes": 4838, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14562, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 61366859, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008688.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018232.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00016758.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2118, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_01_controls.npz", + "bytes": 23294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_02.npz", + "bytes": 23294, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/COOKED_ADAPTER_COVERAGE.json", + "bytes": 1954210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 63254396, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 36859479, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 35520448, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/data/chunk-000/episode_000000.parquet", + "bytes": 1145951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/tasks.jsonl", + "bytes": 229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/episodes_stats.jsonl", + "bytes": 4689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/episodes.jsonl", + "bytes": 252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/stats.json", + "bytes": 7562, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 176794, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 171959, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84827, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 85091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 85015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 179549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84817, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76983, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85486, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 77479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 84218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 179117, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 76141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77899, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 176206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 77145, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 181335, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 178062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 77660, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 174717, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76504, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 76308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 84928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 177306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 176623, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "bytes": 24810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 52660505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json", + "bytes": 2100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RESULT.json", + "bytes": 625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1961, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37349, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 1963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79935, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 37345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json", + "bytes": 30988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/full_state.npz", + "bytes": 49114521, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/job.json", + "bytes": 48171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json", + "bytes": 2095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19971, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5029, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 124410, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19987, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15855, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20044, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20009, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4747, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5545, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1194627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20147, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20166, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4684, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 6657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 2866, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 5942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "bytes": 14092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_03_controls.npz", + "bytes": 13068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 29354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 8795, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13041, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 158728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json", + "bytes": 8736, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json", + "bytes": 2099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8664, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/scene.usda", + "bytes": 49528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/recording_60hz.npz", + "bytes": 47535003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 161834, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2358, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_04.npz", + "bytes": 13068, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json", + "bytes": 23861, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json", + "bytes": 4559, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json", + "bytes": 4514, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_profile.usda", + "bytes": 169732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_metrics.json", + "bytes": 300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 486, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3498066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json", + "bytes": 932, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19013, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 14677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls.npz", + "bytes": 17554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1476, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1735, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py", + "bytes": 16377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_return_head_list_normalization_d65c8d7413b3.cpython-311.pyc", + "bytes": 14413, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item02_tick26330_8824b20c0297.cpython-311.pyc", + "bytes": 13843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_case03_fine_tick40402_8eda348647da.cpython-311.pyc", + "bytes": 31109, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_00_return.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "bytes": 7792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "bytes": 7792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "bytes": 16377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "bytes": 11220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 11220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/sim_info.json", + "bytes": 6659, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STATUS.json", + "bytes": 964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 40326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10564, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16353, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125104, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6867, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 20599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17554, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 144900525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_01_controls.npz", + "bytes": 30143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_02.npz", + "bytes": 30143, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 107473947, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 59952304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 55136879, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/data/chunk-000/episode_000000.parquet", + "bytes": 1903407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/tasks.jsonl", + "bytes": 220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/episodes_stats.jsonl", + "bytes": 4686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/episodes.jsonl", + "bytes": 242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/stats.json", + "bytes": 7559, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 184900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 180709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 83829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 83991, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 83772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 83868, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 188060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 83964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 79713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 84355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 79279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 80252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 83573, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 187630, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 79160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 80731, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 84254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 184864, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 80031, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 190085, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 79332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 186395, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 80568, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 182687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 79144, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 79232, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 83884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 185456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 184895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54837, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 32147730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008962.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13699, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RESULT.json", + "bytes": 545, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5367, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79948, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 33565, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011010.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 389, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/full_state.npz", + "bytes": 29945820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/job.json", + "bytes": 43380, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/WRIST_AUDIT.json", + "bytes": 513, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 6174, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 103501, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16032, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4744, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 997169, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13387, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 37863, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6619, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30824, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 98898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 10597, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19018, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/scene.usda", + "bytes": 47487, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/recording_60hz.npz", + "bytes": 29864206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 148003, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00011010.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019459.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020696.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_01.npz", + "bytes": 26060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 82, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json", + "bytes": 552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_profile.usda", + "bytes": 176932, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006602.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_metrics.json", + "bytes": 251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 446, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2240557, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19018, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2260, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 11787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls.npz", + "bytes": 26060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1122, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 843, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/sim_info.json", + "bytes": 5698, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json", + "bytes": 1789, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8684, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2585, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009474.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 830, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/camera_extrinsics_reconstructed_by_view_audit.npz", + "bytes": 2162109, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 11772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2353, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VISIBILITY_AUDIT.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_00_controls.npz", + "bytes": 26060, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 28696468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13371, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/COOKED_ADAPTER_COVERAGE.json", + "bytes": 1217799, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 64498609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 39734976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 34488168, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/data/chunk-000/episode_000000.parquet", + "bytes": 1203680, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/tasks.jsonl", + "bytes": 232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/episodes_stats.jsonl", + "bytes": 4709, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/episodes.jsonl", + "bytes": 255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/stats.json", + "bytes": 7582, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 180920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 176203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 72811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 73186, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 72792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 72963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 184036, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 72636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 79297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 73600, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 78609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 79723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 72209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 183622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 72118, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 78369, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 80212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 73548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 180131, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 79487, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 186180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 78933, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 182390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 80037, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 178527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 78594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 78437, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 73057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 181797, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 180622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00034363.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54827, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 60652852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174272610697.json", + "bytes": 2013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/LAST_ITEM_REPAIR_WATCH.item_03.json", + "bytes": 469, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/POST_RELEASE_LEVEL_RETURN.item_02.json", + "bytes": 656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00027102.4d1c6315eb32.json", + "bytes": 4501, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RESULT.json", + "bytes": 631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 2980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 2877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_DENSE_APPROACH_PROPOSAL.json", + "bytes": 402474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 74810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00020548.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_07.tick_00037638.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18801, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181630, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/full_state.npz", + "bytes": 56654435, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_TUCKED_INACTIVE_PROPOSAL.json", + "bytes": 18048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008221.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/job.json", + "bytes": 55356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20135, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 152895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4740, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 5720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 6323, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20134, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16447, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 5556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15861, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20135, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15644, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20111, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20076, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 6850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1465630, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 24755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 5675, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16457, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 6319, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20175, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 5693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 6175, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7459, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15585, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00035472.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 7823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926848507759.json", + "bytes": 2030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 10096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6464, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 325, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009779.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_03_controls.npz", + "bytes": 23498, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019272.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/FUTURE_SLOT_REASSIGNMENT.item_02.json", + "bytes": 15058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_POST_RELEASE_UPRIGHT_PROPOSAL.json", + "bytes": 2970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 177164, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00034743.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 6004, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_02_controls.npz", + "bytes": 15618, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 686, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/scene.usda", + "bytes": 51094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00043626.1ce5748036ec.json", + "bytes": 4517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_ALL_FREE_SLOTS_PROPOSAL.json", + "bytes": 133814, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/recording_60hz.npz", + "bytes": 53457448, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 163339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_BASE_BACKOFF_PROPOSAL.json", + "bytes": 101301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_04.npz", + "bytes": 23498, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00037638.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00021070.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00036297.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14336, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008761.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009779.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_profile.usda", + "bytes": 168885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1089, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00021642.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_metrics.json", + "bytes": 303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_REASSIGN_REMAINING_PROPOSAL.json", + "bytes": 588156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3902497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_03.npz", + "bytes": 15618, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 15559, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls.npz", + "bytes": 14336, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 17704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick27102_0d272e0c6d02_remaining_slots_level_return.py", + "bytes": 23687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick14575_7d1183c9a123.cpython-311.pyc", + "bytes": 30772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_case05_fine_tick43626_a5575d4dea29.cpython-311.pyc", + "bytes": 35738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_case05_fine_tick27102_0d272e0c6d02_remaining_slots_level_return.cpython-311.pyc", + "bytes": 43811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/last_item_repair.lock", + "bytes": 0, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 11592, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_place_station_item01_tick14575_7d1183c9a123.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/8c7b0a3645977cfa3ca4767bf2fbafc201a71ddbfdc5f68bc2059fc5822c328f.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/b0f712ede39537390eec095f47d5cf35abddac2c0267a7edd63ba67eaaa58ca2.py", + "bytes": 23687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/bd60df1185d7f9db3b07e3876fcbd5feffd508a5e20f904afb9239063bb129c5.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/bd6845ed2cdad04a25d456e65d1d8694826077e503f4bb21e522bbaf3f495219.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/3a7274c96fbbd0b7ca7429372c4286eaf0640545f024e0b896f2056f1d5d145e.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/25462e6f0a839212c3925a9bb5df1ec2fe6c99c9bdf441fa096f8fed58c5fe46.json", + "bytes": 3787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place_remaining_slots_level_return.reviewable.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick43626_a5575d4dea29.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 3787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick27102_0d272e0c6d02.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022508.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/sim_info.json", + "bytes": 6667, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STATUS.json", + "bytes": 966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00035128.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022508.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 3311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 14168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00018730.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007851.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 51471, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2367, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 540, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00035729.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14336, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 63051673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM03_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 27296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13380, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_FRONT_APERTURE_PROPOSAL.json", + "bytes": 18047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2496, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006177.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_01_controls.npz", + "bytes": 9381, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_02.npz", + "bytes": 9381, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00014575.37d0ffc66179.json", + "bytes": 7227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032936.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005631.json", + "bytes": 809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRIOR_ITEM_COLLIDER_BOUNDS.json", + "bytes": 1934, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00032437.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_06.tick_00036601.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 118958966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 61868260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 55791846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/data/chunk-000/episode_000000.parquet", + "bytes": 2064862, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/tasks.jsonl", + "bytes": 232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/episodes_stats.jsonl", + "bytes": 4675, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/episodes.jsonl", + "bytes": 255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/stats.json", + "bytes": 7548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 187875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 184357, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 79678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 80414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 79537, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 79909, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 191555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 79512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 82482, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 81039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 81613, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 83662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 78888, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 190915, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 78510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 81284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 84040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 80833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 187328, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 83084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 193003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 82052, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 189574, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 83787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 186149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 81644, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 81426, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 80025, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 188520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 187595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00032670.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 31892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 53629606, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13701, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020379.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RESULT.json", + "bytes": 631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 3679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 40648, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13196, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/full_state.npz", + "bytes": 50181458, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00029473.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/job.json", + "bytes": 71000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009187.json", + "bytes": 505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 12838, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 7424, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4707, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 28305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4271, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 9503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 152605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 7962, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15633, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 7404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 8988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4737, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 8294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 7445, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 8980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 7955, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 7323, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 8956, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 7411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20089, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 7338, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 7383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 7390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20059, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 7346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4182, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 8328, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 7316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 7936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 8993, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 8941, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 7408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1472422, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19914, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 7432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4794, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 7408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 8321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 9513, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 7437, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 4714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 8964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 9528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4169, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4789, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 28312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 8932, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 9521, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4789, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4133, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 8984, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16405, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 8301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 7928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006511.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 2589, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 10027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 74214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_03_controls.npz", + "bytes": 23499, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 1439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 161093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 11106, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_02_controls.npz", + "bytes": 18731, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 1095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/scene.usda", + "bytes": 50646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00039155.63d0e0888b18.json", + "bytes": 7201, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/recording_60hz.npz", + "bytes": 48091219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 161721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005974.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00033290.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2348, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106498767333.json", + "bytes": 2212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_04.npz", + "bytes": 23499, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008043.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00021774.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020687.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008496.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 894, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00021243.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00031722.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_profile.usda", + "bytes": 159817, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00032320.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022324.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019497.json", + "bytes": 534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_metrics.json", + "bytes": 303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3573724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_03.npz", + "bytes": 18731, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 14661, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls.npz", + "bytes": 14180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147946028591.json", + "bytes": 2208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/__pycache__/repair_case06_final_side_tick39155_a4468ab13356.cpython-311.pyc", + "bytes": 35744, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/repair_case06_final_side_tick39155_a4468ab13356.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/applied/20ad9d3e9883c9a14a8cb057a2095dc7ff4e539bd739773b418b543835bfff8b.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/applied/3e1662fa8d5ea7aa511c28938113e08e5ed5838fa1814af7be5dbcd758b38017.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009807.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 845, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/sim_info.json", + "bytes": 6662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11539, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STATUS.json", + "bytes": 967, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00031298.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009807.json", + "bytes": 782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 19949, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030010.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 23171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2352, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/scene_physical.usda", + "bytes": 490, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019886.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14180, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 122566465, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13317, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017584.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2499, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_POLAR_FULL_PROPOSAL.json", + "bytes": 30256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_01_controls.npz", + "bytes": 22099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_02.npz", + "bytes": 22099, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018121.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_06.tick_00022324.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00033290.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 106816032, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 59909813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 59956768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/data/chunk-000/episode_000000.parquet", + "bytes": 1819450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/tasks.jsonl", + "bytes": 223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/episodes_stats.jsonl", + "bytes": 4826, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/episodes.jsonl", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/stats.json", + "bytes": 7699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 135110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 134312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 75222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 75500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 75106, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 75334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 136354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 75045, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 69368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 75879, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 68899, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 69689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 74890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 136131, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 74823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 68568, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 70125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 75680, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 134638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 69632, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 136512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 69124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 135711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 69991, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 134383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 69023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 68698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 75425, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 135689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 134756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54835, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 47021354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019336.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13730, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_PROPOSAL.json", + "bytes": 3262, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_09.tick_00023294.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RESULT.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1998, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 50918, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REVIEWED_PREROLL_DEVIATION.json", + "bytes": 1114, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 393, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_V2_PROPOSAL.json", + "bytes": 2600, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020445.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/full_state.npz", + "bytes": 44036060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/job.json", + "bytes": 45105, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007920.json", + "bytes": 534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5004, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 6193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 162516, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19987, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15855, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5010, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 6301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1572962, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19998, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19984, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4684, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 9007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006565.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 7183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019715.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30866, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 387, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 2144, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_10.tick_00024312.json", + "bytes": 558, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010704.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 138213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 12109, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_02_controls.npz", + "bytes": 30928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6700, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/scene.usda", + "bytes": 52921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/recording_60hz.npz", + "bytes": 40526094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 155324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_06.tick_00021921.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_FOCUSED_FINAL_GENERAL_PROPOSAL.json", + "bytes": 20290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_BLOCKED.item_02.json", + "bytes": 322, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00034112.51a17a1689ad.json", + "bytes": 4517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008401.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_profile.usda", + "bytes": 166607, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 862, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00020833.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_29030.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00021382.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_metrics.json", + "bytes": 254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_31133.json", + "bytes": 4092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3021532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_03.npz", + "bytes": 30928, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16953, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls.npz", + "bytes": 17626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETAINED_PREROLL_DEVIATION_PROP_CHECK.json", + "bytes": 292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_MOTION_BLOCK.item_02.tick_00029030.5a5b4f9173c7.json", + "bytes": 590, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/finish_endpoint_already_in_gate_tick33501.py", + "bytes": 950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_current_north_tick29030_e5b63567d5c4.py", + "bytes": 7624, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_case07_fine_tick34112_a2032a9f8b0e.cpython-311.pyc", + "bytes": 35975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/finish_endpoint_already_in_gate_tick33501.cpython-311.pyc", + "bytes": 2588, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_current_north_tick29030_e5b63567d5c4.cpython-311.pyc", + "bytes": 14963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_north_pulses_tick31133_4d3ca9195f35.cpython-311.pyc", + "bytes": 20921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/history/ac08e269a4431a8d22deeb97087aac3e82ffe1be30eb3cdeaac7a05c8c6eaf11.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/history/b12e2d6aa694c2f7c12d4ea2107705ab58780c4833bd80ac339b5474e4d55d7c.json", + "bytes": 823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/ac08e269a4431a8d22deeb97087aac3e82ffe1be30eb3cdeaac7a05c8c6eaf11.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/77f6cefe9ecfc3eed4e0e27dc369c761178e0dfddc4a0207512fb5d0ca8dddc7.py", + "bytes": 10570, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/818173063f07950b8ae09280de429646137366f95d1dbaeb5715e1bf40c8f76a.py", + "bytes": 7624, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/edf9bef86ccabc249ea287c9c2fd9fabaa1ae9289e53023f8486cd9b5a773d69.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/d04e85426143c2560925b4ef7f37217fba868ef1b88c82c828169cfadc071fe5.py", + "bytes": 950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/b12e2d6aa694c2f7c12d4ea2107705ab58780c4833bd80ac339b5474e4d55d7c.json", + "bytes": 823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/63bc4f9ed89aa21d4b3e8f2d345796925a95ec69a639d20987138db01bf529a6.json", + "bytes": 404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/56650932e1ffe82f8c547a8c7536ff3a387af261a046a69e34cbf11fbafd6286.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_north_pulses_tick31133_4d3ca9195f35.py", + "bytes": 10570, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_carry_motion_5a5b4f9173c7.json", + "bytes": 404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_carry_motion_5a5b4f9173c7.reviewable.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_case07_fine_tick34112_a2032a9f8b0e.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/sim_info.json", + "bytes": 5745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STATUS.json", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3382, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_MOTION_RECOVERY.item_02.5a5b4f9173c7.json", + "bytes": 588, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 18184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_07.tick_00022462.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ENDPOINT_ALREADY_IN_GATE.item_02.tick_33501.json", + "bytes": 539, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16434, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11051, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009687.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 19203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017903.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/scene_physical.usda", + "bytes": 495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00010704.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17626, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 78940431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3123, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13353, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15022, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020102.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008987.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006028.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_08.tick_00022801.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017366.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00024312.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 79095151, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 41763073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 38654948, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/data/chunk-000/episode_000000.parquet", + "bytes": 1529587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/tasks.jsonl", + "bytes": 223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/episodes_stats.jsonl", + "bytes": 4837, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/episodes.jsonl", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/stats.json", + "bytes": 7710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 162369, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 162383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 89129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 89558, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 89027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 89341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 162739, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 88957, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 89904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 76576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 88843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 162898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 88683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 75889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77029, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 89851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 162209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 76514, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 163251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 162719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 76878, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 162397, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 75890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 89461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 162653, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 162652, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926864048729.json", + "bytes": 2019, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 43224129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_06.tick_00011447.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RESULT.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79952, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 348, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM02_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 10338, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 36860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/LAST_ITEM_REPAIR_WATCH.item_02.json", + "bytes": 466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 393, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26470, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181639, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/full_state.npz", + "bytes": 40353722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/job.json", + "bytes": 52153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 13374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 20055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 20024, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 20051, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 19990, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 174351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 20030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_281_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 5719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7333, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_278_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 16634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20123, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_282_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 13591, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 5849, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_277_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 6307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 6850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 13396, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 7858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_280_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13582, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20037, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 7342, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_279_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1685512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 20005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 19979, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json", + "bytes": 5852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 16043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19911, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 24754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_276_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_FOCUSED_SHORT_RETREAT_PROPOSAL.json", + "bytes": 34378, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM02_FOCUSED_FRONT_APERTURE_PROPOSAL.json", + "bytes": 26774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 5689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009989.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POST_RELEASE_UPRIGHT_PROPOSAL.json", + "bytes": 2965, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 30368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_07.tick_00011936.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006410.json", + "bytes": 808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/POST_RELEASE_LEVEL_RETURN.item_01.json", + "bytes": 646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00025083.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174271769642.json", + "bytes": 2016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13025, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 125200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 14275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_02_controls.npz", + "bytes": 23618, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6700, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/scene.usda", + "bytes": 52255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006948.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/recording_60hz.npz", + "bytes": 37631497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 154250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00024784.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008764.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008149.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1601, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_profile.usda", + "bytes": 166795, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_metrics.json", + "bytes": 254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00024492.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_05.tick_00011092.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 448, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2811396, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_03.npz", + "bytes": 23618, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00031505.71e33d43e998.json", + "bytes": 4506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls.npz", + "bytes": 17209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00025703.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/__pycache__/repair_case08_fine_tick17477_9e6b9aef166c_level_return.cpython-311.pyc", + "bytes": 41142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/__pycache__/repair_case08_fine_tick31505_3fa1fdae7d53.cpython-311.pyc", + "bytes": 35738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick17477_9e6b9aef166c_level_return.py", + "bytes": 22057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place.reviewable.json", + "bytes": 13161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/last_item_repair.lock", + "bytes": 0, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick17477_9e6b9aef166c.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place_with_level_return.reviewable.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/102a9780f8c0d9d15a8363982abd4076b7360d515361ab5737b01ffdec2f8483.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/a6405c39552fa1c155fbc2d2aa8e5791c1af50ab6a28a5636c964c8e47e737ab.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/f1efc0605568e978ec5e0680d0e1b25284652c088cbf0c01a80126392919f080.py", + "bytes": 22057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/e3528c0464ecc2fd2dff1c8a3406b0026a9cfcd3a52a3320797fbe73138a1e4b.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick31505_3fa1fdae7d53.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 12950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00022034.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/sim_info.json", + "bytes": 5748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8709, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STATUS.json", + "bytes": 927, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009572.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 7272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00023844.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 38819, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00009990.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17209, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 80336020, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00017477.91b4543f69e8.json", + "bytes": 4924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00021497.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00023408.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_01_controls.npz", + "bytes": 31078, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_02.npz", + "bytes": 31078, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00025703.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011936.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 28021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 75344260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 40413537, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 36311282, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/data/chunk-000/episode_000000.parquet", + "bytes": 1496234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/tasks.jsonl", + "bytes": 218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/episodes_stats.jsonl", + "bytes": 4833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/episodes.jsonl", + "bytes": 241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/stats.json", + "bytes": 7706, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_CLEAR_ENDPOINT_PROPOSAL.json", + "bytes": 22995, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 155108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 154460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 75164, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 75286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 75110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 75216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 155753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 74974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 75471, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76204, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 77027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 74850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 155701, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 74891, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 75757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 75475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 154894, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 76977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 156193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 155628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 77341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 154792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 75952, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 75209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 155481, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 155098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007921.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 41451896, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009660.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RESULT.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009040.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 73836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00021687.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18801, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181666, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005915.json", + "bytes": 809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/full_state.npz", + "bytes": 38714087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/job.json", + "bytes": 27621, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6174, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 5785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 6191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 162418, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4696, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19986, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20044, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1570851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20166, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 5686, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20017, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 5547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 4382, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009660.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00014564.eb449329cb45.json", + "bytes": 4485, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 2860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6616, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 12367, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 16257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 901, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 118930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00028221.e4186d0dc61b.json", + "bytes": 4490, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 20806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_02_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/scene.usda", + "bytes": 52240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008310.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/recording_60hz.npz", + "bytes": 36097681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_AUDIT.before_contiguous_recheck.json", + "bytes": 2578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_HOVER_PROPOSAL.json", + "bytes": 4422, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 154806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926855692199.json", + "bytes": 2018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2349, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022307.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022307.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_CONTIGUOUS_RECHECK.json", + "bytes": 3771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_01.npz", + "bytes": 15243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00020501.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_profile.usda", + "bytes": 172636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00018872.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_WAIST_PROPOSAL.json", + "bytes": 10293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_metrics.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2665919, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00020873.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_03.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls.npz", + "bytes": 15243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006454.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/repair_case09_final_side_tick28221_a81ec7e7ac7f.py", + "bytes": 16246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick14564_2089e9ea218a.cpython-311.pyc", + "bytes": 30772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/__pycache__/repair_case09_final_side_tick28221_a81ec7e7ac7f.cpython-311.pyc", + "bytes": 30958, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/635599c8143e80f5a4728b2951f6035b4d498d7b26a53569b989526071abf0ad.py", + "bytes": 16246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/45851ef0b2ff40623cdf49ad20e13b5d6179b7cd38b94537e75ec272394e6b6f.json", + "bytes": 3807, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/bd6845ed2cdad04a25d456e65d1d8694826077e503f4bb21e522bbaf3f495219.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/ad191813c89892675c4aa6fe6e9d50b322a182dd984a0a56eecaea9830312b91.json", + "bytes": 3743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 3807, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 3743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/repair_place_station_item01_tick14564_2089e9ea218a.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019408.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174297064189.json", + "bytes": 2001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 845, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/sim_info.json", + "bytes": 5736, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STATUS.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 3279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 13043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 11728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2358, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TASK_SCHEMA_AUDIT.before_contiguous_recheck.json", + "bytes": 153138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_00_controls.npz", + "bytes": 15243, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 42240439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2991, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13371, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_01_controls.npz", + "bytes": 13061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_02.npz", + "bytes": 13061, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 77318335, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 41479619, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 36623212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/data/chunk-000/episode_000000.parquet", + "bytes": 1435247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/tasks.jsonl", + "bytes": 215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/episodes_stats.jsonl", + "bytes": 4848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/episodes.jsonl", + "bytes": 237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/stats.json", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 139136, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 138449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 68759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 69117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 68653, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 68947, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 139764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 68749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 66247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 69345, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 65669, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 66430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 68564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 139686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 68642, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 65274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 66735, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 69258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 138713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 66245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 140114, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 65862, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 139447, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 66724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 138727, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 65809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 65413, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 68985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 139380, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 138948, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 35304227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009294.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RESULT.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3679, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009914.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5469, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006386.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 35215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008611.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 385, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181606, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/full_state.npz", + "bytes": 32912934, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1056, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/job.json", + "bytes": 53219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 7927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 5027, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 7422, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 9504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 24752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 168285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4675, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 6320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15574, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 5685, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4669, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 5815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 5820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4159, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 4682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 8983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 7402, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 28302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25080, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 7437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 5785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 7400, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 7314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 6302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 7336, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1633031, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 6306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 4697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4172, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 4671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 5293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 5276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 5853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4740, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 8292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 5527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 5673, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 8931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 5688, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 2346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00015363.006087a4e103.json", + "bytes": 4553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6932, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6614, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019688.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 707, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13159, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 106169, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 32688, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_02_controls.npz", + "bytes": 27697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022986.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1098, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/scene.usda", + "bytes": 50067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00021196.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/recording_60hz.npz", + "bytes": 31872748, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CASE10_ITEM01_SEED_FULL_PROPOSAL.json", + "bytes": 26679, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 149849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1106, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00019149.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005849.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_STABILITY_CONTIGUOUS_RECHECK.json", + "bytes": 787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008148.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_01.npz", + "bytes": 18797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1076, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_profile.usda", + "bytes": 156793, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00009914.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_metrics.json", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2385361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_03.npz", + "bytes": 27697, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 13477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls.npz", + "bytes": 18797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick15363_62f90bc46e68.cpython-311.pyc", + "bytes": 13843, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/applied/bee2910d474c1715fa0f2103684af2109f9a97f8d2730c426a8d95c1a026b158.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/repair_place_station_item01_tick15363_62f90bc46e68.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022986.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/sim_info.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/camera_extrinsics_native_backup.npz", + "bytes": 2385361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8615, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2579, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1103, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 13426, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 23706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007674.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_00_controls.npz", + "bytes": 18797, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 106104660, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 1988, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00021699.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_01_controls.npz", + "bytes": 22779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_02.npz", + "bytes": 22779, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00022366.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 57423504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 31029556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 29760854, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/data/chunk-000/episode_000000.parquet", + "bytes": 1297918, + "source_stream_byte_equal": true + }, + { + "relative_path": "CANDIDATE_EPISODES.json", + "bytes": 2314, + "source_stream_byte_equal": true + }, + { + "relative_path": "ACCEPTED_EPISODES.json", + "bytes": 5007, + "source_stream_byte_equal": true + }, + { + "relative_path": "HANDOFF_CURRENT.json", + "bytes": 6303, + "source_stream_byte_equal": true + } + ], + "bytes": 3889649820, + "errors": [], + "started_utc": "2026-10-25T23:59:52Z", + "completed_utc": "2026-10-26T00:15:48Z", + "file_count": 9861, + "elapsed_seconds": 956.684 +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/native_alignment.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/native_alignment.json new file mode 100644 index 0000000000000000000000000000000000000000..519cbe4217521eb7bc0ddd786c6eac49a4231d48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/native_alignment.json @@ -0,0 +1,63 @@ +{ + "layout_id": 3, + "frames": 14740, + "source_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03", + "native_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/recording_60hz.npz", + "native_rows": 44221, + "native_tick_match_exact": true, + "native_indices_phase2_exact": true, + "applied_joint_commands_exact_source_cast": true, + "applied_base_commands_exact_source_cast": true, + "measured_joint_states_exact_source_cast": true, + "measured_xy_exact_source_cast": true, + "measured_yaw_max_error_rad": 1.2436697520712414e-06, + "source_times_exact": false, + "source_time_max_error": 0.63336181640625, + "source_clock_offset_first_s": 0.6333333373069763, + "source_clock_offset_range_s": [ + 0.6333129882812045, + 0.63336181640625 + ], + "source_clock_offset_ptp_s": 4.8828125045474735e-05, + "source_parquet_clock_dtype": "float", + "source_native_clock": { + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 44221, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 14740, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." + }, + "native_fields": [ + "q", + "native_target", + "dof_names", + "base_action_body", + "base_pose", + "target_pose", + "target_paths", + "target_initial_pose", + "target_pose_all", + "active_target_path", + "item_index", + "phase", + "timestamp", + "nav_constraint_mode", + "nav_constraint_pose", + "tick", + "joint_velocity", + "robot_link_paths", + "robot_link_pose" + ] +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/original_source_location.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/original_source_location.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae74d7eb740b3742f1ef67185caa8e786875dee --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/original_source_location.json @@ -0,0 +1,8 @@ +{ + "source_host": "l1", + "source_dataset_dir_original": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03", + "cache_source_dir": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered/staged_datasets/layout_03", + "quality_filter_applied": false, + "physical_qualification_upgraded": false, + "source_owner_files_modified": false +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/source_numeric_validation.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/source_numeric_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..199070f061e9d1b38e7875a8854300fb030ce661 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/recovery_evidence/source_numeric_validation.json @@ -0,0 +1,9534 @@ +{ + "layout_id": 3, + "source_dataset_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03", + "source_parquet": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/data/chunk-000/episode_000000.parquet", + "info": { + "codebase_version": "v2.1", + "robot_type": "G1_omnipicker", + "total_episodes": 1, + "total_frames": 14740, + "total_tasks": 1, + "total_videos": 3, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:1" + }, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 22 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "simulator_time_s": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "source_control_tick": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "phase_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "item_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.top_head": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_left": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_right": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + } + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" + }, + "episode": { + "episode_index": 0, + "tasks": [ + "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + ], + "length": 14740 + }, + "tasks": [ + { + "task_index": 0, + "task": "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + } + ], + "columns": [ + "action", + "observation.state", + "timestamp", + "simulator_time_s", + "source_control_tick", + "frame_index", + "index", + "episode_index", + "task_index", + "phase_index", + "item_index", + "next.done" + ], + "action_shape": [ + 14740, + 22 + ], + "state_shape": [ + 14740, + 23 + ], + "all_numeric_finite": true, + "timestamp_dtype": "float", + "timestamp_first_last": [ + 0.0, + 736.9500122070312 + ], + "timestamp_step_max_error": 4.882737994194031e-05, + "videos": { + "observation.images.top_head": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 107473947, + "exists_nonempty": true + }, + "observation.images.hand_left": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 59952304, + "exists_nonempty": true + }, + "observation.images.hand_right": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 55136879, + "exists_nonempty": true + } + }, + "sim_info_files": [ + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json", + "bytes": 531 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "bytes": 24810 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 52660505 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/COMMAND.json", + "bytes": 527 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 506 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13695 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json", + "bytes": 2100 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 373 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RESULT.json", + "bytes": 625 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1961 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3316 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json", + "bytes": 511 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json", + "bytes": 529 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5450 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 1963 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79935 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 37345 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json", + "bytes": 786 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json", + "bytes": 30988 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 430 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13179 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2346 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/full_state.npz", + "bytes": 49114521 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json", + "bytes": 508 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 374 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/job.json", + "bytes": 48171 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json", + "bytes": 2095 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 6657 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 2866 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json", + "bytes": 812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 5942 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8776 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json", + "bytes": 556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30821 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json", + "bytes": 555 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "bytes": 14092 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json", + "bytes": 510 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/item_03_controls.npz", + "bytes": 13068 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 921 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 799 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json", + "bytes": 785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 29354 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 8795 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13041 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 158728 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json", + "bytes": 510 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json", + "bytes": 8736 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json", + "bytes": 2099 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 5943 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19013 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8664 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 555 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/scene.usda", + "bytes": 49528 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 374 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json", + "bytes": 530 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/recording_60hz.npz", + "bytes": 47535003 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1748 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json", + "bytes": 810 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 161834 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 374 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2358 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/controls_item_04.npz", + "bytes": 13068 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json", + "bytes": 23861 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/recording_metadata.json", + "bytes": 354 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json", + "bytes": 4559 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json", + "bytes": 553 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1278 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json", + "bytes": 4514 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json", + "bytes": 532 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 921 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_profile.usda", + "bytes": 169732 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1063 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/place_metrics.json", + "bytes": 300 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 486 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3498066 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json", + "bytes": 932 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19013 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2263 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 14677 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/controls.npz", + "bytes": 17554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1738 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1476 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1735 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json", + "bytes": 813 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 4764 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 846 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/sim_info.json", + "bytes": 6659 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11502 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/STATUS.json", + "bytes": 964 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json", + "bytes": 509 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json", + "bytes": 532 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 829 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json", + "bytes": 785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json", + "bytes": 508 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 40326 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json", + "bytes": 530 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 547 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 20599 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2355 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/scene_physical.usda", + "bytes": 286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json", + "bytes": 530 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json", + "bytes": 509 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 550 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 144900525 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2743 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2755 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/item_01_controls.npz", + "bytes": 30143 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/controls_item_02.npz", + "bytes": 30143 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 176794 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 171959 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84827 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 85091 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84687 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 85015 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 179549 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84817 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76983 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85486 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76492 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 77479 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 84218 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 179117 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83781 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 76141 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77899 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85404 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 176206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 77145 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 181335 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76756 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 178062 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 77660 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 174717 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76504 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 76308 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 84928 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 177306 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 176623 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37349 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25858 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22140 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23275 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13444 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116288 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181627 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172362 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19971 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4775 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5692 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5851 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6173 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5003 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4673 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6315 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5674 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4754 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5029 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 124410 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4698 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4761 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20062 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20023 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4233 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5529 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20061 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24756 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4763 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7851 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4205 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20127 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19987 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15855 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20154 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4751 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20044 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20009 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20087 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20129 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4780 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4771 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4747 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20154 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5009 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6322 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13583 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16035 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20154 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4215 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5505 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4269 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5545 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4766 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20122 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4758 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4218 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4754 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1194627 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20147 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5872 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20171 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20122 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5280 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19997 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19985 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20091 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20126 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16449 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4742 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13366 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4235 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6310 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20166 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4684 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20047 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20018 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4762 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4771 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20096 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4750 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5804 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4252 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4657 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py", + "bytes": 16377 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/item_00_return.json", + "bytes": 527 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "bytes": 7792 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 4030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "bytes": 8975 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 11220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 4030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_return_head_list_normalization_d65c8d7413b3.cpython-311.pyc", + "bytes": 14413 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item02_tick26330_8824b20c0297.cpython-311.pyc", + "bytes": 13843 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_case03_fine_tick40402_8eda348647da.cpython-311.pyc", + "bytes": 31109 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "bytes": 527 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "bytes": 7792 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "bytes": 16377 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "bytes": 4030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "bytes": 11220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "bytes": 8975 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63728 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10071 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10313 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6867 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4337 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10564 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16353 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10549 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125104 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285 + } + ], + "source_docs": { + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/RESULT.json": { + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "accepted": false, + "error": null, + "control_ticks": 44221, + "rendered": true, + "requested_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_count": 4, + "requires": "independent collision, task, drive, continuity and export validation" + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/job.json": { + "layout_id": 3, + "layout": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "layout_sha256": "41ab828104cba0dac2f06c3f76250b4b6744a1ea05c3bf86e4a4c2dc76200159", + "product": "gatorade_m", + "hand": "l", + "initial_tray_items": 0, + "seed": 20263001008, + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000055", + "status": "PREPARING", + "attempt_index": 3, + "scene": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "target": "/World/Assets/ShelfItems/gatorade_m", + "clutter": [], + "initial_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_base": [ + [ + 0.025272683086869325, + 0.999680594734934, + 0.0, + -1.8023751609761969 + ], + [ + -0.999680594734934, + 0.025272683086869325, + 0.0, + 0.844970839299074 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "exit_xy": [ + -2.3787966130178706, + 0.9883558084696612 + ], + "route": [ + [ + -2.3787966130178706, + 0.9883558084696612 + ], + [ + -1.9149847383915222, + 0.9335361196636149 + ] + ], + "obstacles": [ + [ + [ + -2.869023307458252, + 2.0029564280510335 + ], + [ + -1.8690189945453473, + 2.502956781186233 + ] + ], + [ + [ + -0.34999999004138027, + -2.221043494158536 + ], + [ + 0.44999999004138025, + 0.47895642805103317 + ] + ], + [ + [ + -3.717665822950135, + -0.5653689443941903 + ], + [ + -3.692311884668562, + -0.0698599614024079 + ] + ], + [ + [ + -3.7953167573263986, + -0.8724783009470937 + ], + [ + -3.6771651048029206, + 0.34511267069583845 + ] + ], + [ + [ + -3.879706718931999, + -1.1055062473688606 + ], + [ + -3.5797067146712895, + 0.5744936522773821 + ] + ], + [ + [ + -2.3052514467347898, + -0.7131347350063493 + ], + [ + -1.529900422697991, + 0.4868652871988959 + ] + ], + [ + [ + -1.786251451869326, + -0.9261752673580972 + ], + [ + -1.5962514495582083, + -0.6861752548857202 + ] + ], + [ + [ + -1.9862514518693262, + -0.9261752673580972 + ], + [ + -1.7962514495582085, + -0.6861752548857202 + ] + ], + [ + [ + -4.095015654990075, + 1.6125724884739365 + ], + [ + -3.9215111634567226, + 2.4144035759633775 + ] + ], + [ + [ + -2.576679802850966, + -2.260362452006366 + ], + [ + -1.1336755045762739, + -2.180600139271895 + ] + ], + [ + [ + -2.5985710506250475, + -2.622115872725699 + ], + [ + -1.6314963192779621, + -1.35118257651793 + ] + ], + [ + [ + -2.3942514489280233, + -1.0261752637507553 + ], + [ + -1.9962514525677881, + -0.7081752645890051 + ] + ], + [ + [ + -0.472061916588854, + 1.3648232134708587 + ], + [ + 0.4555130441800417, + 2.285494926831597 + ] + ], + [ + [ + -0.792746604489803, + 2.4481512465188766 + ], + [ + 0.41000000000000003, + 2.6216557380522283 + ] + ], + [ + [ + -3.795999997138977, + -2.260000000298023 + ], + [ + -2.7400000028610227, + -2.1199999997019767 + ] + ], + [ + [ + 0.5950000047683717, + -2.260000000298023 + ], + [ + 2.1049999952316285, + -2.1199999997019767 + ] + ], + [ + [ + 0.8150000095367431, + 1.6010000006705523 + ], + [ + 2.334999990463257, + 1.719000000104308 + ] + ], + [ + [ + -2.173730570619366, + -2.234867975138003 + ], + [ + -1.536269429380635, + -2.17 + ] + ], + [ + [ + 2.251793046032915, + -0.1869539044828784 + ], + [ + 3.3902931404466723, + 0.5087961234120953 + ] + ], + [ + [ + 1.3378637175309387, + -0.031284164860603765 + ], + [ + 2.271307789676233, + 0.9154746021631642 + ] + ], + [ + [ + 4.407259680028043, + 0.6990010782675901 + ], + [ + 4.875749666392801, + 1.299453736627765 + ] + ], + [ + [ + 2.4917789610617525, + -0.0036696820458122286 + ], + [ + 2.651807132965098, + 0.1896871197829863 + ] + ], + [ + [ + 2.303920863545646, + -2.0206458540070034 + ], + [ + 2.55192085949253, + -1.7160656712758522 + ] + ], + [ + [ + -1.552000000476837, + 1.9036569887943267 + ], + [ + -0.9779999995231627, + 2.4856570059604643 + ] + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000506", + "tray_floor_z": 0.45490211957462423, + "destination_xyz": [ + -1.7475907421156816, + 0.16355454199352923, + 0.45490211957462423 + ], + "tray_polygon_xy": [ + [ + -1.9110187437328643, + 0.11612171516319551 + ], + [ + -1.5882833532621725, + 0.10372347179403192 + ], + [ + -1.5862825380380359, + 0.10391490294118166 + ], + [ + -1.5853414171622784, + 0.10427051604834989 + ], + [ + -1.5845100254814304, + 0.10486350410820582 + ], + [ + -1.5838549939782132, + 0.10564695900647098 + ], + [ + -1.5834282186680957, + 0.10655805272629161 + ], + [ + -1.5830838438299342, + 0.10853828436027764 + ], + [ + -1.5747413545005924, + 0.3256994152587991 + ], + [ + -1.5749327792038854, + 0.3277002083534273 + ], + [ + -1.575288399314498, + 0.32864133679221674 + ], + [ + -1.5758813803709095, + 0.32947272091003277 + ], + [ + -1.5766648279859363, + 0.33012775213345624 + ], + [ + -1.5775759505589162, + 0.33055453584598715 + ], + [ + -1.5795561964795848, + 0.3308989185269745 + ], + [ + -1.9022915869502766, + 0.34329716189613807 + ], + [ + -1.9042924021744132, + 0.3431057307489883 + ], + [ + -1.9052335230501707, + 0.3427501176418201 + ], + [ + -1.9060649147310187, + 0.3421571295819642 + ], + [ + -1.9067199462342361, + 0.34137367468369906 + ], + [ + -1.9071467215443534, + 0.3404625809638784 + ], + [ + -1.9074910963825151, + 0.33848234932989235 + ], + [ + -1.9158335857118567, + 0.12132121843137095 + ], + [ + -1.9156421610085639, + 0.11932042533674274 + ], + [ + -1.9152865408979511, + 0.11837929689795323 + ], + [ + -1.9146935598415395, + 0.11754791278013725 + ], + [ + -1.9139101122265127, + 0.11689288155671373 + ], + [ + -1.9129989896535329, + 0.11646609784418288 + ] + ], + "source_dof_names": [ + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx21_arm_l_joint1", + "idx61_arm_r_joint1", + "idx22_arm_l_joint2", + "idx62_arm_r_joint2", + "idx23_arm_l_joint3", + "idx63_arm_r_joint3", + "idx24_arm_l_joint4", + "idx64_arm_r_joint4", + "idx25_arm_l_joint5", + "idx65_arm_r_joint5", + "idx26_arm_l_joint6", + "idx66_arm_r_joint6", + "idx27_arm_l_joint7", + "idx67_arm_r_joint7", + "idx31_gripper_l_inner_joint1", + "idx41_gripper_l_outer_joint1", + "idx71_gripper_r_inner_joint1", + "idx81_gripper_r_outer_joint1", + "idx32_gripper_l_inner_joint3", + "idx42_gripper_l_outer_joint3", + "idx72_gripper_r_inner_joint3", + "idx82_gripper_r_outer_joint3", + "idx33_gripper_l_inner_joint4", + "idx43_gripper_l_outer_joint4", + "idx73_gripper_r_inner_joint4", + "idx83_gripper_r_outer_joint4", + "idx39_gripper_l_inner_joint0", + "idx49_gripper_l_outer_joint0", + "idx79_gripper_r_inner_joint0", + "idx89_gripper_r_outer_joint0" + ], + "source_initial_q": [ + 0.4, + 0.0, + 0.0, + 0.4363323129985824, + -1.0463638945234317, + 1.0146817505343473, + 0.5553795243153509, + -0.5544810046463908, + 0.30598837290307634, + -0.22207068727428536, + -1.2477034506751763, + 1.3224151316068253, + 0.7315242756431548, + -0.7628240431105453, + 1.450414316002107, + -1.435793949834476, + -0.17955661248719887, + 0.19283131129064382, + -0.7844060659408569, + 0.7844061851501465, + -0.7844092845916748, + 0.78440922498703, + -0.06586175411939621, + 0.08891744911670685, + -0.06552468240261078, + 0.08869274705648422, + -0.03039488196372986, + -0.0339159332215786, + -0.031381815671920776, + -0.033230822533369064, + 0.4464392364025116, + -0.39266160130500793, + 0.4472809433937073, + -0.3932376503944397 + ], + "appearance": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_03/APPEARANCE.json", + "schema": "shelf_to_table_multi10.job.v1", + "source_layout_id": 3, + "context": "Sports sideline", + "items": [ + { + "target": "/World/Assets/ShelfItems/gatorade_m", + "hand": "l", + "product": "gatorade_m", + "label": "Gatorade Orange", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000055", + "pick_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_01.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.0 + ], + [ + 0.035000000149012056, + 0.035000000149012056, + 0.21119999885559082 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000267", + "place_base": [ + [ + 0.025272683086869325, + 0.999680594734934, + 0.0, + -1.8023751609761969 + ], + [ + -0.999680594734934, + 0.025272683086869325, + 0.0, + 0.844970839299074 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.814444719709507, + 0.20702543516650893 + ], + "destination_xyz": [ + -1.7475907421156816, + 0.16355454199352923, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.7475907421156816, + 0.16355454199352923 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.781720970377036, + 0.1558003467279177 + ], + [ + -1.780416856168224, + 0.15141179632768278 + ], + [ + -1.77855107776737, + 0.14723101131806807 + ], + [ + -1.7761555597141143, + 0.14332952612211827 + ], + [ + -1.773271288385108, + 0.13977409816357578 + ], + [ + -1.769947618010755, + 0.13662555813518765 + ], + [ + -1.7662414135858628, + 0.13393778168641093 + ], + [ + -1.7622160913432072, + 0.13175675596888786 + ], + [ + -1.7579405256521974, + 0.13011979949210364 + ], + [ + -1.753487872238379, + 0.12905492229388177 + ], + [ + -1.748934317460252, + 0.1285803398478868 + ], + [ + -1.74435777361797, + 0.12870417875586504 + ], + [ + -1.7398365468500696, + 0.12942431373217508 + ], + [ + -1.735447996449835, + 0.1307284279409869 + ], + [ + -1.73126721144022, + 0.1325942063418407 + ], + [ + -1.7273657262442705, + 0.1349897243950964 + ], + [ + -1.723810298285728, + 0.13787399572410278 + ], + [ + -1.7206617582573396, + 0.141197666098456 + ], + [ + -1.717973981808563, + 0.14490387052334816 + ], + [ + -1.71579295609104, + 0.14892919276600403 + ], + [ + -1.7141559996142555, + 0.15320475845701337 + ], + [ + -1.7130911224160343, + 0.15765741187083193 + ], + [ + -1.7126165399700393, + 0.16221096664895923 + ], + [ + -1.7127403788780171, + 0.16678751049124074 + ], + [ + -1.7134605138543273, + 0.17130873725914122 + ], + [ + -1.714764628063139, + 0.1756972876593759 + ], + [ + -1.716630406463993, + 0.1798780726689906 + ], + [ + -1.7190259245172483, + 0.1837795578649404 + ], + [ + -1.721910195846255, + 0.1873349858234829 + ], + [ + -1.7252338662206081, + 0.19048352585187125 + ], + [ + -1.7289400706455003, + 0.19317130230064775 + ], + [ + -1.7329653928881563, + 0.19535232801817107 + ], + [ + -1.7372409585791657, + 0.19698928449495526 + ], + [ + -1.741693611992984, + 0.1980541616931769 + ], + [ + -1.7462471667711115, + 0.1985287441391719 + ], + [ + -1.7508237106133926, + 0.19840490523119383 + ], + [ + -1.755344937381293, + 0.1976847702548836 + ], + [ + -1.7597334877815285, + 0.19638065604607202 + ], + [ + -1.763914272791143, + 0.194514877645218 + ], + [ + -1.767815757987093, + 0.1921193595919623 + ], + [ + -1.7713711859456351, + 0.1892350882629559 + ], + [ + -1.7745197259740235, + 0.1859114178886027 + ], + [ + -1.7772075024228, + 0.18220521346371074 + ], + [ + -1.779388528140323, + 0.17817989122105488 + ], + [ + -1.7810254846171076, + 0.1739043255300453 + ], + [ + -1.7820903618153292, + 0.16945167211622697 + ], + [ + -1.7825649442613243, + 0.16489811733809948 + ], + [ + -1.782441105353346, + 0.16032157349581816 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/chomps_r", + "hand": "r", + "product": "chomps_r", + "label": "Chomps", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000375", + "pick_base": [ + [ + 0.06669947329758606, + -0.9977731106127409, + 0.0, + -2.369496315844963 + ], + [ + 0.9977731106127409, + 0.06669947329758606, + 0.0, + 1.3334197562341454 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_02.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.05999999865889549, + -0.02199999988079071, + 0.0 + ], + [ + 0.05999999865889549, + 0.02199999988079071, + 0.20999999344348907 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000470", + "place_base": [ + [ + 0.0019580398854471374, + 0.9999980830380664, + 0.0, + -1.6904822078029937 + ], + [ + -0.9999980830380664, + 0.0019580398854471314, + 0.0, + 0.8855980758990087 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013675838708877563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.9995780365407674, + 0.22857166198644138 + ], + "destination_xyz": [ + -1.8397247350580384, + 0.22383232216805643, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.8397247350580384, + 0.22383232216805643 + ], + "yaw_rad": 2.8402519951194756, + "footprint_xy": [ + [ + -1.8931894028012088, + 0.2539686332136071 + ], + [ + -1.9008527974373564, + 0.22931209680502387 + ], + [ + -1.897452309454433, + 0.22581327879018953 + ], + [ + -1.8939092526967616, + 0.2227731551484363 + ], + [ + -1.8902446997944482, + 0.22012393844232758 + ], + [ + -1.8864780375090295, + 0.21780326542067546 + ], + [ + -1.8826269566140226, + 0.21575419192282397 + ], + [ + -1.8787074724102366, + 0.2139252021807308 + ], + [ + -1.8747339133804468, + 0.21227020139169966 + ], + [ + -1.870718919410682, + 0.21074851516554755 + ], + [ + -1.8666734465735295, + 0.20932489296181803 + ], + [ + -1.8626067619122053, + 0.20796951232025646 + ], + [ + -1.8585264549780842, + 0.20665796684243753 + ], + [ + -1.8544384223992183, + 0.20537127504933647 + ], + [ + -1.8503468781079444, + 0.2040958835601278 + ], + [ + -1.8462543508770675, + 0.20282365462319102 + ], + [ + -1.8421616832262462, + 0.20155187747943598 + ], + [ + -1.8380680326358225, + 0.20028326288795317 + ], + [ + -1.833970869443633, + 0.1990259483239453 + ], + [ + -1.8298659823854126, + 0.19779348799748953 + ], + [ + -1.8257474694969686, + 0.19660486172910774 + ], + [ + -1.8216077483417794, + 0.19548447812856273 + ], + [ + -1.8174375483192027, + 0.1944621585504409 + ], + [ + -1.8132259133566515, + 0.19357315353519713 + ], + [ + -1.8089602000106688, + 0.19285813636734703 + ], + [ + -1.804626083355908, + 0.19236320295525522 + ], + [ + -1.8002075552064118, + 0.19213987127830168 + ], + [ + -1.7956869105589561, + 0.19224508107446697 + ], + [ + -1.7910447697668597, + 0.19274119780627635 + ], + [ + -1.7862600673148683, + 0.19369601112250578 + ], + [ + -1.7785966726787208, + 0.2183525475310888 + ], + [ + -1.781997160661644, + 0.22185136554592336 + ], + [ + -1.7855402174193156, + 0.22489148918767637 + ], + [ + -1.7892047703216285, + 0.22754070589378517 + ], + [ + -1.7929714326070478, + 0.2298613789154372 + ], + [ + -1.7968225135020546, + 0.2319104524132887 + ], + [ + -1.8007419977058408, + 0.23373944215538164 + ], + [ + -1.8047155567356303, + 0.23539444294441322 + ], + [ + -1.8087305507053952, + 0.23691612917056534 + ], + [ + -1.8127760235425474, + 0.2383397513742945 + ], + [ + -1.8168427082038714, + 0.23969513201585607 + ], + [ + -1.820923015137993, + 0.24100667749367502 + ], + [ + -1.8250110477168584, + 0.24229336928677606 + ], + [ + -1.829102592008133, + 0.24356876077598485 + ], + [ + -1.83319511923901, + 0.24484098971292168 + ], + [ + -1.8372877868898305, + 0.24611276685667655 + ], + [ + -1.8413814374802546, + 0.2473813814481597 + ], + [ + -1.8454786006724442, + 0.24863869601216737 + ], + [ + -1.849583487730664, + 0.24987115633862325 + ], + [ + -1.8537020006191085, + 0.2510597826070052 + ], + [ + -1.8578417217742977, + 0.25218016620754985 + ], + [ + -1.8620119217968745, + 0.2532024857856718 + ], + [ + -1.8662235567594256, + 0.25409149080091553 + ], + [ + -1.8704892701054083, + 0.25480650796876564 + ], + [ + -1.8748233867601691, + 0.25530144138085764 + ], + [ + -1.8792419149096653, + 0.25552477305781124 + ], + [ + -1.8837625595571206, + 0.2554195632616458 + ], + [ + -1.8884047003492175, + 0.2549234465298361 + ] + ], + "tolerance_m": 0.001 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/ShelfItems/gatorade_t", + "hand": "r", + "product": "gatorade_t", + "label": "Gatorade Blue", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000556", + "pick_base": [ + [ + -0.02189116047029017, + -0.9997603598329273, + 0.0, + -2.363803077808022 + ], + [ + 0.9997603598329273, + -0.02189116047029017, + 0.0, + 1.2995607260347384 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_03.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.0 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.21119999885559082 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000324", + "place_base": [ + [ + -0.012925273252456444, + 0.9999164651666407, + 0.0, + -1.4021578797554752 + ], + [ + -0.9999164651666407, + -0.012925273252456444, + 0.0, + 0.8039883959566722 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -2.0628784611582036, + 0.2893350297356529 + ], + "destination_xyz": [ + -1.6365201855497675, + 0.18930976406863637, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.6706504138111216, + 0.18155556880302492 + ], + [ + -1.66934629960231, + 0.17716701840279012 + ], + [ + -1.667480521201456, + 0.1729862333931753 + ], + [ + -1.6650850031482007, + 0.16908474819722535 + ], + [ + -1.662200731819194, + 0.16552932023868291 + ], + [ + -1.658877061444841, + 0.16238078021029467 + ], + [ + -1.6551708570199488, + 0.159693003761518 + ], + [ + -1.6511455347772932, + 0.15751197804399492 + ], + [ + -1.6468699690862834, + 0.15587502156721073 + ], + [ + -1.642417315672465, + 0.15481014436898896 + ], + [ + -1.6378637608943376, + 0.15433556192299344 + ], + [ + -1.633287217052056, + 0.15445940083097204 + ], + [ + -1.628765990284156, + 0.1551795358072825 + ], + [ + -1.624377439883921, + 0.15648365001609382 + ], + [ + -1.6201966548743065, + 0.15834942841694802 + ], + [ + -1.6162951696783565, + 0.16074494647020332 + ], + [ + -1.612739741719814, + 0.1636292177992098 + ], + [ + -1.609591201691426, + 0.16695288817356302 + ], + [ + -1.606903425242649, + 0.17065909259845533 + ], + [ + -1.604722399525126, + 0.17468441484111086 + ], + [ + -1.6030854430483419, + 0.17895998053212078 + ], + [ + -1.6020205658501199, + 0.18341263394593896 + ], + [ + -1.6015459834041248, + 0.18796618872406637 + ], + [ + -1.6016698223121035, + 0.192542732566348 + ], + [ + -1.6023899572884135, + 0.19706395933424792 + ], + [ + -1.603694071497225, + 0.20145250973448275 + ], + [ + -1.605559849898079, + 0.20563329474409758 + ], + [ + -1.6079553679513348, + 0.2095347799400473 + ], + [ + -1.610839639280341, + 0.21309020789858996 + ], + [ + -1.6141633096546941, + 0.2162387479269784 + ], + [ + -1.6178695140795867, + 0.21892652437575488 + ], + [ + -1.6218948363222419, + 0.2211075500932777 + ], + [ + -1.6261704020132517, + 0.22274450657006195 + ], + [ + -1.63062305542707, + 0.2238093837682839 + ], + [ + -1.6351766102051974, + 0.2242839662142792 + ], + [ + -1.6397531540474795, + 0.22416012730630064 + ], + [ + -1.644274380815379, + 0.22343999232999034 + ], + [ + -1.648662931215614, + 0.2221358781211788 + ], + [ + -1.652843716225229, + 0.22027009972032485 + ], + [ + -1.6567452014211785, + 0.2178745816670693 + ], + [ + -1.6603006293797211, + 0.21499031033806307 + ], + [ + -1.663449169408109, + 0.21166663996370985 + ], + [ + -1.666136945856886, + 0.20796043553881755 + ], + [ + -1.668317971574409, + 0.203935113296162 + ], + [ + -1.6699549280511932, + 0.1996595476051521 + ], + [ + -1.6710198052494152, + 0.1952068941913339 + ], + [ + -1.6714943876954107, + 0.1906533394132065 + ], + [ + -1.671370548787432, + 0.18607679557092466 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.02499999999999991, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/zbar_t", + "hand": "l", + "product": "zbar_t", + "label": "CLIF Zbar", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675", + "pick_base": [ + [ + 0.008722194795467365, + -0.9999619609354898, + 0.0, + -2.3850847215495956 + ], + [ + 0.9999619609354898, + 0.008722194795467365, + 0.0, + 1.3762080635665004 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_04.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.06750000268220901, + -0.019999999552965164, + -2.6822088994293836e-09 + ], + [ + 0.06750000268220901, + 0.019999999552965164, + 0.13500000536441803 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000404", + "place_base": [ + [ + 0.027611057685489954, + 0.9996187420679389, + 0.0, + -1.72438406459148 + ], + [ + -0.9996187420679389, + 0.027611057685489954, + 0.0, + 0.9003488659801983 + ], + [ + 0.0, + 0.0, + 1.0, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8547523814731282, + 0.2569645216018311 + ], + "destination_xyz": [ + -1.7030136815290644, + 0.2819305770236697, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.7030136815290644, + 0.2819305770236697 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.7712316882366217, + 0.26453650030012626 + ], + [ + -1.636331189460157, + 0.2593541380729204 + ], + [ + -1.6347956748215071, + 0.299324653747214 + ], + [ + -1.769696173597972, + 0.3045070159744195 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + } + ], + "tray_slots": [ + { + "xy": [ + -1.7475907421156816, + 0.16355454199352923 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.781720970377036, + 0.1558003467279177 + ], + [ + -1.780416856168224, + 0.15141179632768278 + ], + [ + -1.77855107776737, + 0.14723101131806807 + ], + [ + -1.7761555597141143, + 0.14332952612211827 + ], + [ + -1.773271288385108, + 0.13977409816357578 + ], + [ + -1.769947618010755, + 0.13662555813518765 + ], + [ + -1.7662414135858628, + 0.13393778168641093 + ], + [ + -1.7622160913432072, + 0.13175675596888786 + ], + [ + -1.7579405256521974, + 0.13011979949210364 + ], + [ + -1.753487872238379, + 0.12905492229388177 + ], + [ + -1.748934317460252, + 0.1285803398478868 + ], + [ + -1.74435777361797, + 0.12870417875586504 + ], + [ + -1.7398365468500696, + 0.12942431373217508 + ], + [ + -1.735447996449835, + 0.1307284279409869 + ], + [ + -1.73126721144022, + 0.1325942063418407 + ], + [ + -1.7273657262442705, + 0.1349897243950964 + ], + [ + -1.723810298285728, + 0.13787399572410278 + ], + [ + -1.7206617582573396, + 0.141197666098456 + ], + [ + -1.717973981808563, + 0.14490387052334816 + ], + [ + -1.71579295609104, + 0.14892919276600403 + ], + [ + -1.7141559996142555, + 0.15320475845701337 + ], + [ + -1.7130911224160343, + 0.15765741187083193 + ], + [ + -1.7126165399700393, + 0.16221096664895923 + ], + [ + -1.7127403788780171, + 0.16678751049124074 + ], + [ + -1.7134605138543273, + 0.17130873725914122 + ], + [ + -1.714764628063139, + 0.1756972876593759 + ], + [ + -1.716630406463993, + 0.1798780726689906 + ], + [ + -1.7190259245172483, + 0.1837795578649404 + ], + [ + -1.721910195846255, + 0.1873349858234829 + ], + [ + -1.7252338662206081, + 0.19048352585187125 + ], + [ + -1.7289400706455003, + 0.19317130230064775 + ], + [ + -1.7329653928881563, + 0.19535232801817107 + ], + [ + -1.7372409585791657, + 0.19698928449495526 + ], + [ + -1.741693611992984, + 0.1980541616931769 + ], + [ + -1.7462471667711115, + 0.1985287441391719 + ], + [ + -1.7508237106133926, + 0.19840490523119383 + ], + [ + -1.755344937381293, + 0.1976847702548836 + ], + [ + -1.7597334877815285, + 0.19638065604607202 + ], + [ + -1.763914272791143, + 0.194514877645218 + ], + [ + -1.767815757987093, + 0.1921193595919623 + ], + [ + -1.7713711859456351, + 0.1892350882629559 + ], + [ + -1.7745197259740235, + 0.1859114178886027 + ], + [ + -1.7772075024228, + 0.18220521346371074 + ], + [ + -1.779388528140323, + 0.17817989122105488 + ], + [ + -1.7810254846171076, + 0.1739043255300453 + ], + [ + -1.7820903618153292, + 0.16945167211622697 + ], + [ + -1.7825649442613243, + 0.16489811733809948 + ], + [ + -1.782441105353346, + 0.16032157349581816 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -1.8397247350580384, + 0.22383232216805643 + ], + "yaw_rad": 2.8402519951194756, + "footprint_xy": [ + [ + -1.8931894028012088, + 0.2539686332136071 + ], + [ + -1.9008527974373564, + 0.22931209680502387 + ], + [ + -1.897452309454433, + 0.22581327879018953 + ], + [ + -1.8939092526967616, + 0.2227731551484363 + ], + [ + -1.8902446997944482, + 0.22012393844232758 + ], + [ + -1.8864780375090295, + 0.21780326542067546 + ], + [ + -1.8826269566140226, + 0.21575419192282397 + ], + [ + -1.8787074724102366, + 0.2139252021807308 + ], + [ + -1.8747339133804468, + 0.21227020139169966 + ], + [ + -1.870718919410682, + 0.21074851516554755 + ], + [ + -1.8666734465735295, + 0.20932489296181803 + ], + [ + -1.8626067619122053, + 0.20796951232025646 + ], + [ + -1.8585264549780842, + 0.20665796684243753 + ], + [ + -1.8544384223992183, + 0.20537127504933647 + ], + [ + -1.8503468781079444, + 0.2040958835601278 + ], + [ + -1.8462543508770675, + 0.20282365462319102 + ], + [ + -1.8421616832262462, + 0.20155187747943598 + ], + [ + -1.8380680326358225, + 0.20028326288795317 + ], + [ + -1.833970869443633, + 0.1990259483239453 + ], + [ + -1.8298659823854126, + 0.19779348799748953 + ], + [ + -1.8257474694969686, + 0.19660486172910774 + ], + [ + -1.8216077483417794, + 0.19548447812856273 + ], + [ + -1.8174375483192027, + 0.1944621585504409 + ], + [ + -1.8132259133566515, + 0.19357315353519713 + ], + [ + -1.8089602000106688, + 0.19285813636734703 + ], + [ + -1.804626083355908, + 0.19236320295525522 + ], + [ + -1.8002075552064118, + 0.19213987127830168 + ], + [ + -1.7956869105589561, + 0.19224508107446697 + ], + [ + -1.7910447697668597, + 0.19274119780627635 + ], + [ + -1.7862600673148683, + 0.19369601112250578 + ], + [ + -1.7785966726787208, + 0.2183525475310888 + ], + [ + -1.781997160661644, + 0.22185136554592336 + ], + [ + -1.7855402174193156, + 0.22489148918767637 + ], + [ + -1.7892047703216285, + 0.22754070589378517 + ], + [ + -1.7929714326070478, + 0.2298613789154372 + ], + [ + -1.7968225135020546, + 0.2319104524132887 + ], + [ + -1.8007419977058408, + 0.23373944215538164 + ], + [ + -1.8047155567356303, + 0.23539444294441322 + ], + [ + -1.8087305507053952, + 0.23691612917056534 + ], + [ + -1.8127760235425474, + 0.2383397513742945 + ], + [ + -1.8168427082038714, + 0.23969513201585607 + ], + [ + -1.820923015137993, + 0.24100667749367502 + ], + [ + -1.8250110477168584, + 0.24229336928677606 + ], + [ + -1.829102592008133, + 0.24356876077598485 + ], + [ + -1.83319511923901, + 0.24484098971292168 + ], + [ + -1.8372877868898305, + 0.24611276685667655 + ], + [ + -1.8413814374802546, + 0.2473813814481597 + ], + [ + -1.8454786006724442, + 0.24863869601216737 + ], + [ + -1.849583487730664, + 0.24987115633862325 + ], + [ + -1.8537020006191085, + 0.2510597826070052 + ], + [ + -1.8578417217742977, + 0.25218016620754985 + ], + [ + -1.8620119217968745, + 0.2532024857856718 + ], + [ + -1.8662235567594256, + 0.25409149080091553 + ], + [ + -1.8704892701054083, + 0.25480650796876564 + ], + [ + -1.8748233867601691, + 0.25530144138085764 + ], + [ + -1.8792419149096653, + 0.25552477305781124 + ], + [ + -1.8837625595571206, + 0.2554195632616458 + ], + [ + -1.8884047003492175, + 0.2549234465298361 + ] + ], + "tolerance_m": 0.001 + }, + { + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.6706504138111216, + 0.18155556880302492 + ], + [ + -1.66934629960231, + 0.17716701840279012 + ], + [ + -1.667480521201456, + 0.1729862333931753 + ], + [ + -1.6650850031482007, + 0.16908474819722535 + ], + [ + -1.662200731819194, + 0.16552932023868291 + ], + [ + -1.658877061444841, + 0.16238078021029467 + ], + [ + -1.6551708570199488, + 0.159693003761518 + ], + [ + -1.6511455347772932, + 0.15751197804399492 + ], + [ + -1.6468699690862834, + 0.15587502156721073 + ], + [ + -1.642417315672465, + 0.15481014436898896 + ], + [ + -1.6378637608943376, + 0.15433556192299344 + ], + [ + -1.633287217052056, + 0.15445940083097204 + ], + [ + -1.628765990284156, + 0.1551795358072825 + ], + [ + -1.624377439883921, + 0.15648365001609382 + ], + [ + -1.6201966548743065, + 0.15834942841694802 + ], + [ + -1.6162951696783565, + 0.16074494647020332 + ], + [ + -1.612739741719814, + 0.1636292177992098 + ], + [ + -1.609591201691426, + 0.16695288817356302 + ], + [ + -1.606903425242649, + 0.17065909259845533 + ], + [ + -1.604722399525126, + 0.17468441484111086 + ], + [ + -1.6030854430483419, + 0.17895998053212078 + ], + [ + -1.6020205658501199, + 0.18341263394593896 + ], + [ + -1.6015459834041248, + 0.18796618872406637 + ], + [ + -1.6016698223121035, + 0.192542732566348 + ], + [ + -1.6023899572884135, + 0.19706395933424792 + ], + [ + -1.603694071497225, + 0.20145250973448275 + ], + [ + -1.605559849898079, + 0.20563329474409758 + ], + [ + -1.6079553679513348, + 0.2095347799400473 + ], + [ + -1.610839639280341, + 0.21309020789858996 + ], + [ + -1.6141633096546941, + 0.2162387479269784 + ], + [ + -1.6178695140795867, + 0.21892652437575488 + ], + [ + -1.6218948363222419, + 0.2211075500932777 + ], + [ + -1.6261704020132517, + 0.22274450657006195 + ], + [ + -1.63062305542707, + 0.2238093837682839 + ], + [ + -1.6351766102051974, + 0.2242839662142792 + ], + [ + -1.6397531540474795, + 0.22416012730630064 + ], + [ + -1.644274380815379, + 0.22343999232999034 + ], + [ + -1.648662931215614, + 0.2221358781211788 + ], + [ + -1.652843716225229, + 0.22027009972032485 + ], + [ + -1.6567452014211785, + 0.2178745816670693 + ], + [ + -1.6603006293797211, + 0.21499031033806307 + ], + [ + -1.663449169408109, + 0.21166663996370985 + ], + [ + -1.666136945856886, + 0.20796043553881755 + ], + [ + -1.668317971574409, + 0.203935113296162 + ], + [ + -1.6699549280511932, + 0.1996595476051521 + ], + [ + -1.6710198052494152, + 0.1952068941913339 + ], + [ + -1.6714943876954107, + 0.1906533394132065 + ], + [ + -1.671370548787432, + 0.18607679557092466 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -1.7030136815290644, + 0.2819305770236697 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.7712316882366217, + 0.26453650030012626 + ], + [ + -1.636331189460157, + 0.2593541380729204 + ], + [ + -1.6347956748215071, + 0.299324653747214 + ], + [ + -1.769696173597972, + 0.3045070159744195 + ] + ], + "tolerance_m": 0.02 + } + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.35, + 0.55, + 0.75, + 0.15, + 0.1 + ], + "native_attempt_index": 3, + "retry_of": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_03/attempt_003", + "retry_reason": "Fresh uninterrupted retry with body2-compensated raised-head return policy and mandatory ReleaseSweep; prior completed diagnostic failed physical later-item displacement.", + "fresh_scene_revision": { + "policy": "remove_only_source_path_blocking_nonrequested_distractors_v1", + "deactivated_paths": [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles" + ], + "provenance": "FRESH_SCENE_CHANGE.json", + "pick_qualification": "CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json" + }, + "fresh_seed_evidence": { + "item_01_proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM01_LIVE_PLACE_PROPOSAL.json", + "item_01_proposal_sha256": "b94e6f44948d2174ddf971f058b930ad6f14c1ee1771603b75a06fc09964e43e", + "seed_is_not_cached_motion": true, + "fresh_live_replanning_required": true + } + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback/RESULT.json": { + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/base_link/collisions/mesh_0/box": 0.0, + "/World/Robot/base_link/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_0/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/body_link2/collisions/mesh_1/box": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/head_link2/collisions/mesh_0/sphere": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009119945112615824, + "request_call_wall_s": 0.0032972395420074463, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018046656157821417, + "request_call_wall_s": 0.010842571035027504, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13394736405462027, + "request_call_wall_s": 0.010109494905918837, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17324086371809244, + "request_call_wall_s": 0.00621609715744853, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20518156606703997, + "request_call_wall_s": 0.004209449980407953, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.28692090697586536, + "request_call_wall_s": 0.006484715733677149, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33439944591373205, + "request_call_wall_s": 0.017279790714383125, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3782900390215218, + "request_call_wall_s": 0.004688612651079893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4022866580635309, + "request_call_wall_s": 0.003941190894693136, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4852591627277434, + "request_call_wall_s": 0.007088662125170231, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5699186767451465, + "request_call_wall_s": 0.0077462210319936275, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5802017208188772, + "request_call_wall_s": 0.0025171288289129734, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5885110730305314, + "request_call_wall_s": 0.0078093367628753185, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6867602807469666, + "request_call_wall_s": 0.007872321177273989, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7206469611264765, + "request_call_wall_s": 0.0048623657785356045, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.750443525146693, + "request_call_wall_s": 0.0043985978700220585, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.839538003783673, + "request_call_wall_s": 0.007977438159286976, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8883249727077782, + "request_call_wall_s": 0.015389184933155775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9338998170569539, + "request_call_wall_s": 0.006576542276889086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9595400858670473, + "request_call_wall_s": 0.0044302246533334255, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.0420130547136068, + "request_call_wall_s": 0.0068624126724898815, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.1290351087227464, + "request_call_wall_s": 0.008862974587827921, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0 + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json": { + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/ShelfItems/starbucks/full_scene_collision": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.002267109230160713, + "request_call_wall_s": 0.0013479790650308132, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.004380383063107729, + "request_call_wall_s": 0.001020096242427826, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006413411349058151, + "request_call_wall_s": 0.0009904778562486172, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008318986278027296, + "request_call_wall_s": 0.0010250941850245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01036550011485815, + "request_call_wall_s": 0.0010330760851502419, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012257101014256477, + "request_call_wall_s": 0.0009088269434869289, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01393565023317933, + "request_call_wall_s": 0.0008144252933561802, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0155613929964602, + "request_call_wall_s": 0.0007481519132852554, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.017163756303489208, + "request_call_wall_s": 0.0007696542888879776, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018751089926809072, + "request_call_wall_s": 0.0007595410570502281, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020145772024989128, + "request_call_wall_s": 0.0006308630108833313, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0214322442188859, + "request_call_wall_s": 0.0006754999049007893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0227740160189569, + "request_call_wall_s": 0.0006154179573059082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.023987170308828354, + "request_call_wall_s": 0.0005795946344733238, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.025163921993225813, + "request_call_wall_s": 0.0005989656783640385, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.026319198310375214, + "request_call_wall_s": 0.0005430802702903748, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02751016104593873, + "request_call_wall_s": 0.000643744133412838, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02888651704415679, + "request_call_wall_s": 0.0010386547073721886, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03099652100354433, + "request_call_wall_s": 0.0007735388353466988, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.032363499980419874, + "request_call_wall_s": 0.0007218010723590851, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03378182416781783, + "request_call_wall_s": 0.0006141369231045246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03499388508498669, + "request_call_wall_s": 0.0006465772166848183, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03627979522570968, + "request_call_wall_s": 0.0006412952207028866, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03745628194883466, + "request_call_wall_s": 0.0006120395846664906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03905403334647417, + "request_call_wall_s": 0.0008294307626783848, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.040414232295006514, + "request_call_wall_s": 0.000652015209197998, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0418510353192687, + "request_call_wall_s": 0.0006777523085474968, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.043122952338308096, + "request_call_wall_s": 0.000604292843490839, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.044305913150310516, + "request_call_wall_s": 0.0005821357481181622, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.045501881279051304, + "request_call_wall_s": 0.000584769994020462, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0466698850505054, + "request_call_wall_s": 0.0005609928630292416, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04790984932333231, + "request_call_wall_s": 0.0006079147569835186, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04912217007949948, + "request_call_wall_s": 0.0005325917154550552, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.050380191300064325, + "request_call_wall_s": 0.0005959048867225647, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05156424129381776, + "request_call_wall_s": 0.0021862867288291454, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05444594891741872, + "request_call_wall_s": 0.0006201840005815029, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05565872695297003, + "request_call_wall_s": 0.0006134966388344765, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05691195512190461, + "request_call_wall_s": 0.0007046000100672245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05844196630641818, + "request_call_wall_s": 0.000655102077871561, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05982919689267874, + "request_call_wall_s": 0.0007190187461674213, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06112827733159065, + "request_call_wall_s": 0.000620504841208458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06238347105681896, + "request_call_wall_s": 0.0005759131163358688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06574500119313598, + "request_call_wall_s": 0.0023193988017737865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06884511932730675, + "request_call_wall_s": 0.0020855851471424103, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07168718427419662, + "request_call_wall_s": 0.0014782268553972244, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07399952597916126, + "request_call_wall_s": 0.0009238426573574543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07571077113971114, + "request_call_wall_s": 0.001147670205682516, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0775318299420178, + "request_call_wall_s": 0.0006421948783099651, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07891504606232047, + "request_call_wall_s": 0.0007101777009665966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08027488924562931, + "request_call_wall_s": 0.0006880327127873898, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08165661804378033, + "request_call_wall_s": 0.0006549800746142864, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08310633292421699, + "request_call_wall_s": 0.0007783742621541023, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08448287891224027, + "request_call_wall_s": 0.0006408188492059708, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08582054311409593, + "request_call_wall_s": 0.0007157451473176479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08715694630518556, + "request_call_wall_s": 0.0011129681952297688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08913154108449817, + "request_call_wall_s": 0.001517750322818756, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09164900798350573, + "request_call_wall_s": 0.0016592741012573242, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09433224704116583, + "request_call_wall_s": 0.0017719208262860775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09717503190040588, + "request_call_wall_s": 0.001351980958133936, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09912463324144483, + "request_call_wall_s": 0.001221067737787962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10113308113068342, + "request_call_wall_s": 0.0013103238306939602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1033764029853046, + "request_call_wall_s": 0.0015275492332875729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10590629698708653, + "request_call_wall_s": 0.0018735714256763458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10865117330104113, + "request_call_wall_s": 0.0016401810571551323, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11127871321514249, + "request_call_wall_s": 0.0015613283030688763, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11376573098823428, + "request_call_wall_s": 0.0013816030696034431, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11598960310220718, + "request_call_wall_s": 0.0012942003086209297, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11804529605433345, + "request_call_wall_s": 0.0013181748799979687, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12023095227777958, + "request_call_wall_s": 0.0015174923464655876, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12264761328697205, + "request_call_wall_s": 0.0015155975706875324, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12506053829565644, + "request_call_wall_s": 0.0013985331170260906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12729948991909623, + "request_call_wall_s": 0.00120640080422163, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12939345696941018, + "request_call_wall_s": 0.0012483643367886543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13159102015197277, + "request_call_wall_s": 0.0015211463905870914, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13412790233269334, + "request_call_wall_s": 0.0013677319511771202, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13636962324380875, + "request_call_wall_s": 0.0010906909592449665, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13816055608913302, + "request_call_wall_s": 0.001145233865827322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14000787306576967, + "request_call_wall_s": 0.0014529661275446415, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14240697026252747, + "request_call_wall_s": 0.0012311902828514576, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14450692012906075, + "request_call_wall_s": 0.0010915831662714481, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14629891701042652, + "request_call_wall_s": 0.001034105196595192, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1480179149657488, + "request_call_wall_s": 0.0013225823640823364, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15015671402215958, + "request_call_wall_s": 0.0011632321402430534, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15206552995368838, + "request_call_wall_s": 0.0005383281968533993, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15337551105767488, + "request_call_wall_s": 0.0009771371260285378, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15505042020231485, + "request_call_wall_s": 0.0006156987510621548, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15640905126929283, + "request_call_wall_s": 0.0007860851474106312, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15810118708759546, + "request_call_wall_s": 0.0008236910216510296, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1597761302255094, + "request_call_wall_s": 0.001462576910853386, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1620657630264759, + "request_call_wall_s": 0.0013627959415316582, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16412657825276256, + "request_call_wall_s": 0.0011073490604758263, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1660571643151343, + "request_call_wall_s": 0.001140113454312086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16803902806714177, + "request_call_wall_s": 0.0025107432156801224, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1712316619232297, + "request_call_wall_s": 0.0010521803051233292, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17307546827942133, + "request_call_wall_s": 0.0012606470845639706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17530849110335112, + "request_call_wall_s": 0.001468965783715248, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17771781608462334, + "request_call_wall_s": 0.0011554760858416557, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1795988380908966, + "request_call_wall_s": 0.00122925266623497, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18155896617099643, + "request_call_wall_s": 0.0011328831315040588, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1835276773199439, + "request_call_wall_s": 0.0014288160018622875, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1858471492305398, + "request_call_wall_s": 0.0011424953117966652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18789692828431726, + "request_call_wall_s": 0.001447632908821106, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1902473489753902, + "request_call_wall_s": 0.0014821798540651798, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19260341208428144, + "request_call_wall_s": 0.0013124067336320877, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19458848889917135, + "request_call_wall_s": 0.001131413970142603, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19649425614625216, + "request_call_wall_s": 0.0012147650122642517, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19844508729875088, + "request_call_wall_s": 0.0012681800872087479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20052201533690095, + "request_call_wall_s": 0.0012047658674418926, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2024940880946815, + "request_call_wall_s": 0.001127659808844328, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20432663010433316, + "request_call_wall_s": 0.0012089950032532215, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20631462428718805, + "request_call_wall_s": 0.0012824400328099728, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2084427522495389, + "request_call_wall_s": 0.001499675214290619, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21078199008479714, + "request_call_wall_s": 0.0012432481162250042, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21280340617522597, + "request_call_wall_s": 0.0013789418153464794, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21483274921774864, + "request_call_wall_s": 0.0010110950097441673, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21663599088788033, + "request_call_wall_s": 0.0009687598794698715, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21843098802492023, + "request_call_wall_s": 0.001107462216168642, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22028795210644603, + "request_call_wall_s": 0.00048207491636276245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22171165933832526, + "request_call_wall_s": 0.0015910412184894085, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.224419420119375, + "request_call_wall_s": 0.0018816189840435982, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.227473390288651, + "request_call_wall_s": 0.0016840500757098198, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23007476096972823, + "request_call_wall_s": 0.0014029447920620441, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2321054912172258, + "request_call_wall_s": 0.0011178762651979923, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23386427527293563, + "request_call_wall_s": 0.0012942468747496605, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2360136192291975, + "request_call_wall_s": 0.0013365419581532478, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2382600549608469, + "request_call_wall_s": 0.0014874846674501896, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24098377814516425, + "request_call_wall_s": 0.0020949291065335274, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24444392509758472, + "request_call_wall_s": 0.0015907259657979012, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24677603598684072, + "request_call_wall_s": 0.0009623141959309578, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2484635771252215, + "request_call_wall_s": 0.0010084579698741436, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2501837471500039, + "request_call_wall_s": 0.0011551100760698318, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25199915934354067, + "request_call_wall_s": 0.0011737588793039322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2538053561002016, + "request_call_wall_s": 0.0014110771007835865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2560505191795528, + "request_call_wall_s": 0.0015199310146272182, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2583523099310696, + "request_call_wall_s": 0.0012401710264384747, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2604519221931696, + "request_call_wall_s": 0.0007793991826474667, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2621042882092297, + "request_call_wall_s": 0.0011771316640079021, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/starbucks/full_scene_collision", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29518293496221304, + "request_call_wall_s": 0.0037635667249560356, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2989045470021665, + "request_call_wall_s": 0.0009527732618153095, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30069791432470083, + "request_call_wall_s": 0.0007637930102646351, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3023465280421078, + "request_call_wall_s": 0.0007388326339423656, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3039601743221283, + "request_call_wall_s": 0.000747073907405138, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30791948921978474, + "request_call_wall_s": 0.0011171144433319569, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3097888110205531, + "request_call_wall_s": 0.0007105991244316101, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3112887181341648, + "request_call_wall_s": 0.0006425748579204082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3126334729604423, + "request_call_wall_s": 0.0006801350973546505, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31401080125942826, + "request_call_wall_s": 0.0005589388310909271, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31537124002352357, + "request_call_wall_s": 0.0005402956157922745, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31656253011897206, + "request_call_wall_s": 0.0005819099023938179, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3178647430613637, + "request_call_wall_s": 0.000523633323609829, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3191030020825565, + "request_call_wall_s": 0.0005209990777075291, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3204683600924909, + "request_call_wall_s": 0.0006991452537477016, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3221585960127413, + "request_call_wall_s": 0.0007821153849363327, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32419884111732244, + "request_call_wall_s": 0.0008906102739274502, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3261831430718303, + "request_call_wall_s": 0.0006488687358796597, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3275661990046501, + "request_call_wall_s": 0.0007643098942935467, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32912277709692717, + "request_call_wall_s": 0.000585515983402729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33045188430696726, + "request_call_wall_s": 0.0005738330073654652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3317542802542448, + "request_call_wall_s": 0.0006601233035326004, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33326771715655923, + "request_call_wall_s": 0.0006344947032630444, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3347339383326471, + "request_call_wall_s": 0.0006266911514103413, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33616159530356526, + "request_call_wall_s": 0.000593006145209074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33744643721729517, + "request_call_wall_s": 0.0007278136909008026, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3389356401748955, + "request_call_wall_s": 0.0006732442416250706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3404699880629778, + "request_call_wall_s": 0.0006573768332600594, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3419045018963516, + "request_call_wall_s": 0.0006380919367074966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34334419621154666, + "request_call_wall_s": 0.0006492342799901962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04", + "index": 167, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3447866030037403, + "request_call_wall_s": 0.0006312727928161621, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08", + "index": 168, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34622800908982754, + "request_call_wall_s": 0.0005297199822962284, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12", + "index": 169, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34757826291024685, + "request_call_wall_s": 0.0018235472962260246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16", + "index": 170, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3503726231865585, + "request_call_wall_s": 0.0005778525955975056, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20", + "index": 171, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35167849995195866, + "request_call_wall_s": 0.0005804351530969143, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24", + "index": 172, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.353133334312588, + "request_call_wall_s": 0.0006045317277312279, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00", + "index": 173, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35465848119929433, + "request_call_wall_s": 0.0006851684302091599, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04", + "index": 174, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35645526507869363, + "request_call_wall_s": 0.0007854169234633446, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08", + "index": 175, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35817946633324027, + "request_call_wall_s": 0.001013314351439476, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12", + "index": 176, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36004121601581573, + "request_call_wall_s": 0.0007319068536162376, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16", + "index": 177, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.361576019320637, + "request_call_wall_s": 0.0007370086386799812, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20", + "index": 178, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36304307729005814, + "request_call_wall_s": 0.000610788818448782, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24", + "index": 179, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3644479629583657, + "request_call_wall_s": 0.0005434583872556686, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00", + "index": 180, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3656473830342293, + "request_call_wall_s": 0.0005317800678312778, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04", + "index": 181, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36683115316554904, + "request_call_wall_s": 0.0005244356580078602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08", + "index": 182, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36798718525096774, + "request_call_wall_s": 0.0004642191343009472, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12", + "index": 183, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3691855282522738, + "request_call_wall_s": 0.000552379060536623, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16", + "index": 184, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37057207617908716, + "request_call_wall_s": 0.0005588093772530556, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20", + "index": 185, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37204794911667705, + "request_call_wall_s": 0.0006504040211439133, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24", + "index": 186, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3735079630278051, + "request_call_wall_s": 0.0006027300842106342, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00", + "index": 187, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37495381012558937, + "request_call_wall_s": 0.0007079183124005795, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04", + "index": 188, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37635841593146324, + "request_call_wall_s": 0.0005151950754225254, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08", + "index": 189, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3776065423153341, + "request_call_wall_s": 0.0007059951312839985, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12", + "index": 190, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3791340761817992, + "request_call_wall_s": 0.0006256205961108208, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16", + "index": 191, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38059200905263424, + "request_call_wall_s": 0.0006741238757967949, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20", + "index": 192, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38222874607890844, + "request_call_wall_s": 0.0006566853262484074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24", + "index": 193, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3836486409418285, + "request_call_wall_s": 0.0005478989332914352, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00", + "index": 194, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38481702096760273, + "request_call_wall_s": 0.0005282899364829063, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04", + "index": 195, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38603217294439673, + "request_call_wall_s": 0.0005530621856451035, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08", + "index": 196, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3872680189087987, + "request_call_wall_s": 0.0005266792140901089, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12", + "index": 197, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38854183489456773, + "request_call_wall_s": 0.0007223030552268028, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16", + "index": 198, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38999622920528054, + "request_call_wall_s": 0.0007233638316392899, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20", + "index": 199, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3915247833356261, + "request_call_wall_s": 0.0006889579817652702, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24", + "index": 200, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3929426851682365, + "request_call_wall_s": 0.0006792689673602581, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0, + "rigid_owner_mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/ShelfItems/starbucks/full_scene_collision": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0 + } + } + }, + "file_count": 863, + "total_bytes": 539621873, + "symlinks": [] +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..77666993c0672c967fb6fce045e51db142c6a1d2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json @@ -0,0 +1,34 @@ +{ + "schema": "multi_camera_extrinsics_audit_v1", + "passed": true, + "checks": { + "camera_order": true, + "shape": true, + "control_tick_mapping": true, + "timestamp_mapping": true, + "global_step_mapping": true, + "finite": true, + "homogeneous_row": true, + "rigid_rotation": true, + "rigid_mount_alignment": true + }, + "failures": [], + "frames": 14740, + "rotation_orthogonality_max_error": 1.3322676295501878e-15, + "rotation_determinant_max_error": 2.220446049250313e-15, + "mount_errors": { + "top_head": { + "translation_m": 1.3506446028928519e-15, + "rotation_rad": 5.583968029948289e-16 + }, + "hand_left": { + "translation_m": 1.5204888375921863e-15, + "rotation_rad": 5.069193257608818e-16 + }, + "hand_right": { + "translation_m": 1.3870543446483204e-15, + "rotation_rad": 5.77722822261946e-16 + } + }, + "camera_extrinsics_sha256": "fac6379551e1fcceb39c69f547ea556a9da92757c189aa1882a6714eb837e765" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP.json new file mode 100644 index 0000000000000000000000000000000000000000..c6db3c36e2710036ab3897df2d5caaeb7593892b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP.json @@ -0,0 +1,21 @@ +{ + "status": "PASSED", + "after_physics_stability": true, + "discarded_render_reads": 3, + "render_only_warmups": 12, + "unrecorded_hold_samples": 3, + "captured_frames": 0, + "final_stability_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..bd86b2352349d094edd8806b834ad94c10d678bd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json @@ -0,0 +1,74 @@ +{ + "schema": "multi_camera_warmup_audit_v1", + "passed": true, + "checks": { + "native_rendered": true, + "status": true, + "after_stability": true, + "render_warmups": true, + "discarded_reads": true, + "unrecorded_hold_samples": true, + "preroll_hold_accounting": true, + "no_captured_warmup_frames": true, + "final_prop_stable": true, + "final_camera_stable": true, + "final_driven_stable": true, + "startup_frame_set": true, + "startup_frames_nonempty": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "after_physics_stability": true, + "discarded_render_reads": 3, + "render_only_warmups": 12, + "unrecorded_hold_samples": 3, + "captured_frames": 0, + "final_stability_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + } + }, + "receipt_sha256": "456be35189c553f1a60b72e93df507c6775d9187d3f056e26d5d2aef40549bc2", + "startup_frame_sha256": { + "hand_left_00.jpg": "d00bc56f24f800e8de145cbc46abed4108af3e13c12802718e56aa1f9de5fa7e", + "hand_left_01.jpg": "1c244e296955ffa74d54b44d18a2438fa757cb7fc6a8dfc4fed4893df3271db2", + "hand_left_02.jpg": "08571a88b8469725ab450f0a1fbefe2749ebed0fc071c9a07f2268078154c7ee", + "hand_left_03.jpg": "4758588e741087b079f3a613f3496da9e165215cbd71337a4d3077daef8caa44", + "hand_left_04.jpg": "914362108f5f01436f012bbaa9b0638e19e5602d107561586f076a0178464c1e", + "hand_left_05.jpg": "c5259ec59f459e673ef9ab047cd59ec78b4a9e172f7dd2316da36916c5103a3e", + "hand_left_06.jpg": "33bdecc3e2615493e8815c99936aeea4f4e6af7299dbf2da5aa3397f42181293", + "hand_left_07.jpg": "a2d695bba0042df7f5a06c50b825ead92329de790b33dcb4822de5d9da32c332", + "hand_left_08.jpg": "a183eb0098bda2b6b34aee33d67f547bbf927f31b9b999d79732b2e14696d8be", + "hand_left_09.jpg": "b07c67fc56a92156cf577b06abf9246d2977b0540e6014c4c30ea5b7ea2ad4dd", + "hand_right_00.jpg": "84fd321908ddc7c71526aed07ed393067f4aed4d347213bca52ef6be9a463a4f", + "hand_right_01.jpg": "23415537675b84423c22687e046676e750ba3860311810a626129190dda845b1", + "hand_right_02.jpg": "2af0ab711afa3111b642c4488bb904a0bef7d7c01581f1d05b5d19514485e796", + "hand_right_03.jpg": "eea6fff0fe6f540846b894af8c0f5db14788a7f9963df4e65b4158c225d0817c", + "hand_right_04.jpg": "cee047cfcd03ac8fb360fa801ff7f8f3b25ec87dd4266fd5d293c04a3b7868e6", + "hand_right_05.jpg": "892e2bb7f5d2060f80f36c1680aef365669d692de3360d3c570b65dd466c7141", + "hand_right_06.jpg": "f506bea3be10b3ac81d82d7cb628dd791b90e376da79cef90063801bebb609fd", + "hand_right_07.jpg": "443fe632c82a646f510def49877a1c26fee48912bc7b833071760870dfe003c0", + "hand_right_08.jpg": "31e7d2ed76ee23a622bc90b259c7acd7073705e2529f6d3b0365a3f387feedf0", + "hand_right_09.jpg": "d1149b4ae45224485792687366c1bef379e24664eb0fc5193fc5a0576fd8575b", + "top_head_00.jpg": "d6a26a2c8c574c5db21039fa441cdd3a150d8a89dde49c6416e9793cd107c0a2", + "top_head_01.jpg": "af98e7dfff8b818381d21c29df184cc275a7aba1bdd5f5b5b33f49f8e2acbce0", + "top_head_02.jpg": "82821bc7829dd443512688cf63c78bfb39faef3175e7e497c387622a1dfd61d5", + "top_head_03.jpg": "c51a42cce914874593b17840f84ae49b2fd2f4a68ff04178e3b1ae6f73f59b9f", + "top_head_04.jpg": "662eaa5adbee899da4acdd06b1d16533a449b636fd8c02a605dd099267663ef6", + "top_head_05.jpg": "fc7cec3269403d8db12d3b99bdda898a93dc7fa714b409d2081851e5450b3c9e", + "top_head_06.jpg": "7255608dc72b7332560ed76c457b91beed490d02cb675e7a223e0dd8bfda7739", + "top_head_07.jpg": "df3eb00c119dc68b33324fac7bf33a53acbe89e7fe15054db5cbcdc970d82f12", + "top_head_08.jpg": "b70b8cc141058853279a1722bdc80a68d31ab8c3deb276e2ff7cee39cfea00e4", + "top_head_09.jpg": "4e7e434a51be113c2d974ce170ac1fdcc5128c780aa7572ecfaa6f01222d83cd" + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json new file mode 100644 index 0000000000000000000000000000000000000000..214fdca9bb893e18c59e5cd5ebbe36881ca88dcc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json @@ -0,0 +1,9 @@ +{ + "accepted": false, + "acceptance_basis": "native_task_checks_pending_user_review", + "native_task_checks_passed": true, + "strict_diagnostic_failures_retained": true, + "automatic_physics_certification_claimed": false, + "manual_visual_review_required": true, + "export_script_sha256": "db4be09f858a48ea0ca46620f7bbe5341763001574633e9432b7c483647747b4" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..6b16cef99af5663ee2a209b77a4b0c461752b4de --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_00.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 1.2714307941496372 + }, + "failures": [], + "planning_seconds": 17.98379316320643, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac20a04f02feb22b17577964d4566e75c985198 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_01.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 0.8944361531175673 + }, + "failures": [], + "planning_seconds": 17.4704867079854, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..ce1004250bdda5ab6e37aadf227d042c284bea72 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_02.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 1.349281511735171 + }, + "failures": [], + "planning_seconds": 16.994900019839406, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_03.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_03.json new file mode 100644 index 0000000000000000000000000000000000000000..461d167e9f72d64ea0792aacd519f513d781df35 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CARRY_PLAN.item_03.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 0.4692453062161803 + }, + "failures": [], + "planning_seconds": 18.43586579989642, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..94bdbab554abac92260451027fcca1d151e347c3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json @@ -0,0 +1,579 @@ +{ + "schema": "multi_item.station_ik_grid_live_place.v1", + "read_only": true, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_02_place_planning", + "item_index": 2, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r" + ], + "control_ticks": 26330, + "updated": 1791282029.6425502, + "base_pose": [ + -1.4036145210266113, + 0.8052606582641602, + 0.001367783173918724, + 0.0, + -2.1656887838616967e-08, + -0.7113596796989441, + 0.7028283476829529 + ], + "target_pose": [ + -1.5591046810150146, + 0.19177545607089996, + 0.6234466433525085, + -0.0352259986102581, + -0.045052941888570786, + -0.9633490443229675, + 0.26208415627479553 + ], + "planning_error": "RuntimeError('Carry geometry preflight exceeded 180 seconds')", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_02_place.json" + }, + "evidence": { + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz", + "job": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/job.json", + "exact_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/cases/layout_03/EXACT_SOURCE_TRANSFER_PROPOSAL.json", + "prior_controls": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_44/controls.npz", + "prior_placement": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_44/rollout/PLACEMENT_PLAN.json" + }, + "place_initial_difference_l2_rad": 0.23360467557135575, + "place_initial_difference_max_rad": 0.10624434567543684, + "geometry_candidates": 40, + "accepted": null, + "attempts": [ + { + "rank": 0, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 1, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 2, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 3, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 4, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 5, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 6, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 7, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 8, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 9, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 10, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 11, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03176402332218175), np.float64(0.1057773654975756)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03176401171598309), np.float64(0.10577745264973169)]}, {'candidate': 0, 'stage': 'path', 'frame': 53, 'error': [np.float64(0.0022138374418215127), np.float64(0.007199090180597567)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1762226613219855), np.float64(0.7726697615631567)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.20754645019160928), np.float64(0.9084904184001305)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3385379385908521), np.float64(1.5159316054202898)]}]", + "elapsed_s": 37.721453350037336 + }, + { + "rank": 12, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 13, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 14, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 15, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04029054821229703), np.float64(0.1335964430099112)]}, {'candidate': 0, 'stage': 'path', 'frame': 71, 'error': [np.float64(0.0022443223136236305), np.float64(0.007271864882090221)]}, {'candidate': 0, 'stage': 'path', 'frame': 46, 'error': [np.float64(0.0024848570528573197), np.float64(0.008053189457665496)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.17407419569710622), np.float64(0.7505805095195015)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.22356505692877693), np.float64(0.962087231197535)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.34776692963847794), np.float64(1.5483917090903372)]}]", + "elapsed_s": 29.444525415077806 + }, + { + "rank": 16, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 17, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 18, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 19, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 20, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 21, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03917877050154138), np.float64(0.14034281176606317)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.00225428237620568), np.float64(0.007765594438342693)]}, {'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.002191283152907444), np.float64(0.007547884034895698)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.16519334113566203), np.float64(0.738392844773949)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.1912785722076239), np.float64(0.8532981294853592)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3203270743231877), np.float64(1.4433315782056941)]}]", + "elapsed_s": 29.429000618867576 + }, + { + "rank": 22, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.043531667070814815), np.float64(0.14016246118745307)]}, {'candidate': 0, 'stage': 'path', 'frame': 66, 'error': [np.float64(0.0024176726288001917), np.float64(0.007677709788283477)]}, {'candidate': 0, 'stage': 'path', 'frame': 44, 'error': [np.float64(0.002507139922871767), np.float64(0.007962471821484636)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.16799938507679668), np.float64(0.7270359218684832)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.22594136272933127), np.float64(0.9795519531435627)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3436660152574315), np.float64(1.5319593345669162)]}]", + "elapsed_s": 28.298250775784254 + }, + { + "rank": 23, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 24, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 25, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 26, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 27, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 28, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 29, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 30, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 31, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 32, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 33, + "stage": "destination_place_initial_clearance", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": -2.613489257389774, + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_r_end_link", + "obstacle": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21" + } + }, + { + "rank": 34, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 96, 'error': [np.float64(0.0020376803154222045), np.float64(0.006747792939100025)]}, {'candidate': 0, 'stage': 'path', 'frame': 38, 'error': [np.float64(0.002121176917625803), np.float64(0.007024972161560267)]}, {'candidate': 0, 'stage': 'path', 'frame': 29, 'error': [np.float64(0.0026583803110926413), np.float64(0.008809228432487791)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14774796535328888), np.float64(0.6467598935374531)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.229193484856426), np.float64(1.005129178351172)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.33063970984710367), np.float64(1.4797934922189773)]}]", + "elapsed_s": 17.776629942003638 + }, + { + "rank": 35, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.05137210675870148), np.float64(0.17982881728775013)]}, {'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020754785692713115), np.float64(0.007009264382932798)]}, {'candidate': 0, 'stage': 'path', 'frame': 36, 'error': [np.float64(0.002727354488079966), np.float64(0.009217997872769565)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1552402029520096), np.float64(0.6886516616989784)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.20967194895484703), np.float64(0.9297531212088274)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.32494344549731646), np.float64(1.4607477926225472)]}]", + "elapsed_s": 27.574462132062763 + }, + { + "rank": 36, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 101, 'error': [np.float64(0.002106041437231753), np.float64(0.0070975420998988245)]}, {'candidate': 0, 'stage': 'path', 'frame': 39, 'error': [np.float64(0.002047757977369322), np.float64(0.0069006936643993735)]}, {'candidate': 0, 'stage': 'path', 'frame': 29, 'error': [np.float64(0.0020676788337480913), np.float64(0.006968004378447222)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.15288612594043807), np.float64(0.6675377218680499)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.22637819341278873), np.float64(0.9863587650505955)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3342653594748826), np.float64(1.494965306573294)]}]", + "elapsed_s": 20.145305037964135 + }, + { + "rank": 37, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 58, 'error': [np.float64(0.0020033567183474973), np.float64(0.007211792089312185)]}, {'candidate': 0, 'stage': 'path', 'frame': 26, 'error': [np.float64(0.002287108022188787), np.float64(0.008236605092257106)]}, {'candidate': 0, 'stage': 'path', 'frame': 20, 'error': [np.float64(0.0023371640422169947), np.float64(0.008417477871926413)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.1454186053113851), np.float64(0.6477460083561655)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2079570469340901), np.float64(0.9209237028242402)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3194003676908805), np.float64(1.4378341489246005)]}]", + "elapsed_s": 14.91633163811639 + }, + { + "rank": 38, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 102, 'error': [np.float64(0.0020613843021659232), np.float64(0.007435011152907308)]}, {'candidate': 0, 'stage': 'path', 'frame': 40, 'error': [np.float64(0.0023820405392215842), np.float64(0.008595563703868428)]}, {'candidate': 0, 'stage': 'path', 'frame': 30, 'error': [np.float64(0.0026592506415440316), np.float64(0.009599712510524185)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14977617702871424), np.float64(0.6729256778958032)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.19204312659321723), np.float64(0.8611353022028824)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3108044512890126), np.float64(1.4021350978762788)]}]", + "elapsed_s": 18.49485461693257 + }, + { + "rank": 39, + "stage": "placement", + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw": 3.10319535226657, + "error": "All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'path', 'frame': 78, 'error': [np.float64(0.002059736123476459), np.float64(0.007043008234112527)]}, {'candidate': 0, 'stage': 'path', 'frame': 33, 'error': [np.float64(0.0023279759731593256), np.float64(0.007962891987842183)]}, {'candidate': 0, 'stage': 'path', 'frame': 25, 'error': [np.float64(0.0024036148646156114), np.float64(0.008222390625392593)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.15952513658956527), np.float64(0.6793011953159357)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2385929334670567), np.float64(1.003718597539366)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.3485015586427847), np.float64(1.545841147600392)]}]", + "elapsed_s": 16.10440654400736 + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..764d0bf597034ad4841445899092ebc8b43b24ce --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json @@ -0,0 +1,781 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 2, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_02_place_planning", + "item_index": 2, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r" + ], + "control_ticks": 26330, + "updated": 1791282029.6425502, + "base_pose": [ + -1.4036145210266113, + 0.8052606582641602, + 0.001367783173918724, + 0.0, + -2.1656887838616967e-08, + -0.7113596796989441, + 0.7028283476829529 + ], + "target_pose": [ + -1.5591046810150146, + 0.19177545607089996, + 0.6234466433525085, + -0.0352259986102581, + -0.045052941888570786, + -0.9633490443229675, + 0.26208415627479553 + ], + "planning_error": "RuntimeError('Carry geometry preflight exceeded 180 seconds')", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_02_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM02_POLAR_ENDPOINT.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": { + "rank": 7, + "slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6365201855497675, + 0.20930976406863636, + 0.45490211957462423 + ], + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -0.9053938251463108, + 0.5228742851265118, + 0.23439173838878408, + -1.2723367243111823, + 0.661710860501515, + 1.41911359866257, + -0.14611657834780648, + 1.1407616074658022, + -0.9794371652871695, + -0.40701537953262257, + 0.5127611225071805, + -0.8331235361738845, + -1.568475418746423, + -0.43017814557680517, + 0.007593975402414799, + 0.5235987755982988, + 0.0, + 0.4363323129985824, + 0.7844152450561523, + 0.42039015889167786 + ], + "geometry": { + "actual_completed_gaps_m": [ + 0.04962209308618194, + 0.10784815162175446 + ], + "future_gaps_m": [ + 0.015095888464634943 + ], + "extra_inset_m": 0.014265350927932411, + "tray_inset_m": 0.008 + }, + "placement_plan_frames": 240, + "placement_report": { + "candidate": 0, + "goal": [ + [ + -0.9992624666087567, + -0.03839951597329694, + 0.0, + -1.6365201855497675 + ], + [ + 0.03839951597329694, + -0.9992624666087567, + 0.0, + 0.20930976406863636 + ], + [ + 0.0, + 0.0, + 1.0, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + -0.04017282039186778, + 0.02994926885905338, + 0.9987438038839448, + -0.15968405238437644 + ], + [ + 0.5814919606528695, + 0.8135515269019825, + -0.001006365507700187, + -3.076671934176822e-05 + ], + [ + -0.8125596865448379, + 0.5807210641695902, + -0.050097918438734124, + 0.1438756171802762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [], + "clutter_clearance": 0.015095906444545816, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "reserved_future_slots": 1, + "hover_clearance_m": 0.0, + "candidate_budget": 5, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 265, + "opening_samples": 121, + "retreat_samples": 144, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000324", + "recording_60hz_sha256": "fc9d7d173b90d1447e6e09a06138694c8b398ed67a893ab611acf3f852933cec", + "place_metrics_sha256": "3856e2bddfb45e43dd7d082e9dc3fc4a98a06377058e6fc5b81a425f63acb355", + "opening_start_row": 606, + "opening_end_row": 661, + "source_opening_samples": 56, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } + }, + "retreat_q": [ + 0.007593975402414799, + 0.5235987755982988, + 0.0, + 0.4363323129985824, + -0.9053938251463108, + 1.1523393217747742, + 0.5228742851265118, + -0.7187582786828894, + 0.23439173838878408, + -0.3831890870991039, + -1.2723367243111823, + 1.2253289063864479, + 0.661710860501515, + -0.7517003022135202, + 1.41911359866257, + -1.258468131364157, + -0.14611657834780648, + 0.14264570617857733, + -0.7844153046607971, + 0.7844152450561523, + -0.4210287034511566, + 0.42039015889167786, + -0.06769122183322906, + 0.08914200216531754, + 0.009652694687247276, + -0.009570478461682796, + -0.025320880115032196, + -0.0345236212015152, + 0.03490784391760826, + -0.03490658849477768, + 0.4421767592430115, + -0.3921635150909424, + 0.18317876756191254, + -0.18286888301372528 + ], + "reposition": { + "compact_q": [ + 0.55, + 0.5236075520515442, + -1.5172346365943667e-06, + 0.43636590242385864, + -0.07187606894632582, + 0.3381535068202985, + 0.9608605577482272, + -0.9224011139461789, + 0.09923136110396254, + -0.39831933259239943, + -0.6707055798288886, + 0.4389287222251208, + 0.699044645806164, + -0.8770772455801604, + 1.7786836620734858, + -1.8948586915202128, + 1.2284970314637589, + -1.3927474600739747, + -0.7844153046607971, + 0.7844152450561523, + -0.4210287034511566, + 0.42039015889167786, + -0.06769122183322906, + 0.08914200216531754, + 0.009652694687247276, + -0.009570478461682796, + -0.025320880115032196, + -0.0345236212015152, + 0.03490784391760826, + -0.03490658849477768, + 0.4421767592430115, + -0.3921635150909424, + 0.18317876756191254, + -0.18286888301372528 + ], + "primitives": [ + { + "kind": "drive", + "goal": [ + -1.4005982949731237, + 1.055242462362767, + -1.5828615237264456 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -1.4005982949731237, + 1.055242462362767, + -1.0618934556203625 + ] + }, + { + "kind": "drive", + "goal": [ + -1.2765201855497674, + 0.832848054793432, + -1.0618934556203625 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.2765201855497674, + 0.832848054793432, + -1.8849555921538759 + ] + } + ], + "report": { + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.25, + "route_search": { + "expanded": 1, + "seconds": 0.16504041198641062 + }, + "failures": [], + "planning_seconds": 11.011254749260843, + "preflight_only": true, + "full_native_audit_required": true + } + }, + "compact_to_exact_bridge_clearance": true, + "full_world_checks": true + }, + "attempts": [ + { + "rank": 0, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02128491722728194), np.float64(0.09332283254422107)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02128491773627547), np.float64(0.09332282965301582)]}, {'candidate': 0, 'stage': 'path', 'frame': 59, 'error': [np.float64(0.002399036067911809), np.float64(0.01071733527702162)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14650508643031915), np.float64(0.7187476834111923)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.056237234767529835), np.float64(0.2530586135208599)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.243443150912657), np.float64(1.1936172855539606)]}]\")" + }, + { + "rank": 1, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020803363883127447), np.float64(0.009388660536174341)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020803364924204914), np.float64(0.00938865992786939)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020803366696188447), np.float64(0.009388658892035318)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.09288191911427222), np.float64(0.38356215950860967)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2073747499903677), np.float64(0.9317376532137578)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.32064624572852524), np.float64(1.442739160086513)]}]\")" + }, + { + "rank": 2, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.021284917227281156), np.float64(0.09332283254422574)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.021284917736275173), np.float64(0.09332282965301773)]}, {'candidate': 0, 'stage': 'path', 'frame': 59, 'error': [np.float64(0.0023990360679115004), np.float64(0.010717335277021647)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.14650508643031915), np.float64(0.718747683411192)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.05623723476753004), np.float64(0.2530586135208598)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.24344315091265667), np.float64(1.1936172855539615)]}]\")" + }, + { + "rank": 3, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02632732420151629), np.float64(0.10678199916744315)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.026327325040796216), np.float64(0.10678199400385396)]}, {'candidate': 0, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0021236118352877986), np.float64(0.00908339096577395)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.11083599122796216), np.float64(0.6451577229042068)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.03084859018715151), np.float64(0.14292574562991875)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.16767673643443018), np.float64(0.9397702685473832)]}]\")" + }, + { + "rank": 4, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020803363883100195), np.float64(0.009388660536163732)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.002080336492418059), np.float64(0.009388659927858069)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020803366696163722), np.float64(0.009388658892023569)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.09288191911358568), np.float64(0.38356215951276745)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.20737474999036734), np.float64(0.931737653213759)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.32064624572852635), np.float64(1.4427391600865056)]}]\")" + }, + { + "rank": 5, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 144, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 144, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 144, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.015770838275498272), np.float64(0.06490844509484874)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.16147466972727573), np.float64(0.8559409661367662)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.17711981665410037), np.float64(0.9659882654345763)]}]\")" + }, + { + "rank": 6, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 176, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 176, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 9, 'opening_samples': 121, 'retreat_samples': 176, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 8, 'robot': '/World/Robot/gripper_r_outer_link1', 'obstacle': '/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22'}}}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.051182072502307115), np.float64(0.23088934775901085)]}, {'candidate': 3, 'stage': 'landing', 'error': [np.float64(0.2031671622817701), np.float64(0.9071994694910497)]}, {'candidate': 4, 'stage': 'landing', 'error': [np.float64(0.25780907866371633), np.float64(1.2048855202358422)]}]\")" + }, + { + "rank": 7, + "stage": "passed" + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..68cf3635251f4a6a92b06465957a2c1e8f91b6b6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json @@ -0,0 +1,422 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 3, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM03_FOCUSED_FRONT_REACH_SEEDS.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": { + "rank": 3, + "slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6677247350580382, + 0.2878323221680563, + 0.45490211957462423 + ], + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -1.0998790264129639, + 0.6286609768867493, + 0.3257550895214081, + -1.3167250156402588, + 0.6697197556495667, + 1.5019153356552124, + -0.17134644091129303, + 1.1586757898330688, + -0.6661624312400818, + -0.3321197032928467, + 1.2061527967453003, + -0.7023106813430786, + -1.4243680238723755, + 0.16752956807613373, + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + 0.22855523228645325, + 0.7844305634498596 + ], + "geometry": { + "actual_completed_gaps_m": [ + 0.05860664772044999, + 0.0607032470647707, + 0.02662911483679423 + ], + "future_gaps_m": [], + "extra_inset_m": 0.005007609270782284, + "tray_inset_m": 0.008 + }, + "placement_plan_frames": 240, + "placement_report": { + "candidate": 0, + "goal": [ + [ + -0.9859124716149867, + 0.16726206477868238, + 0.0, + -1.6677247350580382 + ], + [ + -0.16726206477868238, + -0.9859124716149867, + -0.0, + 0.2878323221680563 + ], + [ + -0.0, + 0.0, + 1.0, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + -0.0007227717529447506, + 0.0003677172472433567, + -0.9999996711924563, + 0.06669517990300344 + ], + [ + 0.03749524318699819, + 0.999296748165731, + 0.00034035825868168065, + 0.002357690520090716 + ], + [ + 0.9992965447450232, + -0.03749498485694407, + -0.000736051109993158, + 0.19496271684485267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [], + "clutter_clearance": 0.02662911483679423, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "reserved_future_slots": 0, + "hover_clearance_m": 0.0, + "retreat_direction_m": [ + 0.0, + 0.0, + 0.15 + ], + "candidate_budget": 5, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 279, + "opening_samples": 121, + "retreat_samples": 158, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000404", + "recording_60hz_sha256": "9edb7e95913d46b81d1c92499a22698f5181104d15b975717971cd8a86605b47", + "place_metrics_sha256": "c502811b7546fdea079b981ba6184a699961956d4d93912e585522bbe16d80fe", + "opening_start_row": 606, + "opening_end_row": 666, + "source_opening_samples": 61, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } + }, + "retreat_q": [ + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + -1.2454806299057672, + 1.1586757898330688, + 0.37768616919229714, + -0.6661624312400818, + 0.8523683370141925, + -0.3321197032928467, + -1.421435665858733, + 1.2061527967453003, + 0.21459207112883466, + -0.7023106813430786, + 1.36509425673086, + -1.4243680238723755, + 0.45217236352075, + 0.16752956807613373, + -0.2288927435874939, + 0.22855523228645325, + -0.7844305038452148, + 0.7844305634498596, + 0.01568097062408924, + -0.01527342014014721, + -0.06534475833177567, + 0.06447689980268478, + 0.034907225519418716, + -0.03490658849477768, + -0.03189828619360924, + 0.03431658446788788, + 0.08543248474597931, + -0.08530889451503754, + 0.44772887229919434, + -0.44976606965065 + ], + "reposition": { + "compact_q": [ + 0.55, + 0.5235962271690369, + 1.0331054909329396e-06, + 0.4363367557525635, + -0.3849307707363796, + 0.32504250290037245, + 0.9416866601252807, + -0.9700920113609036, + 0.4441951854470251, + -0.35172470125883304, + -0.3189077588980047, + 0.30663562634637054, + 0.8614090281365764, + -0.7921570723391312, + 1.9554111984795617, + -1.95942781619212, + 1.3444066829918544, + -1.3263773159478525, + -0.2288927435874939, + 0.22855523228645325, + -0.7844305038452148, + 0.7844305634498596, + 0.01568097062408924, + -0.01527342014014721, + -0.06534475833177567, + 0.06447689980268478, + 0.034907225519418716, + -0.03490658849477768, + -0.03189828619360924, + 0.03431658446788788, + 0.08543248474597931, + -0.08530889451503754, + 0.44772887229919434, + -0.44976606965065 + ], + "primitives": [ + { + "kind": "drive", + "goal": [ + -1.7323906295036384, + 1.1522023192209496, + -1.54227526460812 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -1.7323906295036384, + 1.1522023192209496, + -1.8029859176335803 + ] + }, + { + "kind": "drive", + "goal": [ + -1.7940062358461784, + 0.8916207305208576, + -1.8029859176335803 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.7940062358461784, + 0.8916207305208576, + -1.5165530595505117 + ] + } + ], + "report": { + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.25, + "route_search": { + "expanded": 1, + "seconds": 0.15124266408383846 + }, + "failures": [], + "planning_seconds": 14.601795207243413, + "preflight_only": true, + "full_native_audit_required": true + } + }, + "compact_to_exact_bridge_clearance": true, + "full_world_checks": true + }, + "attempts": [ + { + "rank": 0, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 158, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04119230345888412), np.float64(0.14075811501034088)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.026468831609673015), np.float64(0.09948188025448917)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.05588117683759073), np.float64(0.1734301398326058)]}, {'candidate': 1, 'stage': 'path', 'frame': 79, 'error': [np.float64(0.002068996205032519), np.float64(0.007196880179247982)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.22804864216037185), np.float64(1.2008532828393679)]}]\")" + }, + { + "rank": 1, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 27, 'opening_samples': 121, 'retreat_samples': 158, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 26, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.041192303458892396), np.float64(0.14075811501028054)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0264688316096732), np.float64(0.09948188025448752)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.055881176837592604), np.float64(0.173430139832591)]}, {'candidate': 1, 'stage': 'path', 'frame': 79, 'error': [np.float64(0.002068996205032406), np.float64(0.007196880179248191)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.22804864216037185), np.float64(1.2008532828393679)]}]\")" + }, + { + "rank": 2, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 158, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04119230345888257), np.float64(0.14075811501035318)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.026468831609671926), np.float64(0.09948188025449686)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.055881176837595144), np.float64(0.17343013983257177)]}, {'candidate': 1, 'stage': 'path', 'frame': 79, 'error': [np.float64(0.0020689962050326302), np.float64(0.007196880179247911)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.22804864216037207), np.float64(1.2008532828393674)]}]\")" + }, + { + "rank": 3, + "stage": "passed" + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..d0233705e30c86b4b677c1a18d6f7d82f13e7589 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json @@ -0,0 +1,352 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 3, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM03_FOCUSED_FRONT_WAIST_SEEDS.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": null, + "attempts": [ + { + "rank": 0, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 1, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 2, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 3, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 4, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 5, + "stage": "endpoint_ik", + "error": [ + 0.02043156166505913, + 0.11082129487200569 + ] + }, + { + "rank": 6, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 7, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 8, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 9, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 10, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 11, + "stage": "endpoint_ik", + "error": [ + 0.011572293981484284, + 0.06602133990967353 + ] + }, + { + "rank": 12, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 13, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 14, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 15, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 16, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 17, + "stage": "endpoint_ik", + "error": [ + 0.0031450095806831654, + 0.018644926950992756 + ] + }, + { + "rank": 18, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 19, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 20, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 21, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 22, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 23, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 24, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 25, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 26, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 27, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 28, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 29, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 30, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 31, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 32, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 33, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/arm_l_link6", + "obstacle": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24" + } + }, + { + "rank": 34, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 35, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..72e1276dcb5ac9ae3638f006de1eddc512b3e31f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json @@ -0,0 +1,154 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 3, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM03_FOCUSED_SIDE_APPROACH_SEEDS.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": null, + "attempts": [ + { + "rank": 0, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 1, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 2, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 3, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 4, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 5, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 6, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 7, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 8, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 9, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 10, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + }, + { + "rank": 11, + "stage": "destination", + "detail": { + "kind": "environment", + "robot_or_target": "/World/Robot/base_link", + "obstacle": "/World/Assets/CoffeeTable/Mesh" + } + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..fb060f9ae7fbeafff5ee41c8bb175f72ba4acd23 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json @@ -0,0 +1,196 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 3, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM03_POLAR_ENDPOINT.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": null, + "attempts": [ + { + "rank": 0, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.017618491886683237), np.float64(0.07141761518669028)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01761849097616327), np.float64(0.07141762077546782)]}, {'candidate': 0, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.002325783565029455), np.float64(0.00975383426443111)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0023255588203305675), np.float64(0.009752892007089583)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.002236369532251541), np.float64(0.009380565681259013)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3017303403083421), np.float64(1.2892175610342753)]}]\")" + }, + { + "rank": 1, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01761849188668329), np.float64(0.07141761518668875)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.017618490976162377), np.float64(0.07141762077547226)]}, {'candidate': 0, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.00232578356502951), np.float64(0.009753834264430779)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.002325558820330584), np.float64(0.009752892007089517)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.0022363695322513344), np.float64(0.009380565681259001)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.30173034030834256), np.float64(1.2892175610342735)]}]\")" + }, + { + "rank": 2, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.017618491886684042), np.float64(0.07141761518668481)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01761849097616324), np.float64(0.07141762077546847)]}, {'candidate': 0, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0023257835650293984), np.float64(0.009753834264430602)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0023255588203305562), np.float64(0.009752892007089231)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.002236369532251446), np.float64(0.009380565681259228)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.30173034030834156), np.float64(1.2892175610342795)]}]\")" + }, + { + "rank": 3, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.047589809415795284), np.float64(0.19617098356681353)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758965698862383), np.float64(0.19617190777430052)]}, {'candidate': 0, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020331523877455122), np.float64(0.008966265973061351)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020333402028689506), np.float64(0.008967094223822173)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0022616373708511843), np.float64(0.009971440078008174)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2158207271871928), np.float64(1.029221586717227)]}]\")" + }, + { + "rank": 4, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0533681953155287), np.float64(0.23453944274686506)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002082386303007925), np.float64(0.00939532216249356)]}, {'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.002432501888979424), np.float64(0.010974651123387554)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247493), np.float64(0.01097530594832706)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.00209099538378409), np.float64(0.009434139830786465)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.28651248602774876), np.float64(1.2923031929769786)]}]\")" + }, + { + "rank": 5, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626558422), np.float64(0.20870959723677404)]}, {'candidate': 0, 'stage': 'path', 'frame': 86, 'error': [np.float64(0.002050464027563459), np.float64(0.009103946542523443)]}, {'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.002034989104873612), np.float64(0.009035007691345418)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020351593960479465), np.float64(0.0090357634320235)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0034108686162201496), np.float64(0.01515846515264597)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499587)]}]\")" + }, + { + "rank": 6, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02874396121275262), np.float64(0.12613039299793533)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.028743969256637115), np.float64(0.12613034716173746)]}, {'candidate': 0, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.0025160100494447785), np.float64(0.011276710468625611)]}, {'candidate': 1, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.002516163666750592), np.float64(0.01127739900337676)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0027833830605258), np.float64(0.012473207592557461)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.29330374476134413), np.float64(1.3216128597654104)]}]\")" + }, + { + "rank": 7, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022593969272596146), np.float64(0.09331449919231648)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02259396609996437), np.float64(0.09331451838049155)]}, {'candidate': 0, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.0021909797733717638), np.float64(0.009401203066515604)]}, {'candidate': 1, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.002191164905662414), np.float64(0.009401997312144063)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.002520039064342413), np.float64(0.010807230001193619)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.21881820537891758), np.float64(1.0549883539103522)]}]\")" + }, + { + "rank": 8, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02083527520826972), np.float64(0.09401612277302722)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02083524413776141), np.float64(0.09401629502840948)]}, {'candidate': 0, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472093870552756), np.float64(0.011126160124421504)]}, {'candidate': 1, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472101610720687), np.float64(0.01112619495726103)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0021832591782111684), np.float64(0.009825429011278785)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.36400840838818793), np.float64(1.6180100646702038)]}]\")" + }, + { + "rank": 9, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758980941578667), np.float64(0.19617098356686538)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.047589656988638325), np.float64(0.19617190777421392)]}, {'candidate': 0, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020331523877454923), np.float64(0.008966265973061523)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.002033340202869007), np.float64(0.008967094223821942)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0022616373708514164), np.float64(0.00997144007800776)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.21582072718719297), np.float64(1.0292215867172272)]}]\")" + }, + { + "rank": 10, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.05336819531552926), np.float64(0.23453944274686042)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002082386303007925), np.float64(0.009395322162493348)]}, {'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024325018889793607), np.float64(0.010974651123387833)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247293), np.float64(0.01097530594832666)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.0020909953837840627), np.float64(0.00943413983078658)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.28651248602774854), np.float64(1.2923031929769782)]}]\")" + }, + { + "rank": 11, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626543079), np.float64(0.2087095972376245)]}, {'candidate': 0, 'stage': 'path', 'frame': 86, 'error': [np.float64(0.0020504640275635037), np.float64(0.009103946542523503)]}, {'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.002034989104873665), np.float64(0.00903500769134514)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.002035159396047999), np.float64(0.009035763432023607)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.003410868616220067), np.float64(0.015158465152645958)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499587)]}]\")" + }, + { + "rank": 12, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758980941579604), np.float64(0.1961709835668098)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758965698864627), np.float64(0.1961719077741642)]}, {'candidate': 0, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.002033152387745616), np.float64(0.008966265973061834)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020333402028689706), np.float64(0.008967094223822256)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.002261637370851228), np.float64(0.009971440078008134)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2158207271871928), np.float64(1.0292215867172259)]}]\")" + }, + { + "rank": 13, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.05336819531552955), np.float64(0.23453944274685978)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002082386303007925), np.float64(0.009395322162493587)]}, {'candidate': 0, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024325018889795476), np.float64(0.010974651123387628)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247167), np.float64(0.010975305948326769)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.002090995383784213), np.float64(0.009434139830786803)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2865124860277487), np.float64(1.2923031929769782)]}]\")" + }, + { + "rank": 14, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626614329), np.float64(0.20870959723367713)]}, {'candidate': 0, 'stage': 'path', 'frame': 86, 'error': [np.float64(0.002050464027563534), np.float64(0.009103946542523444)]}, {'candidate': 0, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020349891048734893), np.float64(0.009035007691345853)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020351593960479765), np.float64(0.009035763432023555)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0034108686162201644), np.float64(0.015158465152645894)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499594)]}]\")" + }, + { + "rank": 15, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846056717), np.float64(0.10755233588665417)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102067730209776), np.float64(0.1075523197178971)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.002671682457372124), np.float64(0.012038644624141212)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996766923), np.float64(0.012040066520459192)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0020381882041811293), np.float64(0.009185533112769787)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167781), np.float64(1.132977774784135)]}]\")" + }, + { + "rank": 16, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02468833668385554), np.float64(0.11121397807869503)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688346286603012), np.float64(0.11121392478920791)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002559499056326029), np.float64(0.011431562060463798)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025597733063568904), np.float64(0.011432786586855077)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0026552724052150874), np.float64(0.011860156387361695)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918645), np.float64(1.4280814260953951)]}]\")" + }, + { + "rank": 17, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762231585629494), np.float64(0.05043970038634198)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762229803623337), np.float64(0.0504397107746953)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762210323919973), np.float64(0.05043982428351754)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.01176236679777301), np.float64(0.05044050260397239)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435518868), np.float64(0.011414409968150506)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.39443181268043703), np.float64(1.6988922318938622)]}]\")" + }, + { + "rank": 18, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.028743961212761255), np.float64(0.12613039299788584)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02874396925663674), np.float64(0.12613034716173924)]}, {'candidate': 0, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.00251601004944467), np.float64(0.011276710468625457)]}, {'candidate': 1, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.0025161636667505463), np.float64(0.011277399003376206)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0027833830605258), np.float64(0.01247320759255753)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.29330374476134435), np.float64(1.32161285976541)]}]\")" + }, + { + "rank": 19, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022593969272597818), np.float64(0.09331449919230629)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022593966099964908), np.float64(0.09331451838048851)]}, {'candidate': 0, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.002190979773371797), np.float64(0.009401203066515857)]}, {'candidate': 1, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.00219116490566247), np.float64(0.009401997312144384)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0025200390643423574), np.float64(0.01080723000119359)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2188182053788708), np.float64(1.054988353910591)]}]\")" + }, + { + "rank": 20, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0208352752082734), np.float64(0.09401612277300724)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.020835244137760677), np.float64(0.09401629502841323)]}, {'candidate': 0, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472093870552901), np.float64(0.011126160124422033)]}, {'candidate': 1, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472101610720884), np.float64(0.011126194957260723)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0021832591782111003), np.float64(0.009825429011279339)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3640084083881884), np.float64(1.6180100646702038)]}]\")" + }, + { + "rank": 21, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'path', 'frame': 83, 'error': [np.float64(0.002241164309087622), np.float64(0.010113249139964208)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3166811582798262), np.float64(1.4267937038217129)]}]\")" + }, + { + "rank": 22, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 235, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 235, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 235, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 235, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'path', 'frame': 85, 'error': [np.float64(0.002085665985366761), np.float64(0.009231635984392143)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2559425966220991), np.float64(1.2459159106607802)]}]\")" + }, + { + "rank": 23, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846057817), np.float64(0.1075523358866475)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02410206773020958), np.float64(0.10755231971789761)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026716824573719497), np.float64(0.012038644624141672)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996767253), np.float64(0.012040066520459313)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.002038188204181139), np.float64(0.00918553311277006)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167786), np.float64(1.1329777747841354)]}]\")" + }, + { + "rank": 24, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688336683838616), np.float64(0.11121397807878873)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02468834628660608), np.float64(0.11121392478919119)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025594990563260218), np.float64(0.011431562060464242)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002559773306357068), np.float64(0.011432786586855108)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.00265527240521507), np.float64(0.011860156387362238)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918649), np.float64(1.4280814260953947)]}]\")" + }, + { + "rank": 25, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01176223158556136), np.float64(0.050439700386737875)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762229803437432), np.float64(0.050439710775777725)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762210323916776), np.float64(0.05043982428353473)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.011762366797773005), np.float64(0.0504405026039704)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435518065), np.float64(0.011414409968149688)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3944318126804368), np.float64(1.6988922318938628)]}]\")" + }, + { + "rank": 26, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846057494), np.float64(0.10755233588664975)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02410206773020892), np.float64(0.107552319717901)]}, {'candidate': 0, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026716824573720026), np.float64(0.012038644624141706)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996765444), np.float64(0.012040066520459714)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0020381882041809254), np.float64(0.009185533112770098)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167784), np.float64(1.1329777747841356)]}]\")" + }, + { + "rank": 27, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688336683845374), np.float64(0.11121397807875207)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688346286616543), np.float64(0.1112139247891337)]}, {'candidate': 0, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025594990563260122), np.float64(0.01143156206046443)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025597733063572074), np.float64(0.011432786586854895)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.002655272405215264), np.float64(0.011860156387362111)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918647), np.float64(1.428081426095395)]}]\")" + }, + { + "rank": 28, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01176223158543395), np.float64(0.05043970038748164)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762229803528538), np.float64(0.05043971077524696)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762210323915381), np.float64(0.05043982428354405)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.011762366797772705), np.float64(0.05044050260397271)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435519575), np.float64(0.011414409968150364)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3944318126804372), np.float64(1.6988922318938613)]}]\")" + }, + { + "rank": 29, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 18, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 17, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 18, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 17, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09'}}}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 18, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 17, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09'}}}, {'candidate': 1, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 18, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 17, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09'}}}, {'candidate': 1, 'stage': 'path', 'frame': 83, 'error': [np.float64(0.0022411643090878373), np.float64(0.010113249139963773)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3166811582798266), np.float64(1.4267937038217124)]}]\")" + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4b0f430b788a148a71c711429bacb45e05470a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json @@ -0,0 +1,196 @@ +{ + "schema": "multi_item.polar_full_place.v1", + "read_only": true, + "layout_id": 3, + "item_index": 3, + "status_at_probe": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "evidence": { + "endpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM03_POLAR_ENDPOINT.json", + "checkpoint": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz" + }, + "accepted": null, + "attempts": [ + { + "rank": 0, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.017618491886683237), np.float64(0.07141761518669028)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03475016441722252), np.float64(0.1424926608257608)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011054364924360495), np.float64(0.04784364105866031)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0023255588203305675), np.float64(0.009752892007089583)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.002236369532251541), np.float64(0.009380565681259013)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3017303403083421), np.float64(1.2892175610342753)]}]\")" + }, + { + "rank": 1, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01761849188668329), np.float64(0.07141761518668875)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03475016441724659), np.float64(0.14249266082561526)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011054364924358717), np.float64(0.04784364105867115)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.002325558820330584), np.float64(0.009752892007089517)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.0022363695322513344), np.float64(0.009380565681259001)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.30173034030834256), np.float64(1.2892175610342735)]}]\")" + }, + { + "rank": 2, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.017618491886684042), np.float64(0.07141761518668481)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03475016441724168), np.float64(0.14249266082564466)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011054364924358932), np.float64(0.047843641058670366)]}, {'candidate': 1, 'stage': 'path', 'frame': 82, 'error': [np.float64(0.0023255588203305562), np.float64(0.009752892007089231)]}, {'candidate': 1, 'stage': 'path', 'frame': 57, 'error': [np.float64(0.002236369532251446), np.float64(0.009380565681259228)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.30173034030834156), np.float64(1.2892175610342795)]}]\")" + }, + { + "rank": 3, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.047589809415795284), np.float64(0.19617098356681353)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.032697888854482896), np.float64(0.12902568245473642)]}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 22, 'opening_samples': 121, 'retreat_samples': 113, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 21, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12'}}}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020333402028689506), np.float64(0.008967094223822173)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0022616373708511843), np.float64(0.009971440078008174)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2158207271871928), np.float64(1.029221586717227)]}]\")" + }, + { + "rank": 4, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0533681953155287), np.float64(0.23453944274686506)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04319518465949086), np.float64(0.18366112667190887)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.010792768438229586), np.float64(0.047221917125702485)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247493), np.float64(0.01097530594832706)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.00209099538378409), np.float64(0.009434139830786465)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.28651248602774876), np.float64(1.2923031929769786)]}]\")" + }, + { + "rank": 5, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626558422), np.float64(0.20870959723677404)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.044201649043334464), np.float64(0.19770029894534483)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01518961830179473), np.float64(0.06838812959432117)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020351593960479465), np.float64(0.0090357634320235)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0034108686162201496), np.float64(0.01515846515264597)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499587)]}]\")" + }, + { + "rank": 6, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02874396121275262), np.float64(0.12613039299793533)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03930128907789553), np.float64(0.16747440426672303)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.013533030670829014), np.float64(0.05932802201576888)]}, {'candidate': 1, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.002516163666750592), np.float64(0.01127739900337676)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0027833830605258), np.float64(0.012473207592557461)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.29330374476134413), np.float64(1.3216128597654104)]}]\")" + }, + { + "rank": 7, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022593969272596146), np.float64(0.09331449919231648)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.028966080509389504), np.float64(0.11466445739226462)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020139431605506086), np.float64(0.008415346384513722)]}, {'candidate': 1, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.002191164905662414), np.float64(0.009401997312144063)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.002520039064342413), np.float64(0.010807230001193619)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.21881820537891758), np.float64(1.0549883539103522)]}]\")" + }, + { + "rank": 8, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02083527520826972), np.float64(0.09401612277302722)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.038162765185455874), np.float64(0.1707612622004108)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01586536823259778), np.float64(0.07147579871650397)]}, {'candidate': 1, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472101610720687), np.float64(0.01112619495726103)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0021832591782111684), np.float64(0.009825429011278785)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.36400840838818793), np.float64(1.6180100646702038)]}]\")" + }, + { + "rank": 9, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758980941578667), np.float64(0.19617098356686538)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03269788885444728), np.float64(0.1290256824549614)]}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 22, 'opening_samples': 121, 'retreat_samples': 113, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 21, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.002033340202869007), np.float64(0.008967094223821942)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0022616373708514164), np.float64(0.00997144007800776)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.21582072718719297), np.float64(1.0292215867172272)]}]\")" + }, + { + "rank": 10, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.05336819531552926), np.float64(0.23453944274686042)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04319518465945743), np.float64(0.1836611266721056)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.010792768438224765), np.float64(0.04722191712573049)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247293), np.float64(0.01097530594832666)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.0020909953837840627), np.float64(0.00943413983078658)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.28651248602774854), np.float64(1.2923031929769782)]}]\")" + }, + { + "rank": 11, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626543079), np.float64(0.2087095972376245)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.044201649043334026), np.float64(0.197700298945348)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01518961830179607), np.float64(0.06838812959431316)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.002035159396047999), np.float64(0.009035763432023607)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.003410868616220067), np.float64(0.015158465152645958)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499587)]}]\")" + }, + { + "rank": 12, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04758980941579604), np.float64(0.1961709835668098)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03269788885451678), np.float64(0.1290256824545207)]}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 22, 'opening_samples': 121, 'retreat_samples': 113, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 21, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0020333402028689706), np.float64(0.008967094223822256)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.002261637370851228), np.float64(0.009971440078008134)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2158207271871928), np.float64(1.0292215867172259)]}]\")" + }, + { + "rank": 13, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.05336819531552955), np.float64(0.23453944274685978)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0431951846595598), np.float64(0.18366112667150425)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01079276843822467), np.float64(0.04722191712573217)]}, {'candidate': 1, 'stage': 'path', 'frame': 45, 'error': [np.float64(0.0024326470263247167), np.float64(0.010975305948326769)]}, {'candidate': 1, 'stage': 'path', 'frame': 37, 'error': [np.float64(0.002090995383784213), np.float64(0.009434139830786803)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2865124860277487), np.float64(1.2923031929769782)]}]\")" + }, + { + "rank": 14, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04626086626614329), np.float64(0.20870959723367713)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.04420164904332223), np.float64(0.19770029894541274)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.015189618301793278), np.float64(0.06838812959432898)]}, {'candidate': 1, 'stage': 'path', 'frame': 49, 'error': [np.float64(0.0020351593960479765), np.float64(0.009035763432023555)]}, {'candidate': 1, 'stage': 'path', 'frame': 41, 'error': [np.float64(0.0034108686162201644), np.float64(0.015158465152645894)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3584528651296704), np.float64(1.5837790583499594)]}]\")" + }, + { + "rank": 15, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846056717), np.float64(0.10755233588665417)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.034210015799924845), np.float64(0.14459911427730146)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.008858944351090348), np.float64(0.038240482720119935)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996766923), np.float64(0.012040066520459192)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0020381882041811293), np.float64(0.009185533112769787)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167781), np.float64(1.132977774784135)]}]\")" + }, + { + "rank": 16, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02468833668385554), np.float64(0.11121397807869503)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03911960110021238), np.float64(0.17397998022104327)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.015668430214192813), np.float64(0.07013862639090868)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025597733063568904), np.float64(0.011432786586855077)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0026552724052150874), np.float64(0.011860156387361695)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918645), np.float64(1.4280814260953951)]}]\")" + }, + { + "rank": 17, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.011762231585629494), np.float64(0.05043970038634198)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.033455740750392184), np.float64(0.15061984076406193)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.013466592427015714), np.float64(0.060544700211046854)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.05197063276358889), np.float64(0.23429571827320322)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435518868), np.float64(0.011414409968150506)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.39443181268043703), np.float64(1.6988922318938622)]}]\")" + }, + { + "rank": 18, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.028743961212761255), np.float64(0.12613039299788584)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03930128907783906), np.float64(0.1674744042670538)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.013533030670828512), np.float64(0.05932802201577189)]}, {'candidate': 1, 'stage': 'path', 'frame': 64, 'error': [np.float64(0.0025161636667505463), np.float64(0.011277399003376206)]}, {'candidate': 1, 'stage': 'path', 'frame': 50, 'error': [np.float64(0.0027833830605258), np.float64(0.01247320759255753)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.29330374476134435), np.float64(1.32161285976541)]}]\")" + }, + { + "rank": 19, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.022593969272597818), np.float64(0.09331449919230629)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.02896608050940415), np.float64(0.11466445739217229)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0020139431605506928), np.float64(0.008415346384513375)]}, {'candidate': 1, 'stage': 'path', 'frame': 72, 'error': [np.float64(0.00219116490566247), np.float64(0.009401997312144384)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0025200390643423574), np.float64(0.01080723000119359)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2188182053788708), np.float64(1.054988353910591)]}]\")" + }, + { + "rank": 20, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0208352752082734), np.float64(0.09401612277300724)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03816276518544323), np.float64(0.17076126220048213)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01586536823259997), np.float64(0.07147579871649332)]}, {'candidate': 1, 'stage': 'path', 'frame': 73, 'error': [np.float64(0.002472101610720884), np.float64(0.011126194957260723)]}, {'candidate': 1, 'stage': 'path', 'frame': 54, 'error': [np.float64(0.0021832591782111003), np.float64(0.009825429011279339)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3640084083881884), np.float64(1.6180100646702038)]}]\")" + }, + { + "rank": 21, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.023886759998925353), np.float64(0.10627040947266411)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.0077748064106664145), np.float64(0.034832616428435645)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.03937316971448513), np.float64(0.1734574270418008)]}, {'candidate': 1, 'stage': 'path', 'frame': 83, 'error': [np.float64(0.002241164309087622), np.float64(0.010113249139964208)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3166811582798262), np.float64(1.4267937038217129)]}]\")" + }, + { + "rank": 22, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 235, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.019001865194662692), np.float64(0.0805281930098772)]}, {'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 26, 'opening_samples': 121, 'retreat_samples': 250, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 25, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11'}}}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.0360019506065795), np.float64(0.14880739098606988)]}, {'candidate': 1, 'stage': 'path', 'frame': 85, 'error': [np.float64(0.002085665985366761), np.float64(0.009231635984392143)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2559425966220991), np.float64(1.2459159106607802)]}]\")" + }, + { + "rank": 23, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846057817), np.float64(0.1075523358866475)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03421001579993381), np.float64(0.14459911427724856)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.008858944351090662), np.float64(0.03824048272011735)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996767253), np.float64(0.012040066520459313)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.002038188204181139), np.float64(0.00918553311277006)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167786), np.float64(1.1329777747841354)]}]\")" + }, + { + "rank": 24, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688336683838616), np.float64(0.11121397807878873)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03911960110018783), np.float64(0.17397998022118202)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.015668430214173443), np.float64(0.07013862639101659)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.002559773306357068), np.float64(0.011432786586855108)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.00265527240521507), np.float64(0.011860156387362238)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918649), np.float64(1.4280814260953947)]}]\")" + }, + { + "rank": 25, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01176223158556136), np.float64(0.050439700386737875)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03345574075038161), np.float64(0.15061984076412036)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.013466592427018026), np.float64(0.060544700211034946)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.05197063276714912), np.float64(0.23429571825346054)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435518065), np.float64(0.011414409968149688)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3944318126804368), np.float64(1.6988922318938628)]}]\")" + }, + { + "rank": 26, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024102064846057494), np.float64(0.10755233588664975)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03421001579993892), np.float64(0.14459911427721794)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.008858944351090692), np.float64(0.038240482720116264)]}, {'candidate': 1, 'stage': 'path', 'frame': 69, 'error': [np.float64(0.0026719979996765444), np.float64(0.012040066520459714)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.0020381882041809254), np.float64(0.009185533112770098)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.2539383681167784), np.float64(1.1329777747841356)]}]\")" + }, + { + "rank": 27, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.024688336683845374), np.float64(0.11121397807875207)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.039119601100191796), np.float64(0.17397998022115976)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.015668430214198347), np.float64(0.07013862639087882)]}, {'candidate': 1, 'stage': 'path', 'frame': 68, 'error': [np.float64(0.0025597733063572074), np.float64(0.011432786586854895)]}, {'candidate': 1, 'stage': 'path', 'frame': 52, 'error': [np.float64(0.002655272405215264), np.float64(0.011860156387362111)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3174647724918647), np.float64(1.428081426095395)]}]\")" + }, + { + "rank": 28, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.01176223158543395), np.float64(0.05043970038748164)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.03345574075041155), np.float64(0.1506198407639542)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.013466592427016012), np.float64(0.060544700211045695)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.051970632794056386), np.float64(0.2342957181042587)]}, {'candidate': 1, 'stage': 'path', 'frame': 61, 'error': [np.float64(0.0026888419435519575), np.float64(0.011414409968150364)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3944318126804372), np.float64(1.6988922318938613)]}]\")" + }, + { + "rank": 29, + "stage": "placement", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'open_gripper_release_or_retreat_world', 'detail': {'status': 'BLOCKED', 'samples_checked': 18, 'opening_samples': 121, 'retreat_samples': 229, 'detail': {'kind': 'released_world', 'phase': 'opening', 'sample': 17, 'robot': '/World/Robot/gripper_l_outer_link4', 'obstacle': '/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09'}}}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.023886759998800928), np.float64(0.10627040947336337)]}, {'candidate': 0, 'stage': 'retreat', 'error': [np.float64(0.007774806410665582), np.float64(0.034832616428440225)]}, {'candidate': 1, 'stage': 'retreat', 'error': [np.float64(0.03937316971448144), np.float64(0.17345742704182202)]}, {'candidate': 1, 'stage': 'path', 'frame': 83, 'error': [np.float64(0.0022411643090878373), np.float64(0.010113249139963773)]}, {'candidate': 2, 'stage': 'landing', 'error': [np.float64(0.3166811582798266), np.float64(1.4267937038217124)]}]\")" + } + ], + "native_validation_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CHECKPOINT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CHECKPOINT.json new file mode 100644 index 0000000000000000000000000000000000000000..b9789e244ae5294a34f7f21681239af7e7d38003 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CHECKPOINT.json @@ -0,0 +1,14 @@ +{ + "schema": "ziche.multi_checkpoint.v1", + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_index": 3, + "control_ticks": 44221, + "recording": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz", + "continuous_process": true, + "time": 1791335134.0322297 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CODE_HASHES.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CODE_HASHES.json new file mode 100644 index 0000000000000000000000000000000000000000..98982f44eaa776e251bc50d595732b936d7258b1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CODE_HASHES.json @@ -0,0 +1,90 @@ +{ + "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff", + "native_planner.py": "562f946a39177b42ff98b3ba47a0f725267769e402c0d992e1bde5df5836f675", + "multi_motion.py": "b0f1093dc50739811d33187670d2cdd5a9ea9001cad221e52dbda513427a5dfe", + "probe_case4_item1_live_place.py": "7a8e9980ef37969c0e502baa3eb9a5cd2789eef174a3e561a45dea7d5db9f90a", + "apply_exact_landing_overlay.py": "36ae34e65583032b411ca4a7a61bc1281ffaa2f45ba6c91b871d171f70e8ad67", + "qualify_case_inputs.py": "bbb5e5eab018dfb9e5c2d5a8c89f4c0a4ff5d0ac43215b600c7bb8d89286975d", + "diagnose_case4_live_grasp.py": "c0f7157fbe78121a1fcc95a627a5f89f7655bd381e2d635080df77f7c61db763", + "probe_release_sweep_left_regression.py": "95558bbae57ba2976909972320a5beaef1be5fb2e70070ad36c5de777f35381a", + "repair_place_station.py": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "carry_transition.py": "380bad20ab6c26cdfaf6a6a82ac456935a8b5e1f4ab2ab399d4e32bada5a8572", + "record_manual_review.py": "46e2c6c4372824648189e1af0300e714350c2ae28f3390028847c94ad068f401", + "diagnose_case2_oreo_pick.py": "182b1634dde531d53dd1c3f1a33fed644297ebb2686a594dd99f6ac6b65fe617", + "validate_case.py": "7ef7c16cf98f5418a20fc89e27adeb56bf1e9985a520a2b3dd7c8d8b59c59605", + "probe_case6_item2_arrival_release.py": "4f414e0ed90bf7498ed34ae4ff378bffa2400fe62d112e07c6f3cd94328be18e", + "diagnose_pick_base_registration.py": "b1436408930afb20954017db8c8436d775155dc68abb2a1aad5afa0a569d99b4", + "probe_live_place_safe.py": "5498161cb9e022ab647e99d577ef0561d078817f57f3563546de66dd9398bec0", + "probe_case5_item1_targeted_live_place.py": "0b4940335ffda25f37b5634beecf3f43c7fa22bd03fbfadbaa31f5f19390dc5e", + "probe_case2_last_slot.py": "ed9ff708062156e75e6c17f1579d16011c7ac4566e40372d7865ae4147d8e57a", + "probe_case4_item1_fresh_live_place.py": "9f1a5e3ca63d54db29b3130ffb0f4e793d896333b7277b04b46bc92cdfc6b451", + "run_episode.py": "ae1d866559e1f41fbeadb8e3a63abea70df9b9d6666356289888d7a459fefe2f", + "probe_case8_item1_live_place.py": "5af389bd73d42b452d84d11cd7ad396cd4fc76507782b2e85d9cc23f64494f75", + "probe_live_place.py": "d01f57f56c3f732bf302e60b69d844e69b975a3bc4a7f4a7953a72f50feb3ed8", + "probe_exact_chain_landing.py": "7294082f7da4c3f3e74fb9ccef32034c73388539c45cf4603517c1d6d8097759", + "build_exact_source_proposals.py": "af6da4740d3c06af806a689d66669d9a4a712228aa537daa94d64d173e09c01c", + "probe_release_sweep_negative.py": "354d42e3b5c6596c9a462365df81241fb7adc0097f04c8ff56d5e0930a9557b8", + "qualify_return_head.py": "3611cf3b702143bebe39ab0fc5ad2ab4e3550c4d82d6a47ab783c0e0e9bc84f3", + "probe_case9_item2_live_egress.py": "149459f6d701cf402b82539c626de9a826a408c90989eb55c8e3feac2cf103cc", + "geometry_transfer.py": "fe6c37c016b64e578b1e2f751f419807f9f6720f77403712570b344dd922d577", + "prepare_multi.py": "cb42bd78f591e57b2ca0a4502d4054fe3f65566c68a4e9bc371539bc6bd5d0a2", + "launch.py": "9bc65e80e64eee4fecf8481f095e4eea52f6a917f12facd9a203ad0ea5fb44de", + "qualify_case3_fresh_placements.py": "773efa171ea15b66a7759c46b9b3639baf85eb08a4e7a1fcf9f62dc467a45138", + "validate_export.py": "b03cc4ac464a74acfacd89394a7d8cefb4b160782b91182c55999e3d3c2cca7f", + "probe_case2_item1_fresh_live_place.py": "ff6615a4234008f075b1ca874f294be0906fb6c7ccc3f97e513e6d037fb081b6", + "qualify_case9_without_oreo.py": "8e8c97506c4d3610b5cad4c241bc3ef585bac84de6a19aecebfcd9ada2ec5aa7", + "diagnose_case5_item1_compact_grasp.py": "4410e3d07cb2c2291bd371da23631583cec6d97b7b4ac32eee26ba39916d8e2a", + "return_head_policy.py": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f", + "official_lerobot_reader_qa.py": "8d529dc19bd1587f76d93e63b014bd9fee597a50ffddf2e54d03ad89a3608c2a", + "probe_case5_item2_arrival_release.py": "3d1fb48e54c248feb584629ff6898c55316294743d22ebe6a89d21126d162324", + "probe_case3_item2_carry_boundary.py": "89223e222780d5336712604e3ad41977ab5366fb772cef28f219f0fc4051b51a", + "grasp_stability.py": "a47e2559f1899dd84f2679dd10d7922beb5d381fda42666d7479ef9f38d4a51b", + "task_collision_scope.py": "cc9f3e5498ebcdf5185af62dc72e87bdbdd85c65143d854fc3d735c6420caec8", + "diagnose_case5_compact_grasp.py": "dc4602fa0759c9c604e8b6692bbae5c97b4c4bff26ec3f8593c7efa3a90d6552", + "audit_return_head.py": "c7a8552f95ea790dd7824563c4c7ea8b7a09980641f67010f419cce83e0b3bc8", + "qualify_case3_minimal_distractors.py": "406d82869168253c65ff1ebc682f5c198e88a13635411e79dbec830b7197f85c", + "probe_zbar_rebased_pick.py": "0afb6483badecde3cfcad633d2b0161929a3baaf08dc19ca5559abead7d6c715", + "navigation.py": "107ca4a501340211efb5b2bb8d92375b519b8f35176912bd5878a1a20885ccc3", + "probe_slots.py": "5b6697ea570d7ac3ad86168639876c8856bcfa2ac8651b4ecf4a99be815511ed", + "preroll_stability.py": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf", + "validate_staged.py": "ca8cecba4e155d1e711943bdeb653dc68e0a04f52a3157795c1290c2291b25c7", + "probe_case2_command_endpoints.py": "092294c7f424ab9bde6b71a32ff54e2f90dc0b62f9b42612364b3e1a759a1df5", + "qualify_case3_without_cayman.py": "c007d64a71ee14abf72b126fd87a98a3f4f0fef78d0af075b6c7bf71933fde22", + "multi_validation.py": "bf0e7036ae5f3a3fe73d605f19b3c59ed3ff512b125f765b586b7a1a99fec210", + "runtime_evidence.py": "69812e7475bce68d9634423e0569a4f3cf87b303441e97a02cc1dbb5924250de", + "qualify_precision_turn_floor.py": "8327540ae908a39be9244b6e48253544efc3afbe6619ffe4b9e5994a36025626", + "placement.py": "1896d3aea77c58846489de94725386301b3e317ca3ff52830cf9d6dcd6b79746", + "prepare_stable_inputs.py": "13db9598c73ce447624c3e41a3226c1023027108bf29c7a1435d6a64e5ba91ca", + "probe_case2_item1_arrival_release.py": "2a5e42b6e20363281a7b5c6557f7fc0aac668894f30cd28d14fbe32f999f0f4d", + "probe_case9_item2_future_place.py": "0490fb7592a5962b9f268cb5944478ac8643eedfcf9e07be20791f72332791d8", + "test_multi_validation.py": "96571d1565bfc92ed1655e4e56491b0c65388db56abd72523f799c9bf0ddb164", + "release_sweep.py": "7013d7dad44cd733a618bb6ef6eceeb0e95b886bcb8c8edad1a91c1d42964806", + "probe_case5_item1_fresh_live_place.py": "2ee7d69c5034d23cf8f6ec45bc9edbd2b8f7685d81a8cbf95c31b452834ce7a4", + "probe_case2_item1_arrival_release_one_tmp.py": "7dfb2062bfc27eb536e807ad09e01ea96ad63430c9cc52f5389b366409f4c4f6", + "tray_appearance.py": "4de2cbd2bd78f5688e99ae22acb45216f9a8ad5ef124fabf41a98f205fee61f6", + "probe_case3_item1_live_place.py": "3d21440204fafe323b2c27f867922a2c02b2947aa80e07d666a7c27115014c12", + "supervise.py": "c7a588970648ac130e632d7b616ccea3504993a687433e8e85d91c7a77fe1647", + "probe_live_place_fast.py": "c6b38cd7b8b252ed16abf92c26df102fa46f4d5e1e66d46eee7761d94ee02522", + "startup_validation.py": "d20eddaece8e301a8983f6cda7dbd31adcdadd53901062ab09e9779fb912934a", + "probe_case3_item1_fresh_live_place.py": "a0cd6d16b59a27462aeb98a291513460d06956189f689b23e1396bc082c37408", + "test_startup_validation.py": "262a292fc8f9359105025aa258ad2c7d9075509c0c294e93cfce751782856afe", + "probe_release_sweep_regression.py": "e70238e00f811101c5430b58bda53b1d7b28e4c1c942411d247d5d0c00f11788", + "audit_views.py": "9dea197767c6b896d62eb2ac9246eee882337cbec946a0e44b46654fa000beed", + "test_return_head_policy.py": "af732791d2be891c38b7cea96857a452e74f0f87e700545edb48096d2fc4f7c6", + "collision_inventory.py": "7dc50a06b547b71999a6adc13d731af4f29e6cba46f5088e4f3c6c8dbda32a46", + "probe_current_live_place.py": "10f392d5d2b01771fab96fe695a84dfe31d19d0ee3676d67c5ed267a18fe6a5e", + "probe_case9_item1_live_place.py": "e359d69596eaeea9ea837dbca87972ae852b72632a4fd8a467dd8dabcb82e8c2", + "motion_limits.py": "db055c334f95020c01b5e4cbe68860853d04691f1b33ebc1d759cfc5b87404f0", + "qualify_precision_return.py": "2d3229cacce767097c8af3275b63546141e1dd92d481117e32f128f041bf1867", + "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4", + "diagnose_case1_zbar_pick.py": "70b4d7a0905f050abe31c26e17b8faa4d1b331df8ce443e1a2808780afe42d9e", + "probe_case5_item1_direct_old_slot.py": "b3b7a78e3d7705f1c6d77c77bd671b180763df977b0ff2830734be54960308b5", + "diagnose_case9_item2_pick.py": "eeddee8e6ff3ba1c868289a47f21350a4eef621d7fd812dbf84e30fdcd3299d7", + "dashboard.py": "1345cb629bc0e945193078cee5dcb1048b31b20ca6e339cf7aded914ea5a7e10", + "probe_case7_item1_fresh_live_place.py": "1c9672942142bd1f4859b02740f37ab6f78b025600eae08093f2eb5390924d2d", + "probe_station_slots.py": "0917341f3d67a507306091f9d6ac0e9ca0ed518aa74b1e9ba2ecb99a23149153", + "probe_case6_item1_live_place.py": "a7bab0f72b26daf9516c65667d1c42579fb04e85655fdd4aeaf4e25aa683ed05", + "test_carry_target_robot_regression.py": "c019643d390dd1468a6800f04be78c8cb8127895614fc7b07f701db5fa18ecc2", + "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b", + "probe_precision_return_controller.py": "0e50b35cd6ed4a865d4eb97d33a74bec0d4ff42ab26d7baa80094336048d6b08" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/COMMAND.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/COMMAND.json new file mode 100644 index 0000000000000000000000000000000000000000..e1fd993b48ad75319f1fd3926be61975fe86c135 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/COMMAND.json @@ -0,0 +1,20 @@ +[ + "docker", + "exec", + "--user", + "0:0", + "-e", + "CHAIN_PROJECT_ROOT=/mnt/agent-bench-data/lingjun/ziche", + "-e", + "CHAIN_RENDER=1", + "-e", + "OMP_NUM_THREADS=2", + "-e", + "OPENBLAS_NUM_THREADS=1", + "-e", + "MKL_NUM_THREADS=1", + "ziche_shelf_chain50_gpu0", + "/isaac-sim/python.sh", + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/run_episode.py", + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03" +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE.json new file mode 100644 index 0000000000000000000000000000000000000000..863687b9bbee17f8408517aa71b3afc4ed64e0c8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE.json @@ -0,0 +1,15 @@ +{ + "schema": "ziche.contact_capture.v1", + "requested_targets": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "filter_semantics": "robot_or_any_requested_target", + "all_physics_ticks": true, + "control_ticks": 44221, + "dropped_rows": 0, + "callback_rows": 3919350, + "stream": "contacts.jsonl.gz" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..dea0fe330564b768456acaca961c1e3c756fbf60 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json @@ -0,0 +1,27 @@ +{ + "passed": true, + "receipt": { + "schema": "ziche.contact_capture.v1", + "requested_targets": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "filter_semantics": "robot_or_any_requested_target", + "all_physics_ticks": true, + "control_ticks": 44221, + "dropped_rows": 0, + "callback_rows": 3919350, + "stream": "contacts.jsonl.gz" + }, + "contact_rows": 3919350, + "targets_with_recorded_contacts": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/Tier2Items/zbar_t" + ], + "invalid_tick_rows": [], + "active_item_identity_mismatch_rows": [] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json new file mode 100644 index 0000000000000000000000000000000000000000..ef4a373003756c5687bc53c26ce26385baf5bbe8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json @@ -0,0 +1,11 @@ +{ + "physics_complete": true, + "task_passed": true, + "task_failures": [], + "head_passed": true, + "videos_passed": true, + "training_frames": 14740, + "accepted": false, + "scope": "Native task/stable-start/no-fall/head/three-view decode and visual panels; all-tick geometry is separate", + "updated": 1791336963.9960306 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..ae584db1c6cd780dc7c9b5a006144a577806c72d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json @@ -0,0 +1,487 @@ +{ + "schema": "ziche.multi_item.grasp_retention_audit.v1", + "passed": true, + "semantics": "distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 91, + 1677 + ], + "window_control_ticks": 30, + "window_start_tick": 1648, + "window_end_tick": 1677, + "inner_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "outer_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 1675, + 1676, + 1677 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "shelf_pick_tick_range": [ + 10457, + 12028 + ], + "window_control_ticks": 30, + "window_start_tick": 11999, + "window_end_tick": 12028, + "inner_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "outer_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 12026, + 12027, + 12028 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "shelf_pick_tick_range": [ + 21278, + 22933 + ], + "window_control_ticks": 30, + "window_start_tick": 22904, + "window_end_tick": 22933, + "inner_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "outer_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 22931, + 22932, + 22933 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 35482, + 37044 + ], + "window_control_ticks": 30, + "window_start_tick": 37015, + "window_end_tick": 37044, + "inner_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "outer_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 37042, + 37043, + 37044 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + } + ] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc4a6b66feac3a356ca7eff70c0bdec77826a2d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json @@ -0,0 +1,124 @@ +{ + "passed": true, + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "hand": "l", + "passed": true, + "native_hz": 60, + "navigation_samples": 2605, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 1678, + "last_source_control_tick": 4282, + "samples": 2605 + } + ], + "first_source_control_tick": 1678, + "last_source_control_tick": 4282, + "maximum_object_in_hand_translation_drift_m": 0.00014587160309907743, + "maximum_hand_highpass_residual_m": 5.364884508420958e-05, + "maximum_hand_highpass_angular_residual_rad": 2.397782255212594e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 5.2020934537531555e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "hand": "r", + "passed": true, + "native_hz": 60, + "navigation_samples": 2746, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 12029, + "last_source_control_tick": 14774, + "samples": 2746 + } + ], + "first_source_control_tick": 12029, + "last_source_control_tick": 14774, + "maximum_object_in_hand_translation_drift_m": 0.00019151236630009124, + "maximum_hand_highpass_residual_m": 2.356881324497286e-05, + "maximum_hand_highpass_angular_residual_rad": 2.5954980353101195e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 2.095194437619065e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "hand": "r", + "passed": true, + "native_hz": 60, + "navigation_samples": 4947, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 22934, + "last_source_control_tick": 25719, + "samples": 2786 + }, + { + "first_source_control_tick": 26331, + "last_source_control_tick": 28491, + "samples": 2161 + } + ], + "first_source_control_tick": 22934, + "last_source_control_tick": 28491, + "maximum_object_in_hand_translation_drift_m": 0.00027397874329537823, + "maximum_hand_highpass_residual_m": 5.374654324944483e-05, + "maximum_hand_highpass_angular_residual_rad": 6.897928689117879e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 4.8835565034516696e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "hand": "l", + "passed": true, + "native_hz": 60, + "navigation_samples": 4728, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 37045, + "last_source_control_tick": 39791, + "samples": 2747 + }, + { + "first_source_control_tick": 40403, + "last_source_control_tick": 42383, + "samples": 1981 + } + ], + "first_source_control_tick": 37045, + "last_source_control_tick": 42383, + "maximum_object_in_hand_translation_drift_m": 0.0002076081671651443, + "maximum_hand_highpass_residual_m": 2.4284026857873303e-05, + "maximum_hand_highpass_angular_residual_rad": 7.494343301619779e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 2.3270764053587027e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + } + ], + "semantics": "Measured hand pose relative to moving base and each active target pose relative to its assigned hand; slip retains one reference across the full item carry; high-pass filters reset only at gaps in source control ticks. All thresholds are unchanged." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f30c69baba69a6df7b71a29e00d6bf2ad15448 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json @@ -0,0 +1,15 @@ +{ + "passed": true, + "physics_samples": 38, + "maxima": { + "translation_m": 0.0005652944732806084, + "downward_m": 0.0005652904510498047, + "rotation_rad": 0.005009102367467907 + }, + "thresholds": { + "translation_m": 0.02, + "downward_m": 0.01, + "rotation_deg": 15.0 + }, + "all_requested_and_nonrequested_props_included": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INPUT_QUALIFICATION.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INPUT_QUALIFICATION.json new file mode 100644 index 0000000000000000000000000000000000000000..2d18166c320708e346d987b7b4469e0cd13deafc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/INPUT_QUALIFICATION.json @@ -0,0 +1,83 @@ +{ + "schema": "shelf_to_table_multi10.fresh_input_qualification.v1", + "case_id": 3, + "passed": true, + "native_physics_still_required": true, + "checks": { + "fresh_no_rollout": true, + "empty_initial_tray": true, + "item_count_3_or_4": true, + "unique_targets": true, + "all_targets_active": true, + "all_paths_new_root": true, + "controls_valid": true, + "slot_floor_containment": true, + "slot_pair_gap_12mm": true, + "qualified_distractors_inactive": true + }, + "controls": [ + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_01.npz", + "sha256": "1c776c29760f2ecfbfa417a5d20a890757b4a78e2881d39b5376fab40f5ba781", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_02.npz", + "sha256": "2b48a5bd8c7ef0bc62539e2bf1e41291fe757cd2e2ae2d174d0401dbedc1fc4e", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_03.npz", + "sha256": "77651bb5ad3b0d2593189b0eed82e7ce4e3d1aa0bf4cfdef21060d16451f2875", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_04.npz", + "sha256": "968dbaab21f3d74c8178dd7afd15b9b98e7c3940739f08a5e85fd790e7e2e947", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + } + ], + "special_evidence": { + "inactive": [ + "cayman_jacked", + "oreo_gf", + "skit_littles", + "oreo_gf_copy_01", + "coke_c3_copy_01", + "pring_bbq" + ], + "source_pick_qualification": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005/attempts/layout_03/attempt_001/CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json" + }, + "job_sha256": "7481262dd83969c2f6a18ae9e2ff0ba4e4f20cb016a1ac939b6a050d1d624a11", + "scene_sha256": "08a36e60a439697b619a40b43caaae9ecdf8677809a7e762a2a65fcc0d4a2872", + "scene_physical_sha256": "9ae32ec169a2d74cd9aca9de8935fa19ecd6372f7062eb65fb5579b09360d208", + "collision_profile_sha256": "343706e3d648ed39bfcea9bf0b77f2a7960138f08c61036be6439eb2847fb891" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ITEM_EVENTS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ITEM_EVENTS.json new file mode 100644 index 0000000000000000000000000000000000000000..5eaec7e95afaa48546154873dc8859e86d8d5cf0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ITEM_EVENTS.json @@ -0,0 +1,461 @@ +{ + "schema": "ziche.multi_item_events.v1", + "requested_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "events": [ + { + "event": "item_started", + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 31, + "pose": [ + -2.6978633403778076, + 2.215315103530884, + 1.1825003623962402, + -3.0209503165679052e-06, + 1.9991268345620483e-05, + -0.09467481821775436, + 0.9955083131790161 + ] + }, + { + "event": "item_supported", + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 6107, + "metrics": { + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 6107, + "pose": [ + -1.747483491897583, + 0.1647576093673706, + 0.45490238070487976, + 1.4687587281514425e-05, + 2.1794578060507774e-05, + -0.7629022002220154, + -0.6465140581130981 + ], + "inside_tray": true, + "drift_last_second_m": 1.6785481875558617e-06, + "linear_speed_m_s": 1.5229302835766664e-07, + "angular_speed_rad_s": 2.291105304962754e-05, + "hand_clearance_m": 0.33178189396858215, + "tray_support_contact_ticks": [ + 6103, + 6103, + 6103, + 6103, + 6104, + 6104, + 6104, + 6104, + 6105, + 6105, + 6105, + 6105, + 6106, + 6106, + 6106, + 6106, + 6107, + 6107, + 6107, + 6107 + ], + "support_contact_observed": true + } + }, + { + "event": "item_completed", + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 10396, + "support": { + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 6107, + "pose": [ + -1.747483491897583, + 0.1647576093673706, + 0.45490238070487976, + 1.4687587281514425e-05, + 2.1794578060507774e-05, + -0.7629022002220154, + -0.6465140581130981 + ], + "inside_tray": true, + "drift_last_second_m": 1.6785481875558617e-06, + "linear_speed_m_s": 1.5229302835766664e-07, + "angular_speed_rad_s": 2.291105304962754e-05, + "hand_clearance_m": 0.33178189396858215, + "tray_support_contact_ticks": [ + 6103, + 6103, + 6103, + 6103, + 6104, + 6104, + 6104, + 6104, + 6105, + 6105, + 6105, + 6105, + 6106, + 6106, + 6106, + 6106, + 6107, + 6107, + 6107, + 6107 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.0003220564581620363, + "return_yaw_error_rad": 8.854852158513005e-05 + }, + { + "event": "item_started", + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 10397, + "pose": [ + -2.2530148029327393, + 2.2207834720611572, + 0.7510004043579102, + 2.230517566204071e-07, + -2.4783730623312294e-09, + -0.5188618302345276, + 0.8548582196235657 + ] + }, + { + "event": "item_supported", + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 16642, + "metrics": { + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 16642, + "pose": [ + -1.8401546478271484, + 0.2244090735912323, + 0.4549020528793335, + 1.7997808754444122e-07, + -1.1257725418545306e-07, + -0.989604651927948, + -0.143814817070961 + ], + "inside_tray": true, + "drift_last_second_m": 0.0, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 3.5191797974824044e-09, + "hand_clearance_m": 0.3410860002040863, + "tray_support_contact_ticks": [ + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642 + ], + "support_contact_observed": true + } + }, + { + "event": "item_completed", + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 21217, + "support": { + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 16642, + "pose": [ + -1.8401546478271484, + 0.2244090735912323, + 0.4549020528793335, + 1.7997808754444122e-07, + -1.1257725418545306e-07, + -0.989604651927948, + -0.143814817070961 + ], + "inside_tray": true, + "drift_last_second_m": 0.0, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 3.5191797974824044e-09, + "hand_clearance_m": 0.3410860002040863, + "tray_support_contact_ticks": [ + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.00032368059743784016, + "return_yaw_error_rad": 9.004265524636956e-05 + }, + { + "event": "item_started", + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 21218, + "pose": [ + -2.033403158187866, + 2.213393449783325, + 1.1825003623962402, + -9.777229479368543e-07, + 8.500102012476418e-06, + -0.40410616993904114, + 0.914712131023407 + ] + }, + { + "event": "item_supported", + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 30291, + "metrics": { + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 30291, + "pose": [ + -1.6366561651229858, + 0.21036668121814728, + 0.45490214228630066, + 1.1801057553384453e-06, + -3.426952162044472e-06, + -0.9998365640640259, + -0.01808643527328968 + ], + "inside_tray": true, + "drift_last_second_m": 9.63518800745078e-07, + "linear_speed_m_s": 4.933694673142736e-07, + "angular_speed_rad_s": 6.568288077112298e-06, + "hand_clearance_m": 0.34604814648628235, + "tray_support_contact_ticks": [ + 30287, + 30287, + 30287, + 30287, + 30288, + 30288, + 30288, + 30288, + 30289, + 30289, + 30289, + 30289, + 30290, + 30290, + 30290, + 30290, + 30291, + 30291, + 30291, + 30291 + ], + "support_contact_observed": true + } + }, + { + "event": "item_completed", + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 35421, + "support": { + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 30291, + "pose": [ + -1.6366561651229858, + 0.21036668121814728, + 0.45490214228630066, + 1.1801057553384453e-06, + -3.426952162044472e-06, + -0.9998365640640259, + -0.01808643527328968 + ], + "inside_tray": true, + "drift_last_second_m": 9.63518800745078e-07, + "linear_speed_m_s": 4.933694673142736e-07, + "angular_speed_rad_s": 6.568288077112298e-06, + "hand_clearance_m": 0.34604814648628235, + "tray_support_contact_ticks": [ + 30287, + 30287, + 30287, + 30287, + 30288, + 30288, + 30288, + 30288, + 30289, + 30289, + 30289, + 30289, + 30290, + 30290, + 30290, + 30290, + 30291, + 30291, + 30291, + 30291 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.00027354273763142365, + "return_yaw_error_rad": 7.872193650215742e-05 + }, + { + "event": "item_started", + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 35422, + "pose": [ + -2.5654242038726807, + 2.243452787399292, + 0.751000165939331, + -1.4700344763696194e-07, + -6.827758625149727e-08, + 0.47697481513023376, + 0.8789169788360596 + ] + }, + { + "event": "item_supported", + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44206, + "metrics": { + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44206, + "pose": [ + -1.6674472093582153, + 0.2881953716278076, + 0.4549020826816559, + 4.132743924856186e-09, + -1.7689308151602745e-07, + -0.9966198205947876, + 0.08215317875146866 + ], + "inside_tray": true, + "drift_last_second_m": 2.9802322387695312e-08, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 1.0298080334343408e-07, + "hand_clearance_m": 0.2929264008998871, + "tray_support_contact_ticks": [ + 44202, + 44202, + 44202, + 44202, + 44203, + 44203, + 44203, + 44203, + 44204, + 44204, + 44204, + 44204, + 44205, + 44205, + 44205, + 44205, + 44206, + 44206, + 44206, + 44206 + ], + "support_contact_observed": true + } + }, + { + "event": "item_completed", + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44221, + "support": { + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44206, + "pose": [ + -1.6674472093582153, + 0.2881953716278076, + 0.4549020826816559, + 4.132743924856186e-09, + -1.7689308151602745e-07, + -0.9966198205947876, + 0.08215317875146866 + ], + "inside_tray": true, + "drift_last_second_m": 2.9802322387695312e-08, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 1.0298080334343408e-07, + "hand_clearance_m": 0.2929264008998871, + "tray_support_contact_ticks": [ + 44202, + 44202, + 44202, + 44202, + 44203, + 44203, + 44203, + 44203, + 44204, + 44204, + 44204, + 44204, + 44205, + 44205, + 44205, + 44205, + 44206, + 44206, + 44206, + 44206 + ], + "support_contact_observed": true + }, + "return_base_error_m": null, + "return_yaw_error_rad": null + } + ] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/LIVE_DRIVE_READBACK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/LIVE_DRIVE_READBACK.json new file mode 100644 index 0000000000000000000000000000000000000000..88e485934ea5b73ac4e9484ba2fcc53e2e129f16 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/LIVE_DRIVE_READBACK.json @@ -0,0 +1,4 @@ +{ + "idx41_gripper_l_outer_joint1": 80.0, + "idx81_gripper_r_outer_joint1": 80.0 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json new file mode 100644 index 0000000000000000000000000000000000000000..d78393a1de4c6d2f52a276cee687ffdfed91d00e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json @@ -0,0 +1,33 @@ +{ + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_01.npz", + "exported_file": "item_00_controls.npz", + "sha256": "1c776c29760f2ecfbfa417a5d20a890757b4a78e2881d39b5376fab40f5ba781" + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_02.npz", + "exported_file": "item_01_controls.npz", + "sha256": "fed685e48a4444ba8ca2bde173c84853868529fa8c9a3c926354dd35871647e8" + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_03.npz", + "exported_file": "item_02_controls.npz", + "sha256": "77651bb5ad3b0d2593189b0eed82e7ce4e3d1aa0bf4cfdef21060d16451f2875" + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_04.npz", + "exported_file": "item_03_controls.npz", + "sha256": "968dbaab21f3d74c8178dd7afd15b9b98e7c3940739f08a5e85fd790e7e2e947" + } + ], + "all_controls_preserved": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..7715b796e230874f60e50e78aac6b4071b1fa2e7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json @@ -0,0 +1,434 @@ +{ + "schema": "multi_prop_no_fall_audit_v1", + "passed": true, + "thresholds": { + "max_translation_m": 0.02, + "max_downward_m": 0.01, + "max_rotation_deg": 15.0, + "authored_to_first_translation_m": 0.001, + "authored_to_first_downward_m": 0.001, + "authored_to_first_rotation_deg": 0.5 + }, + "quaternions_normalized_float64": true, + "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step", + "non_target_scope": "every preroll sample and every retained control row through episode end", + "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end", + "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates", + "paths": [ + { + "path": "/World/Assets/ShelfItems/gatorade_m", + "requested_item_index": 0, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032818750426418045, + "authored_to_first_downward_m": 0.0003281831741333008, + "authored_to_first_rotation_deg": 0.002882179995726085 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 128, + "max_translation_m": 0.0003284217657929949, + "max_downward_m": 0.00032842159271240234, + "max_rotation_deg": 0.006689282248431262, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 10396, + "rows": 33826, + "max_translation_m": 2.5050354448163623e-06, + "max_downward_m": 1.7881393432617188e-07, + "max_rotation_deg": 0.004553690884899099, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t", + "requested_item_index": 2, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032795186210151343, + "authored_to_first_downward_m": 0.0003279447555541992, + "authored_to_first_rotation_deg": 0.002326424621132087 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 21315, + "max_translation_m": 0.00032831640774560827, + "max_downward_m": 0.00032830238342285156, + "max_rotation_deg": 0.0074719672658244835, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 35421, + "rows": 8801, + "max_translation_m": 1.9133926533787873e-06, + "max_downward_m": 1.1920928955078125e-07, + "max_rotation_deg": 0.004696059298737408, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/starbucks", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00036764917971625664, + "authored_to_first_downward_m": 0.0003676414489746094, + "authored_to_first_rotation_deg": 0.22354778268563286 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0003755116841071599, + "max_downward_m": 0.00037550926208496094, + "max_rotation_deg": 0.28700042480489985, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/good2grow", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0003272310632136785, + "authored_to_first_downward_m": 0.00032722949981689453, + "authored_to_first_rotation_deg": 0.0003295035388053861 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0003275879952920366, + "max_downward_m": 0.0003275871276855469, + "max_rotation_deg": 0.0004988376651576899, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/grapefruit_can", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0004414321279770233, + "authored_to_first_downward_m": 0.00044143199920654297, + "authored_to_first_rotation_deg": 0.0003199635633216343 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005396609804552397, + "max_downward_m": 0.0005396604537963867, + "max_rotation_deg": 0.0006120646045803791, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/coke_c3", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0004422665927609157, + "authored_to_first_downward_m": 0.00044226646423339844, + "authored_to_first_rotation_deg": 0.00034436618965515565 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005656539074564312, + "max_downward_m": 0.000565648078918457, + "max_rotation_deg": 0.0031835184938500787, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/sprite_c1", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.000442268135088209, + "authored_to_first_downward_m": 0.00044226646423339844, + "authored_to_first_rotation_deg": 0.0011403143497644539 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005660085313472635, + "max_downward_m": 0.0005660057067871094, + "max_rotation_deg": 0.005069837025862114, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/chomps_r", + "requested_item_index": 1, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032973298109360984, + "authored_to_first_downward_m": 0.00032973289489746094, + "authored_to_first_rotation_deg": 2.328784023135477e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 10494, + "max_translation_m": 0.0003297333258779803, + "max_downward_m": 0.00032973289489746094, + "max_rotation_deg": 4.0552001361956704e-05, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 21217, + "rows": 23005, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/zbar_t", + "requested_item_index": 3, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0003301502995853006, + "authored_to_first_downward_m": 0.00033015012741088867, + "authored_to_first_rotation_deg": 2.2972699315936532e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 35519, + "max_translation_m": 0.0003302701972608743, + "max_downward_m": 0.00033026933670043945, + "max_rotation_deg": 0.00017042998646547473, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 44221, + "rows": 1, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 1.7075472925031877e-06, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/honeymaid_copy_01", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00021731866563467673, + "authored_to_first_downward_m": 0.00021731853485107422, + "authored_to_first_rotation_deg": 0.0014485678327748695 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.00033825677922092514, + "max_downward_m": 0.0003382563591003418, + "max_rotation_deg": 0.004068617620142691, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/DiningTableMicrowave/Asset/body", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 0.0 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/DiningTableMicrowave/Asset/door", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 8.429369702178807e-08, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 9.507220963046143e-06 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0002269747142655376, + "max_downward_m": 0.0, + "max_rotation_deg": 0.05237297253984664, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/AirFryer/Centered/Body", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 0.0 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 5.960464477539063e-08, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 1.5835142153691186e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 5.960464477539063e-08, + "max_downward_m": 0.0, + "max_rotation_deg": 1.5835142153691186e-05, + "passed": true + } + ], + "passed": true + } + ], + "failures": [], + "producer_initial_prop_no_fall": { + "passed": true, + "physics_samples": 38, + "maxima": { + "translation_m": 0.0005652944732806084, + "downward_m": 0.0005652904510498047, + "rotation_rad": 0.005009102367467907 + }, + "thresholds": { + "translation_m": 0.02, + "downward_m": 0.01, + "rotation_deg": 15.0 + }, + "all_requested_and_nonrequested_props_included": true + }, + "producer_initial_prop_no_fall_checks": { + "passed": true, + "all_props": true, + "all_preroll_samples": true, + "translation": true, + "downward": true, + "rotation": true + }, + "evidence_sha256": { + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271", + "INITIAL_PROP_NO_FALL.json": "d498130963d2853ef349a0067f2996d2490b186b2e102e933f94d2726823c887" + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json new file mode 100644 index 0000000000000000000000000000000000000000..48c2dd0b705cb7274311caa3fbfd299c64b7bb04 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json @@ -0,0 +1,196 @@ +{ + "schema": "ziche.multi10.official_lerobot_reader_qa.v1", + "created_utc": "2026-10-07T01:36:24.998114+00:00", + "layout_id": 3, + "passed": true, + "dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03", + "reader": "lerobot LeRobotDataset(video_backend='pyav')", + "dataset_length": 14740, + "parquet_rows": 14740, + "metadata_frames": 14740, + "fps": 20, + "sample_indices": [ + 0, + 7370, + 14739 + ], + "samples": [ + { + "index": 0, + "passed": true, + "action_shape": [ + 22 + ], + "state_shape": [ + 23 + ], + "scalar_alignment": { + "frame_index": true, + "episode_index": true, + "source_control_tick": true, + "item_index": true, + "phase_index": true, + "timestamp": true, + "simulator_time_s": true + }, + "task": "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.", + "images": { + "observation.images.top_head": { + "passed": true, + "shape": [ + 3, + 800, + 1280 + ], + "minimum": 0.0, + "maximum": 0.9490196108818054, + "mean": 0.38360896706581116, + "standard_deviation": 0.2136649340391159 + }, + "observation.images.hand_left": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 0.95686274766922, + "mean": 0.32330402731895447, + "standard_deviation": 0.20472587645053864 + }, + "observation.images.hand_right": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 1.0, + "mean": 0.31151747703552246, + "standard_deviation": 0.18251071870326996 + } + } + }, + { + "index": 7370, + "passed": true, + "action_shape": [ + 22 + ], + "state_shape": [ + 23 + ], + "scalar_alignment": { + "frame_index": true, + "episode_index": true, + "source_control_tick": true, + "item_index": true, + "phase_index": true, + "timestamp": true, + "simulator_time_s": true + }, + "task": "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.", + "images": { + "observation.images.top_head": { + "passed": true, + "shape": [ + 3, + 800, + 1280 + ], + "minimum": 0.0, + "maximum": 0.9764705896377563, + "mean": 0.4394597113132477, + "standard_deviation": 0.21587598323822021 + }, + "observation.images.hand_left": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 1.0, + "mean": 0.3822583258152008, + "standard_deviation": 0.21290723979473114 + }, + "observation.images.hand_right": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 0.9176470637321472, + "mean": 0.3576093912124634, + "standard_deviation": 0.21631838381290436 + } + } + }, + { + "index": 14739, + "passed": true, + "action_shape": [ + 22 + ], + "state_shape": [ + 23 + ], + "scalar_alignment": { + "frame_index": true, + "episode_index": true, + "source_control_tick": true, + "item_index": true, + "phase_index": true, + "timestamp": true, + "simulator_time_s": true + }, + "task": "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items.", + "images": { + "observation.images.top_head": { + "passed": true, + "shape": [ + 3, + 800, + 1280 + ], + "minimum": 0.0, + "maximum": 1.0, + "mean": 0.4604399502277374, + "standard_deviation": 0.22662292420864105 + }, + "observation.images.hand_left": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 1.0, + "mean": 0.4127064645290375, + "standard_deviation": 0.2600004971027374 + }, + "observation.images.hand_right": { + "passed": true, + "shape": [ + 3, + 480, + 848 + ], + "minimum": 0.0, + "maximum": 1.0, + "mean": 0.41521307826042175, + "standard_deviation": 0.2522176206111908 + } + } + } + ], + "failures": [], + "parquet_sha256": "5a7f46c0d43a38af397e8fecd6fa2bbfe66e7fa2f415d097024485c2b375ce77", + "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json new file mode 100644 index 0000000000000000000000000000000000000000..3dc43284407e11ca78c0dedb81e70c75fb77e23f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json @@ -0,0 +1,14752 @@ +{ + "passed": true, + "checked_frames": 14740, + "action_exact_float32": true, + "state_exact_float32": true, + "item_index_exact": true, + "phase_index_exact": true, + "source_ticks": [ + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 45, + 48, + 51, + 54, + 57, + 60, + 63, + 66, + 69, + 72, + 75, + 78, + 81, + 84, + 87, + 90, + 93, + 96, + 99, + 102, + 105, + 108, + 111, + 114, + 117, + 120, + 123, + 126, + 129, + 132, + 135, + 138, + 141, + 144, + 147, + 150, + 153, + 156, + 159, + 162, + 165, + 168, + 171, + 174, + 177, + 180, + 183, + 186, + 189, + 192, + 195, + 198, + 201, + 204, + 207, + 210, + 213, + 216, + 219, + 222, + 225, + 228, + 231, + 234, + 237, + 240, + 243, + 246, + 249, + 252, + 255, + 258, + 261, + 264, + 267, + 270, + 273, + 276, + 279, + 282, + 285, + 288, + 291, + 294, + 297, + 300, + 303, + 306, + 309, + 312, + 315, + 318, + 321, + 324, + 327, + 330, + 333, + 336, + 339, + 342, + 345, + 348, + 351, + 354, + 357, + 360, + 363, + 366, + 369, + 372, + 375, + 378, + 381, + 384, + 387, + 390, + 393, + 396, + 399, + 402, + 405, + 408, + 411, + 414, + 417, + 420, + 423, + 426, + 429, + 432, + 435, + 438, + 441, + 444, + 447, + 450, + 453, + 456, + 459, + 462, + 465, + 468, + 471, + 474, + 477, + 480, + 483, + 486, + 489, + 492, + 495, + 498, + 501, + 504, + 507, + 510, + 513, + 516, + 519, + 522, + 525, + 528, + 531, + 534, + 537, + 540, + 543, + 546, + 549, + 552, + 555, + 558, + 561, + 564, + 567, + 570, + 573, + 576, + 579, + 582, + 585, + 588, + 591, + 594, + 597, + 600, + 603, + 606, + 609, + 612, + 615, + 618, + 621, + 624, + 627, + 630, + 633, + 636, + 639, + 642, + 645, + 648, + 651, + 654, + 657, + 660, + 663, + 666, + 669, + 672, + 675, + 678, + 681, + 684, + 687, + 690, + 693, + 696, + 699, + 702, + 705, + 708, + 711, + 714, + 717, + 720, + 723, + 726, + 729, + 732, + 735, + 738, + 741, + 744, + 747, + 750, + 753, + 756, + 759, + 762, + 765, + 768, + 771, + 774, + 777, + 780, + 783, + 786, + 789, + 792, + 795, + 798, + 801, + 804, + 807, + 810, + 813, + 816, + 819, + 822, + 825, + 828, + 831, + 834, + 837, + 840, + 843, + 846, + 849, + 852, + 855, + 858, + 861, + 864, + 867, + 870, + 873, + 876, + 879, + 882, + 885, + 888, + 891, + 894, + 897, + 900, + 903, + 906, + 909, + 912, + 915, + 918, + 921, + 924, + 927, + 930, + 933, + 936, + 939, + 942, + 945, + 948, + 951, + 954, + 957, + 960, + 963, + 966, + 969, + 972, + 975, + 978, + 981, + 984, + 987, + 990, + 993, + 996, + 999, + 1002, + 1005, + 1008, + 1011, + 1014, + 1017, + 1020, + 1023, + 1026, + 1029, + 1032, + 1035, + 1038, + 1041, + 1044, + 1047, + 1050, + 1053, + 1056, + 1059, + 1062, + 1065, + 1068, + 1071, + 1074, + 1077, + 1080, + 1083, + 1086, + 1089, + 1092, + 1095, + 1098, + 1101, + 1104, + 1107, + 1110, + 1113, + 1116, + 1119, + 1122, + 1125, + 1128, + 1131, + 1134, + 1137, + 1140, + 1143, + 1146, + 1149, + 1152, + 1155, + 1158, + 1161, + 1164, + 1167, + 1170, + 1173, + 1176, + 1179, + 1182, + 1185, + 1188, + 1191, + 1194, + 1197, + 1200, + 1203, + 1206, + 1209, + 1212, + 1215, + 1218, + 1221, + 1224, + 1227, + 1230, + 1233, + 1236, + 1239, + 1242, + 1245, + 1248, + 1251, + 1254, + 1257, + 1260, + 1263, + 1266, + 1269, + 1272, + 1275, + 1278, + 1281, + 1284, + 1287, + 1290, + 1293, + 1296, + 1299, + 1302, + 1305, + 1308, + 1311, + 1314, + 1317, + 1320, + 1323, + 1326, + 1329, + 1332, + 1335, + 1338, + 1341, + 1344, + 1347, + 1350, + 1353, + 1356, + 1359, + 1362, + 1365, + 1368, + 1371, + 1374, + 1377, + 1380, + 1383, + 1386, + 1389, + 1392, + 1395, + 1398, + 1401, + 1404, + 1407, + 1410, + 1413, + 1416, + 1419, + 1422, + 1425, + 1428, + 1431, + 1434, + 1437, + 1440, + 1443, + 1446, + 1449, + 1452, + 1455, + 1458, + 1461, + 1464, + 1467, + 1470, + 1473, + 1476, + 1479, + 1482, + 1485, + 1488, + 1491, + 1494, + 1497, + 1500, + 1503, + 1506, + 1509, + 1512, + 1515, + 1518, + 1521, + 1524, + 1527, + 1530, + 1533, + 1536, + 1539, + 1542, + 1545, + 1548, + 1551, + 1554, + 1557, + 1560, + 1563, + 1566, + 1569, + 1572, + 1575, + 1578, + 1581, + 1584, + 1587, + 1590, + 1593, + 1596, + 1599, + 1602, + 1605, + 1608, + 1611, + 1614, + 1617, + 1620, + 1623, + 1626, + 1629, + 1632, + 1635, + 1638, + 1641, + 1644, + 1647, + 1650, + 1653, + 1656, + 1659, + 1662, + 1665, + 1668, + 1671, + 1674, + 1677, + 1680, + 1683, + 1686, + 1689, + 1692, + 1695, + 1698, + 1701, + 1704, + 1707, + 1710, + 1713, + 1716, + 1719, + 1722, + 1725, + 1728, + 1731, + 1734, + 1737, + 1740, + 1743, + 1746, + 1749, + 1752, + 1755, + 1758, + 1761, + 1764, + 1767, + 1770, + 1773, + 1776, + 1779, + 1782, + 1785, + 1788, + 1791, + 1794, + 1797, + 1800, + 1803, + 1806, + 1809, + 1812, + 1815, + 1818, + 1821, + 1824, + 1827, + 1830, + 1833, + 1836, + 1839, + 1842, + 1845, + 1848, + 1851, + 1854, + 1857, + 1860, + 1863, + 1866, + 1869, + 1872, + 1875, + 1878, + 1881, + 1884, + 1887, + 1890, + 1893, + 1896, + 1899, + 1902, + 1905, + 1908, + 1911, + 1914, + 1917, + 1920, + 1923, + 1926, + 1929, + 1932, + 1935, + 1938, + 1941, + 1944, + 1947, + 1950, + 1953, + 1956, + 1959, + 1962, + 1965, + 1968, + 1971, + 1974, + 1977, + 1980, + 1983, + 1986, + 1989, + 1992, + 1995, + 1998, + 2001, + 2004, + 2007, + 2010, + 2013, + 2016, + 2019, + 2022, + 2025, + 2028, + 2031, + 2034, + 2037, + 2040, + 2043, + 2046, + 2049, + 2052, + 2055, + 2058, + 2061, + 2064, + 2067, + 2070, + 2073, + 2076, + 2079, + 2082, + 2085, + 2088, + 2091, + 2094, + 2097, + 2100, + 2103, + 2106, + 2109, + 2112, + 2115, + 2118, + 2121, + 2124, + 2127, + 2130, + 2133, + 2136, + 2139, + 2142, + 2145, + 2148, + 2151, + 2154, + 2157, + 2160, + 2163, + 2166, + 2169, + 2172, + 2175, + 2178, + 2181, + 2184, + 2187, + 2190, + 2193, + 2196, + 2199, + 2202, + 2205, + 2208, + 2211, + 2214, + 2217, + 2220, + 2223, + 2226, + 2229, + 2232, + 2235, + 2238, + 2241, + 2244, + 2247, + 2250, + 2253, + 2256, + 2259, + 2262, + 2265, + 2268, + 2271, + 2274, + 2277, + 2280, + 2283, + 2286, + 2289, + 2292, + 2295, + 2298, + 2301, + 2304, + 2307, + 2310, + 2313, + 2316, + 2319, + 2322, + 2325, + 2328, + 2331, + 2334, + 2337, + 2340, + 2343, + 2346, + 2349, + 2352, + 2355, + 2358, + 2361, + 2364, + 2367, + 2370, + 2373, + 2376, + 2379, + 2382, + 2385, + 2388, + 2391, + 2394, + 2397, + 2400, + 2403, + 2406, + 2409, + 2412, + 2415, + 2418, + 2421, + 2424, + 2427, + 2430, + 2433, + 2436, + 2439, + 2442, + 2445, + 2448, + 2451, + 2454, + 2457, + 2460, + 2463, + 2466, + 2469, + 2472, + 2475, + 2478, + 2481, + 2484, + 2487, + 2490, + 2493, + 2496, + 2499, + 2502, + 2505, + 2508, + 2511, + 2514, + 2517, + 2520, + 2523, + 2526, + 2529, + 2532, + 2535, + 2538, + 2541, + 2544, + 2547, + 2550, + 2553, + 2556, + 2559, + 2562, + 2565, + 2568, + 2571, + 2574, + 2577, + 2580, + 2583, + 2586, + 2589, + 2592, + 2595, + 2598, + 2601, + 2604, + 2607, + 2610, + 2613, + 2616, + 2619, + 2622, + 2625, + 2628, + 2631, + 2634, + 2637, + 2640, + 2643, + 2646, + 2649, + 2652, + 2655, + 2658, + 2661, + 2664, + 2667, + 2670, + 2673, + 2676, + 2679, + 2682, + 2685, + 2688, + 2691, + 2694, + 2697, + 2700, + 2703, + 2706, + 2709, + 2712, + 2715, + 2718, + 2721, + 2724, + 2727, + 2730, + 2733, + 2736, + 2739, + 2742, + 2745, + 2748, + 2751, + 2754, + 2757, + 2760, + 2763, + 2766, + 2769, + 2772, + 2775, + 2778, + 2781, + 2784, + 2787, + 2790, + 2793, + 2796, + 2799, + 2802, + 2805, + 2808, + 2811, + 2814, + 2817, + 2820, + 2823, + 2826, + 2829, + 2832, + 2835, + 2838, + 2841, + 2844, + 2847, + 2850, + 2853, + 2856, + 2859, + 2862, + 2865, + 2868, + 2871, + 2874, + 2877, + 2880, + 2883, + 2886, + 2889, + 2892, + 2895, + 2898, + 2901, + 2904, + 2907, + 2910, + 2913, + 2916, + 2919, + 2922, + 2925, + 2928, + 2931, + 2934, + 2937, + 2940, + 2943, + 2946, + 2949, + 2952, + 2955, + 2958, + 2961, + 2964, + 2967, + 2970, + 2973, + 2976, + 2979, + 2982, + 2985, + 2988, + 2991, + 2994, + 2997, + 3000, + 3003, + 3006, + 3009, + 3012, + 3015, + 3018, + 3021, + 3024, + 3027, + 3030, + 3033, + 3036, + 3039, + 3042, + 3045, + 3048, + 3051, + 3054, + 3057, + 3060, + 3063, + 3066, + 3069, + 3072, + 3075, + 3078, + 3081, + 3084, + 3087, + 3090, + 3093, + 3096, + 3099, + 3102, + 3105, + 3108, + 3111, + 3114, + 3117, + 3120, + 3123, + 3126, + 3129, + 3132, + 3135, + 3138, + 3141, + 3144, + 3147, + 3150, + 3153, + 3156, + 3159, + 3162, + 3165, + 3168, + 3171, + 3174, + 3177, + 3180, + 3183, + 3186, + 3189, + 3192, + 3195, + 3198, + 3201, + 3204, + 3207, + 3210, + 3213, + 3216, + 3219, + 3222, + 3225, + 3228, + 3231, + 3234, + 3237, + 3240, + 3243, + 3246, + 3249, + 3252, + 3255, + 3258, + 3261, + 3264, + 3267, + 3270, + 3273, + 3276, + 3279, + 3282, + 3285, + 3288, + 3291, + 3294, + 3297, + 3300, + 3303, + 3306, + 3309, + 3312, + 3315, + 3318, + 3321, + 3324, + 3327, + 3330, + 3333, + 3336, + 3339, + 3342, + 3345, + 3348, + 3351, + 3354, + 3357, + 3360, + 3363, + 3366, + 3369, + 3372, + 3375, + 3378, + 3381, + 3384, + 3387, + 3390, + 3393, + 3396, + 3399, + 3402, + 3405, + 3408, + 3411, + 3414, + 3417, + 3420, + 3423, + 3426, + 3429, + 3432, + 3435, + 3438, + 3441, + 3444, + 3447, + 3450, + 3453, + 3456, + 3459, + 3462, + 3465, + 3468, + 3471, + 3474, + 3477, + 3480, + 3483, + 3486, + 3489, + 3492, + 3495, + 3498, + 3501, + 3504, + 3507, + 3510, + 3513, + 3516, + 3519, + 3522, + 3525, + 3528, + 3531, + 3534, + 3537, + 3540, + 3543, + 3546, + 3549, + 3552, + 3555, + 3558, + 3561, + 3564, + 3567, + 3570, + 3573, + 3576, + 3579, + 3582, + 3585, + 3588, + 3591, + 3594, + 3597, + 3600, + 3603, + 3606, + 3609, + 3612, + 3615, + 3618, + 3621, + 3624, + 3627, + 3630, + 3633, + 3636, + 3639, + 3642, + 3645, + 3648, + 3651, + 3654, + 3657, + 3660, + 3663, + 3666, + 3669, + 3672, + 3675, + 3678, + 3681, + 3684, + 3687, + 3690, + 3693, + 3696, + 3699, + 3702, + 3705, + 3708, + 3711, + 3714, + 3717, + 3720, + 3723, + 3726, + 3729, + 3732, + 3735, + 3738, + 3741, + 3744, + 3747, + 3750, + 3753, + 3756, + 3759, + 3762, + 3765, + 3768, + 3771, + 3774, + 3777, + 3780, + 3783, + 3786, + 3789, + 3792, + 3795, + 3798, + 3801, + 3804, + 3807, + 3810, + 3813, + 3816, + 3819, + 3822, + 3825, + 3828, + 3831, + 3834, + 3837, + 3840, + 3843, + 3846, + 3849, + 3852, + 3855, + 3858, + 3861, + 3864, + 3867, + 3870, + 3873, + 3876, + 3879, + 3882, + 3885, + 3888, + 3891, + 3894, + 3897, + 3900, + 3903, + 3906, + 3909, + 3912, + 3915, + 3918, + 3921, + 3924, + 3927, + 3930, + 3933, + 3936, + 3939, + 3942, + 3945, + 3948, + 3951, + 3954, + 3957, + 3960, + 3963, + 3966, + 3969, + 3972, + 3975, + 3978, + 3981, + 3984, + 3987, + 3990, + 3993, + 3996, + 3999, + 4002, + 4005, + 4008, + 4011, + 4014, + 4017, + 4020, + 4023, + 4026, + 4029, + 4032, + 4035, + 4038, + 4041, + 4044, + 4047, + 4050, + 4053, + 4056, + 4059, + 4062, + 4065, + 4068, + 4071, + 4074, + 4077, + 4080, + 4083, + 4086, + 4089, + 4092, + 4095, + 4098, + 4101, + 4104, + 4107, + 4110, + 4113, + 4116, + 4119, + 4122, + 4125, + 4128, + 4131, + 4134, + 4137, + 4140, + 4143, + 4146, + 4149, + 4152, + 4155, + 4158, + 4161, + 4164, + 4167, + 4170, + 4173, + 4176, + 4179, + 4182, + 4185, + 4188, + 4191, + 4194, + 4197, + 4200, + 4203, + 4206, + 4209, + 4212, + 4215, + 4218, + 4221, + 4224, + 4227, + 4230, + 4233, + 4236, + 4239, + 4242, + 4245, + 4248, + 4251, + 4254, + 4257, + 4260, + 4263, + 4266, + 4269, + 4272, + 4275, + 4278, + 4281, + 4284, + 4287, + 4290, + 4293, + 4296, + 4299, + 4302, + 4305, + 4308, + 4311, + 4314, + 4317, + 4320, + 4323, + 4326, + 4329, + 4332, + 4335, + 4338, + 4341, + 4344, + 4347, + 4350, + 4353, + 4356, + 4359, + 4362, + 4365, + 4368, + 4371, + 4374, + 4377, + 4380, + 4383, + 4386, + 4389, + 4392, + 4395, + 4398, + 4401, + 4404, + 4407, + 4410, + 4413, + 4416, + 4419, + 4422, + 4425, + 4428, + 4431, + 4434, + 4437, + 4440, + 4443, + 4446, + 4449, + 4452, + 4455, + 4458, + 4461, + 4464, + 4467, + 4470, + 4473, + 4476, + 4479, + 4482, + 4485, + 4488, + 4491, + 4494, + 4497, + 4500, + 4503, + 4506, + 4509, + 4512, + 4515, + 4518, + 4521, + 4524, + 4527, + 4530, + 4533, + 4536, + 4539, + 4542, + 4545, + 4548, + 4551, + 4554, + 4557, + 4560, + 4563, + 4566, + 4569, + 4572, + 4575, + 4578, + 4581, + 4584, + 4587, + 4590, + 4593, + 4596, + 4599, + 4602, + 4605, + 4608, + 4611, + 4614, + 4617, + 4620, + 4623, + 4626, + 4629, + 4632, + 4635, + 4638, + 4641, + 4644, + 4647, + 4650, + 4653, + 4656, + 4659, + 4662, + 4665, + 4668, + 4671, + 4674, + 4677, + 4680, + 4683, + 4686, + 4689, + 4692, + 4695, + 4698, + 4701, + 4704, + 4707, + 4710, + 4713, + 4716, + 4719, + 4722, + 4725, + 4728, + 4731, + 4734, + 4737, + 4740, + 4743, + 4746, + 4749, + 4752, + 4755, + 4758, + 4761, + 4764, + 4767, + 4770, + 4773, + 4776, + 4779, + 4782, + 4785, + 4788, + 4791, + 4794, + 4797, + 4800, + 4803, + 4806, + 4809, + 4812, + 4815, + 4818, + 4821, + 4824, + 4827, + 4830, + 4833, + 4836, + 4839, + 4842, + 4845, + 4848, + 4851, + 4854, + 4857, + 4860, + 4863, + 4866, + 4869, + 4872, + 4875, + 4878, + 4881, + 4884, + 4887, + 4890, + 4893, + 4896, + 4899, + 4902, + 4905, + 4908, + 4911, + 4914, + 4917, + 4920, + 4923, + 4926, + 4929, + 4932, + 4935, + 4938, + 4941, + 4944, + 4947, + 4950, + 4953, + 4956, + 4959, + 4962, + 4965, + 4968, + 4971, + 4974, + 4977, + 4980, + 4983, + 4986, + 4989, + 4992, + 4995, + 4998, + 5001, + 5004, + 5007, + 5010, + 5013, + 5016, + 5019, + 5022, + 5025, + 5028, + 5031, + 5034, + 5037, + 5040, + 5043, + 5046, + 5049, + 5052, + 5055, + 5058, + 5061, + 5064, + 5067, + 5070, + 5073, + 5076, + 5079, + 5082, + 5085, + 5088, + 5091, + 5094, + 5097, + 5100, + 5103, + 5106, + 5109, + 5112, + 5115, + 5118, + 5121, + 5124, + 5127, + 5130, + 5133, + 5136, + 5139, + 5142, + 5145, + 5148, + 5151, + 5154, + 5157, + 5160, + 5163, + 5166, + 5169, + 5172, + 5175, + 5178, + 5181, + 5184, + 5187, + 5190, + 5193, + 5196, + 5199, + 5202, + 5205, + 5208, + 5211, + 5214, + 5217, + 5220, + 5223, + 5226, + 5229, + 5232, + 5235, + 5238, + 5241, + 5244, + 5247, + 5250, + 5253, + 5256, + 5259, + 5262, + 5265, + 5268, + 5271, + 5274, + 5277, + 5280, + 5283, + 5286, + 5289, + 5292, + 5295, + 5298, + 5301, + 5304, + 5307, + 5310, + 5313, + 5316, + 5319, + 5322, + 5325, + 5328, + 5331, + 5334, + 5337, + 5340, + 5343, + 5346, + 5349, + 5352, + 5355, + 5358, + 5361, + 5364, + 5367, + 5370, + 5373, + 5376, + 5379, + 5382, + 5385, + 5388, + 5391, + 5394, + 5397, + 5400, + 5403, + 5406, + 5409, + 5412, + 5415, + 5418, + 5421, + 5424, + 5427, + 5430, + 5433, + 5436, + 5439, + 5442, + 5445, + 5448, + 5451, + 5454, + 5457, + 5460, + 5463, + 5466, + 5469, + 5472, + 5475, + 5478, + 5481, + 5484, + 5487, + 5490, + 5493, + 5496, + 5499, + 5502, + 5505, + 5508, + 5511, + 5514, + 5517, + 5520, + 5523, + 5526, + 5529, + 5532, + 5535, + 5538, + 5541, + 5544, + 5547, + 5550, + 5553, + 5556, + 5559, + 5562, + 5565, + 5568, + 5571, + 5574, + 5577, + 5580, + 5583, + 5586, + 5589, + 5592, + 5595, + 5598, + 5601, + 5604, + 5607, + 5610, + 5613, + 5616, + 5619, + 5622, + 5625, + 5628, + 5631, + 5634, + 5637, + 5640, + 5643, + 5646, + 5649, + 5652, + 5655, + 5658, + 5661, + 5664, + 5667, + 5670, + 5673, + 5676, + 5679, + 5682, + 5685, + 5688, + 5691, + 5694, + 5697, + 5700, + 5703, + 5706, + 5709, + 5712, + 5715, + 5718, + 5721, + 5724, + 5727, + 5730, + 5733, + 5736, + 5739, + 5742, + 5745, + 5748, + 5751, + 5754, + 5757, + 5760, + 5763, + 5766, + 5769, + 5772, + 5775, + 5778, + 5781, + 5784, + 5787, + 5790, + 5793, + 5796, + 5799, + 5802, + 5805, + 5808, + 5811, + 5814, + 5817, + 5820, + 5823, + 5826, + 5829, + 5832, + 5835, + 5838, + 5841, + 5844, + 5847, + 5850, + 5853, + 5856, + 5859, + 5862, + 5865, + 5868, + 5871, + 5874, + 5877, + 5880, + 5883, + 5886, + 5889, + 5892, + 5895, + 5898, + 5901, + 5904, + 5907, + 5910, + 5913, + 5916, + 5919, + 5922, + 5925, + 5928, + 5931, + 5934, + 5937, + 5940, + 5943, + 5946, + 5949, + 5952, + 5955, + 5958, + 5961, + 5964, + 5967, + 5970, + 5973, + 5976, + 5979, + 5982, + 5985, + 5988, + 5991, + 5994, + 5997, + 6000, + 6003, + 6006, + 6009, + 6012, + 6015, + 6018, + 6021, + 6024, + 6027, + 6030, + 6033, + 6036, + 6039, + 6042, + 6045, + 6048, + 6051, + 6054, + 6057, + 6060, + 6063, + 6066, + 6069, + 6072, + 6075, + 6078, + 6081, + 6084, + 6087, + 6090, + 6093, + 6096, + 6099, + 6102, + 6105, + 6108, + 6111, + 6114, + 6117, + 6120, + 6123, + 6126, + 6129, + 6132, + 6135, + 6138, + 6141, + 6144, + 6147, + 6150, + 6153, + 6156, + 6159, + 6162, + 6165, + 6168, + 6171, + 6174, + 6177, + 6180, + 6183, + 6186, + 6189, + 6192, + 6195, + 6198, + 6201, + 6204, + 6207, + 6210, + 6213, + 6216, + 6219, + 6222, + 6225, + 6228, + 6231, + 6234, + 6237, + 6240, + 6243, + 6246, + 6249, + 6252, + 6255, + 6258, + 6261, + 6264, + 6267, + 6270, + 6273, + 6276, + 6279, + 6282, + 6285, + 6288, + 6291, + 6294, + 6297, + 6300, + 6303, + 6306, + 6309, + 6312, + 6315, + 6318, + 6321, + 6324, + 6327, + 6330, + 6333, + 6336, + 6339, + 6342, + 6345, + 6348, + 6351, + 6354, + 6357, + 6360, + 6363, + 6366, + 6369, + 6372, + 6375, + 6378, + 6381, + 6384, + 6387, + 6390, + 6393, + 6396, + 6399, + 6402, + 6405, + 6408, + 6411, + 6414, + 6417, + 6420, + 6423, + 6426, + 6429, + 6432, + 6435, + 6438, + 6441, + 6444, + 6447, + 6450, + 6453, + 6456, + 6459, + 6462, + 6465, + 6468, + 6471, + 6474, + 6477, + 6480, + 6483, + 6486, + 6489, + 6492, + 6495, + 6498, + 6501, + 6504, + 6507, + 6510, + 6513, + 6516, + 6519, + 6522, + 6525, + 6528, + 6531, + 6534, + 6537, + 6540, + 6543, + 6546, + 6549, + 6552, + 6555, + 6558, + 6561, + 6564, + 6567, + 6570, + 6573, + 6576, + 6579, + 6582, + 6585, + 6588, + 6591, + 6594, + 6597, + 6600, + 6603, + 6606, + 6609, + 6612, + 6615, + 6618, + 6621, + 6624, + 6627, + 6630, + 6633, + 6636, + 6639, + 6642, + 6645, + 6648, + 6651, + 6654, + 6657, + 6660, + 6663, + 6666, + 6669, + 6672, + 6675, + 6678, + 6681, + 6684, + 6687, + 6690, + 6693, + 6696, + 6699, + 6702, + 6705, + 6708, + 6711, + 6714, + 6717, + 6720, + 6723, + 6726, + 6729, + 6732, + 6735, + 6738, + 6741, + 6744, + 6747, + 6750, + 6753, + 6756, + 6759, + 6762, + 6765, + 6768, + 6771, + 6774, + 6777, + 6780, + 6783, + 6786, + 6789, + 6792, + 6795, + 6798, + 6801, + 6804, + 6807, + 6810, + 6813, + 6816, + 6819, + 6822, + 6825, + 6828, + 6831, + 6834, + 6837, + 6840, + 6843, + 6846, + 6849, + 6852, + 6855, + 6858, + 6861, + 6864, + 6867, + 6870, + 6873, + 6876, + 6879, + 6882, + 6885, + 6888, + 6891, + 6894, + 6897, + 6900, + 6903, + 6906, + 6909, + 6912, + 6915, + 6918, + 6921, + 6924, + 6927, + 6930, + 6933, + 6936, + 6939, + 6942, + 6945, + 6948, + 6951, + 6954, + 6957, + 6960, + 6963, + 6966, + 6969, + 6972, + 6975, + 6978, + 6981, + 6984, + 6987, + 6990, + 6993, + 6996, + 6999, + 7002, + 7005, + 7008, + 7011, + 7014, + 7017, + 7020, + 7023, + 7026, + 7029, + 7032, + 7035, + 7038, + 7041, + 7044, + 7047, + 7050, + 7053, + 7056, + 7059, + 7062, + 7065, + 7068, + 7071, + 7074, + 7077, + 7080, + 7083, + 7086, + 7089, + 7092, + 7095, + 7098, + 7101, + 7104, + 7107, + 7110, + 7113, + 7116, + 7119, + 7122, + 7125, + 7128, + 7131, + 7134, + 7137, + 7140, + 7143, + 7146, + 7149, + 7152, + 7155, + 7158, + 7161, + 7164, + 7167, + 7170, + 7173, + 7176, + 7179, + 7182, + 7185, + 7188, + 7191, + 7194, + 7197, + 7200, + 7203, + 7206, + 7209, + 7212, + 7215, + 7218, + 7221, + 7224, + 7227, + 7230, + 7233, + 7236, + 7239, + 7242, + 7245, + 7248, + 7251, + 7254, + 7257, + 7260, + 7263, + 7266, + 7269, + 7272, + 7275, + 7278, + 7281, + 7284, + 7287, + 7290, + 7293, + 7296, + 7299, + 7302, + 7305, + 7308, + 7311, + 7314, + 7317, + 7320, + 7323, + 7326, + 7329, + 7332, + 7335, + 7338, + 7341, + 7344, + 7347, + 7350, + 7353, + 7356, + 7359, + 7362, + 7365, + 7368, + 7371, + 7374, + 7377, + 7380, + 7383, + 7386, + 7389, + 7392, + 7395, + 7398, + 7401, + 7404, + 7407, + 7410, + 7413, + 7416, + 7419, + 7422, + 7425, + 7428, + 7431, + 7434, + 7437, + 7440, + 7443, + 7446, + 7449, + 7452, + 7455, + 7458, + 7461, + 7464, + 7467, + 7470, + 7473, + 7476, + 7479, + 7482, + 7485, + 7488, + 7491, + 7494, + 7497, + 7500, + 7503, + 7506, + 7509, + 7512, + 7515, + 7518, + 7521, + 7524, + 7527, + 7530, + 7533, + 7536, + 7539, + 7542, + 7545, + 7548, + 7551, + 7554, + 7557, + 7560, + 7563, + 7566, + 7569, + 7572, + 7575, + 7578, + 7581, + 7584, + 7587, + 7590, + 7593, + 7596, + 7599, + 7602, + 7605, + 7608, + 7611, + 7614, + 7617, + 7620, + 7623, + 7626, + 7629, + 7632, + 7635, + 7638, + 7641, + 7644, + 7647, + 7650, + 7653, + 7656, + 7659, + 7662, + 7665, + 7668, + 7671, + 7674, + 7677, + 7680, + 7683, + 7686, + 7689, + 7692, + 7695, + 7698, + 7701, + 7704, + 7707, + 7710, + 7713, + 7716, + 7719, + 7722, + 7725, + 7728, + 7731, + 7734, + 7737, + 7740, + 7743, + 7746, + 7749, + 7752, + 7755, + 7758, + 7761, + 7764, + 7767, + 7770, + 7773, + 7776, + 7779, + 7782, + 7785, + 7788, + 7791, + 7794, + 7797, + 7800, + 7803, + 7806, + 7809, + 7812, + 7815, + 7818, + 7821, + 7824, + 7827, + 7830, + 7833, + 7836, + 7839, + 7842, + 7845, + 7848, + 7851, + 7854, + 7857, + 7860, + 7863, + 7866, + 7869, + 7872, + 7875, + 7878, + 7881, + 7884, + 7887, + 7890, + 7893, + 7896, + 7899, + 7902, + 7905, + 7908, + 7911, + 7914, + 7917, + 7920, + 7923, + 7926, + 7929, + 7932, + 7935, + 7938, + 7941, + 7944, + 7947, + 7950, + 7953, + 7956, + 7959, + 7962, + 7965, + 7968, + 7971, + 7974, + 7977, + 7980, + 7983, + 7986, + 7989, + 7992, + 7995, + 7998, + 8001, + 8004, + 8007, + 8010, + 8013, + 8016, + 8019, + 8022, + 8025, + 8028, + 8031, + 8034, + 8037, + 8040, + 8043, + 8046, + 8049, + 8052, + 8055, + 8058, + 8061, + 8064, + 8067, + 8070, + 8073, + 8076, + 8079, + 8082, + 8085, + 8088, + 8091, + 8094, + 8097, + 8100, + 8103, + 8106, + 8109, + 8112, + 8115, + 8118, + 8121, + 8124, + 8127, + 8130, + 8133, + 8136, + 8139, + 8142, + 8145, + 8148, + 8151, + 8154, + 8157, + 8160, + 8163, + 8166, + 8169, + 8172, + 8175, + 8178, + 8181, + 8184, + 8187, + 8190, + 8193, + 8196, + 8199, + 8202, + 8205, + 8208, + 8211, + 8214, + 8217, + 8220, + 8223, + 8226, + 8229, + 8232, + 8235, + 8238, + 8241, + 8244, + 8247, + 8250, + 8253, + 8256, + 8259, + 8262, + 8265, + 8268, + 8271, + 8274, + 8277, + 8280, + 8283, + 8286, + 8289, + 8292, + 8295, + 8298, + 8301, + 8304, + 8307, + 8310, + 8313, + 8316, + 8319, + 8322, + 8325, + 8328, + 8331, + 8334, + 8337, + 8340, + 8343, + 8346, + 8349, + 8352, + 8355, + 8358, + 8361, + 8364, + 8367, + 8370, + 8373, + 8376, + 8379, + 8382, + 8385, + 8388, + 8391, + 8394, + 8397, + 8400, + 8403, + 8406, + 8409, + 8412, + 8415, + 8418, + 8421, + 8424, + 8427, + 8430, + 8433, + 8436, + 8439, + 8442, + 8445, + 8448, + 8451, + 8454, + 8457, + 8460, + 8463, + 8466, + 8469, + 8472, + 8475, + 8478, + 8481, + 8484, + 8487, + 8490, + 8493, + 8496, + 8499, + 8502, + 8505, + 8508, + 8511, + 8514, + 8517, + 8520, + 8523, + 8526, + 8529, + 8532, + 8535, + 8538, + 8541, + 8544, + 8547, + 8550, + 8553, + 8556, + 8559, + 8562, + 8565, + 8568, + 8571, + 8574, + 8577, + 8580, + 8583, + 8586, + 8589, + 8592, + 8595, + 8598, + 8601, + 8604, + 8607, + 8610, + 8613, + 8616, + 8619, + 8622, + 8625, + 8628, + 8631, + 8634, + 8637, + 8640, + 8643, + 8646, + 8649, + 8652, + 8655, + 8658, + 8661, + 8664, + 8667, + 8670, + 8673, + 8676, + 8679, + 8682, + 8685, + 8688, + 8691, + 8694, + 8697, + 8700, + 8703, + 8706, + 8709, + 8712, + 8715, + 8718, + 8721, + 8724, + 8727, + 8730, + 8733, + 8736, + 8739, + 8742, + 8745, + 8748, + 8751, + 8754, + 8757, + 8760, + 8763, + 8766, + 8769, + 8772, + 8775, + 8778, + 8781, + 8784, + 8787, + 8790, + 8793, + 8796, + 8799, + 8802, + 8805, + 8808, + 8811, + 8814, + 8817, + 8820, + 8823, + 8826, + 8829, + 8832, + 8835, + 8838, + 8841, + 8844, + 8847, + 8850, + 8853, + 8856, + 8859, + 8862, + 8865, + 8868, + 8871, + 8874, + 8877, + 8880, + 8883, + 8886, + 8889, + 8892, + 8895, + 8898, + 8901, + 8904, + 8907, + 8910, + 8913, + 8916, + 8919, + 8922, + 8925, + 8928, + 8931, + 8934, + 8937, + 8940, + 8943, + 8946, + 8949, + 8952, + 8955, + 8958, + 8961, + 8964, + 8967, + 8970, + 8973, + 8976, + 8979, + 8982, + 8985, + 8988, + 8991, + 8994, + 8997, + 9000, + 9003, + 9006, + 9009, + 9012, + 9015, + 9018, + 9021, + 9024, + 9027, + 9030, + 9033, + 9036, + 9039, + 9042, + 9045, + 9048, + 9051, + 9054, + 9057, + 9060, + 9063, + 9066, + 9069, + 9072, + 9075, + 9078, + 9081, + 9084, + 9087, + 9090, + 9093, + 9096, + 9099, + 9102, + 9105, + 9108, + 9111, + 9114, + 9117, + 9120, + 9123, + 9126, + 9129, + 9132, + 9135, + 9138, + 9141, + 9144, + 9147, + 9150, + 9153, + 9156, + 9159, + 9162, + 9165, + 9168, + 9171, + 9174, + 9177, + 9180, + 9183, + 9186, + 9189, + 9192, + 9195, + 9198, + 9201, + 9204, + 9207, + 9210, + 9213, + 9216, + 9219, + 9222, + 9225, + 9228, + 9231, + 9234, + 9237, + 9240, + 9243, + 9246, + 9249, + 9252, + 9255, + 9258, + 9261, + 9264, + 9267, + 9270, + 9273, + 9276, + 9279, + 9282, + 9285, + 9288, + 9291, + 9294, + 9297, + 9300, + 9303, + 9306, + 9309, + 9312, + 9315, + 9318, + 9321, + 9324, + 9327, + 9330, + 9333, + 9336, + 9339, + 9342, + 9345, + 9348, + 9351, + 9354, + 9357, + 9360, + 9363, + 9366, + 9369, + 9372, + 9375, + 9378, + 9381, + 9384, + 9387, + 9390, + 9393, + 9396, + 9399, + 9402, + 9405, + 9408, + 9411, + 9414, + 9417, + 9420, + 9423, + 9426, + 9429, + 9432, + 9435, + 9438, + 9441, + 9444, + 9447, + 9450, + 9453, + 9456, + 9459, + 9462, + 9465, + 9468, + 9471, + 9474, + 9477, + 9480, + 9483, + 9486, + 9489, + 9492, + 9495, + 9498, + 9501, + 9504, + 9507, + 9510, + 9513, + 9516, + 9519, + 9522, + 9525, + 9528, + 9531, + 9534, + 9537, + 9540, + 9543, + 9546, + 9549, + 9552, + 9555, + 9558, + 9561, + 9564, + 9567, + 9570, + 9573, + 9576, + 9579, + 9582, + 9585, + 9588, + 9591, + 9594, + 9597, + 9600, + 9603, + 9606, + 9609, + 9612, + 9615, + 9618, + 9621, + 9624, + 9627, + 9630, + 9633, + 9636, + 9639, + 9642, + 9645, + 9648, + 9651, + 9654, + 9657, + 9660, + 9663, + 9666, + 9669, + 9672, + 9675, + 9678, + 9681, + 9684, + 9687, + 9690, + 9693, + 9696, + 9699, + 9702, + 9705, + 9708, + 9711, + 9714, + 9717, + 9720, + 9723, + 9726, + 9729, + 9732, + 9735, + 9738, + 9741, + 9744, + 9747, + 9750, + 9753, + 9756, + 9759, + 9762, + 9765, + 9768, + 9771, + 9774, + 9777, + 9780, + 9783, + 9786, + 9789, + 9792, + 9795, + 9798, + 9801, + 9804, + 9807, + 9810, + 9813, + 9816, + 9819, + 9822, + 9825, + 9828, + 9831, + 9834, + 9837, + 9840, + 9843, + 9846, + 9849, + 9852, + 9855, + 9858, + 9861, + 9864, + 9867, + 9870, + 9873, + 9876, + 9879, + 9882, + 9885, + 9888, + 9891, + 9894, + 9897, + 9900, + 9903, + 9906, + 9909, + 9912, + 9915, + 9918, + 9921, + 9924, + 9927, + 9930, + 9933, + 9936, + 9939, + 9942, + 9945, + 9948, + 9951, + 9954, + 9957, + 9960, + 9963, + 9966, + 9969, + 9972, + 9975, + 9978, + 9981, + 9984, + 9987, + 9990, + 9993, + 9996, + 9999, + 10002, + 10005, + 10008, + 10011, + 10014, + 10017, + 10020, + 10023, + 10026, + 10029, + 10032, + 10035, + 10038, + 10041, + 10044, + 10047, + 10050, + 10053, + 10056, + 10059, + 10062, + 10065, + 10068, + 10071, + 10074, + 10077, + 10080, + 10083, + 10086, + 10089, + 10092, + 10095, + 10098, + 10101, + 10104, + 10107, + 10110, + 10113, + 10116, + 10119, + 10122, + 10125, + 10128, + 10131, + 10134, + 10137, + 10140, + 10143, + 10146, + 10149, + 10152, + 10155, + 10158, + 10161, + 10164, + 10167, + 10170, + 10173, + 10176, + 10179, + 10182, + 10185, + 10188, + 10191, + 10194, + 10197, + 10200, + 10203, + 10206, + 10209, + 10212, + 10215, + 10218, + 10221, + 10224, + 10227, + 10230, + 10233, + 10236, + 10239, + 10242, + 10245, + 10248, + 10251, + 10254, + 10257, + 10260, + 10263, + 10266, + 10269, + 10272, + 10275, + 10278, + 10281, + 10284, + 10287, + 10290, + 10293, + 10296, + 10299, + 10302, + 10305, + 10308, + 10311, + 10314, + 10317, + 10320, + 10323, + 10326, + 10329, + 10332, + 10335, + 10338, + 10341, + 10344, + 10347, + 10350, + 10353, + 10356, + 10359, + 10362, + 10365, + 10368, + 10371, + 10374, + 10377, + 10380, + 10383, + 10386, + 10389, + 10392, + 10395, + 10398, + 10401, + 10404, + 10407, + 10410, + 10413, + 10416, + 10419, + 10422, + 10425, + 10428, + 10431, + 10434, + 10437, + 10440, + 10443, + 10446, + 10449, + 10452, + 10455, + 10458, + 10461, + 10464, + 10467, + 10470, + 10473, + 10476, + 10479, + 10482, + 10485, + 10488, + 10491, + 10494, + 10497, + 10500, + 10503, + 10506, + 10509, + 10512, + 10515, + 10518, + 10521, + 10524, + 10527, + 10530, + 10533, + 10536, + 10539, + 10542, + 10545, + 10548, + 10551, + 10554, + 10557, + 10560, + 10563, + 10566, + 10569, + 10572, + 10575, + 10578, + 10581, + 10584, + 10587, + 10590, + 10593, + 10596, + 10599, + 10602, + 10605, + 10608, + 10611, + 10614, + 10617, + 10620, + 10623, + 10626, + 10629, + 10632, + 10635, + 10638, + 10641, + 10644, + 10647, + 10650, + 10653, + 10656, + 10659, + 10662, + 10665, + 10668, + 10671, + 10674, + 10677, + 10680, + 10683, + 10686, + 10689, + 10692, + 10695, + 10698, + 10701, + 10704, + 10707, + 10710, + 10713, + 10716, + 10719, + 10722, + 10725, + 10728, + 10731, + 10734, + 10737, + 10740, + 10743, + 10746, + 10749, + 10752, + 10755, + 10758, + 10761, + 10764, + 10767, + 10770, + 10773, + 10776, + 10779, + 10782, + 10785, + 10788, + 10791, + 10794, + 10797, + 10800, + 10803, + 10806, + 10809, + 10812, + 10815, + 10818, + 10821, + 10824, + 10827, + 10830, + 10833, + 10836, + 10839, + 10842, + 10845, + 10848, + 10851, + 10854, + 10857, + 10860, + 10863, + 10866, + 10869, + 10872, + 10875, + 10878, + 10881, + 10884, + 10887, + 10890, + 10893, + 10896, + 10899, + 10902, + 10905, + 10908, + 10911, + 10914, + 10917, + 10920, + 10923, + 10926, + 10929, + 10932, + 10935, + 10938, + 10941, + 10944, + 10947, + 10950, + 10953, + 10956, + 10959, + 10962, + 10965, + 10968, + 10971, + 10974, + 10977, + 10980, + 10983, + 10986, + 10989, + 10992, + 10995, + 10998, + 11001, + 11004, + 11007, + 11010, + 11013, + 11016, + 11019, + 11022, + 11025, + 11028, + 11031, + 11034, + 11037, + 11040, + 11043, + 11046, + 11049, + 11052, + 11055, + 11058, + 11061, + 11064, + 11067, + 11070, + 11073, + 11076, + 11079, + 11082, + 11085, + 11088, + 11091, + 11094, + 11097, + 11100, + 11103, + 11106, + 11109, + 11112, + 11115, + 11118, + 11121, + 11124, + 11127, + 11130, + 11133, + 11136, + 11139, + 11142, + 11145, + 11148, + 11151, + 11154, + 11157, + 11160, + 11163, + 11166, + 11169, + 11172, + 11175, + 11178, + 11181, + 11184, + 11187, + 11190, + 11193, + 11196, + 11199, + 11202, + 11205, + 11208, + 11211, + 11214, + 11217, + 11220, + 11223, + 11226, + 11229, + 11232, + 11235, + 11238, + 11241, + 11244, + 11247, + 11250, + 11253, + 11256, + 11259, + 11262, + 11265, + 11268, + 11271, + 11274, + 11277, + 11280, + 11283, + 11286, + 11289, + 11292, + 11295, + 11298, + 11301, + 11304, + 11307, + 11310, + 11313, + 11316, + 11319, + 11322, + 11325, + 11328, + 11331, + 11334, + 11337, + 11340, + 11343, + 11346, + 11349, + 11352, + 11355, + 11358, + 11361, + 11364, + 11367, + 11370, + 11373, + 11376, + 11379, + 11382, + 11385, + 11388, + 11391, + 11394, + 11397, + 11400, + 11403, + 11406, + 11409, + 11412, + 11415, + 11418, + 11421, + 11424, + 11427, + 11430, + 11433, + 11436, + 11439, + 11442, + 11445, + 11448, + 11451, + 11454, + 11457, + 11460, + 11463, + 11466, + 11469, + 11472, + 11475, + 11478, + 11481, + 11484, + 11487, + 11490, + 11493, + 11496, + 11499, + 11502, + 11505, + 11508, + 11511, + 11514, + 11517, + 11520, + 11523, + 11526, + 11529, + 11532, + 11535, + 11538, + 11541, + 11544, + 11547, + 11550, + 11553, + 11556, + 11559, + 11562, + 11565, + 11568, + 11571, + 11574, + 11577, + 11580, + 11583, + 11586, + 11589, + 11592, + 11595, + 11598, + 11601, + 11604, + 11607, + 11610, + 11613, + 11616, + 11619, + 11622, + 11625, + 11628, + 11631, + 11634, + 11637, + 11640, + 11643, + 11646, + 11649, + 11652, + 11655, + 11658, + 11661, + 11664, + 11667, + 11670, + 11673, + 11676, + 11679, + 11682, + 11685, + 11688, + 11691, + 11694, + 11697, + 11700, + 11703, + 11706, + 11709, + 11712, + 11715, + 11718, + 11721, + 11724, + 11727, + 11730, + 11733, + 11736, + 11739, + 11742, + 11745, + 11748, + 11751, + 11754, + 11757, + 11760, + 11763, + 11766, + 11769, + 11772, + 11775, + 11778, + 11781, + 11784, + 11787, + 11790, + 11793, + 11796, + 11799, + 11802, + 11805, + 11808, + 11811, + 11814, + 11817, + 11820, + 11823, + 11826, + 11829, + 11832, + 11835, + 11838, + 11841, + 11844, + 11847, + 11850, + 11853, + 11856, + 11859, + 11862, + 11865, + 11868, + 11871, + 11874, + 11877, + 11880, + 11883, + 11886, + 11889, + 11892, + 11895, + 11898, + 11901, + 11904, + 11907, + 11910, + 11913, + 11916, + 11919, + 11922, + 11925, + 11928, + 11931, + 11934, + 11937, + 11940, + 11943, + 11946, + 11949, + 11952, + 11955, + 11958, + 11961, + 11964, + 11967, + 11970, + 11973, + 11976, + 11979, + 11982, + 11985, + 11988, + 11991, + 11994, + 11997, + 12000, + 12003, + 12006, + 12009, + 12012, + 12015, + 12018, + 12021, + 12024, + 12027, + 12030, + 12033, + 12036, + 12039, + 12042, + 12045, + 12048, + 12051, + 12054, + 12057, + 12060, + 12063, + 12066, + 12069, + 12072, + 12075, + 12078, + 12081, + 12084, + 12087, + 12090, + 12093, + 12096, + 12099, + 12102, + 12105, + 12108, + 12111, + 12114, + 12117, + 12120, + 12123, + 12126, + 12129, + 12132, + 12135, + 12138, + 12141, + 12144, + 12147, + 12150, + 12153, + 12156, + 12159, + 12162, + 12165, + 12168, + 12171, + 12174, + 12177, + 12180, + 12183, + 12186, + 12189, + 12192, + 12195, + 12198, + 12201, + 12204, + 12207, + 12210, + 12213, + 12216, + 12219, + 12222, + 12225, + 12228, + 12231, + 12234, + 12237, + 12240, + 12243, + 12246, + 12249, + 12252, + 12255, + 12258, + 12261, + 12264, + 12267, + 12270, + 12273, + 12276, + 12279, + 12282, + 12285, + 12288, + 12291, + 12294, + 12297, + 12300, + 12303, + 12306, + 12309, + 12312, + 12315, + 12318, + 12321, + 12324, + 12327, + 12330, + 12333, + 12336, + 12339, + 12342, + 12345, + 12348, + 12351, + 12354, + 12357, + 12360, + 12363, + 12366, + 12369, + 12372, + 12375, + 12378, + 12381, + 12384, + 12387, + 12390, + 12393, + 12396, + 12399, + 12402, + 12405, + 12408, + 12411, + 12414, + 12417, + 12420, + 12423, + 12426, + 12429, + 12432, + 12435, + 12438, + 12441, + 12444, + 12447, + 12450, + 12453, + 12456, + 12459, + 12462, + 12465, + 12468, + 12471, + 12474, + 12477, + 12480, + 12483, + 12486, + 12489, + 12492, + 12495, + 12498, + 12501, + 12504, + 12507, + 12510, + 12513, + 12516, + 12519, + 12522, + 12525, + 12528, + 12531, + 12534, + 12537, + 12540, + 12543, + 12546, + 12549, + 12552, + 12555, + 12558, + 12561, + 12564, + 12567, + 12570, + 12573, + 12576, + 12579, + 12582, + 12585, + 12588, + 12591, + 12594, + 12597, + 12600, + 12603, + 12606, + 12609, + 12612, + 12615, + 12618, + 12621, + 12624, + 12627, + 12630, + 12633, + 12636, + 12639, + 12642, + 12645, + 12648, + 12651, + 12654, + 12657, + 12660, + 12663, + 12666, + 12669, + 12672, + 12675, + 12678, + 12681, + 12684, + 12687, + 12690, + 12693, + 12696, + 12699, + 12702, + 12705, + 12708, + 12711, + 12714, + 12717, + 12720, + 12723, + 12726, + 12729, + 12732, + 12735, + 12738, + 12741, + 12744, + 12747, + 12750, + 12753, + 12756, + 12759, + 12762, + 12765, + 12768, + 12771, + 12774, + 12777, + 12780, + 12783, + 12786, + 12789, + 12792, + 12795, + 12798, + 12801, + 12804, + 12807, + 12810, + 12813, + 12816, + 12819, + 12822, + 12825, + 12828, + 12831, + 12834, + 12837, + 12840, + 12843, + 12846, + 12849, + 12852, + 12855, + 12858, + 12861, + 12864, + 12867, + 12870, + 12873, + 12876, + 12879, + 12882, + 12885, + 12888, + 12891, + 12894, + 12897, + 12900, + 12903, + 12906, + 12909, + 12912, + 12915, + 12918, + 12921, + 12924, + 12927, + 12930, + 12933, + 12936, + 12939, + 12942, + 12945, + 12948, + 12951, + 12954, + 12957, + 12960, + 12963, + 12966, + 12969, + 12972, + 12975, + 12978, + 12981, + 12984, + 12987, + 12990, + 12993, + 12996, + 12999, + 13002, + 13005, + 13008, + 13011, + 13014, + 13017, + 13020, + 13023, + 13026, + 13029, + 13032, + 13035, + 13038, + 13041, + 13044, + 13047, + 13050, + 13053, + 13056, + 13059, + 13062, + 13065, + 13068, + 13071, + 13074, + 13077, + 13080, + 13083, + 13086, + 13089, + 13092, + 13095, + 13098, + 13101, + 13104, + 13107, + 13110, + 13113, + 13116, + 13119, + 13122, + 13125, + 13128, + 13131, + 13134, + 13137, + 13140, + 13143, + 13146, + 13149, + 13152, + 13155, + 13158, + 13161, + 13164, + 13167, + 13170, + 13173, + 13176, + 13179, + 13182, + 13185, + 13188, + 13191, + 13194, + 13197, + 13200, + 13203, + 13206, + 13209, + 13212, + 13215, + 13218, + 13221, + 13224, + 13227, + 13230, + 13233, + 13236, + 13239, + 13242, + 13245, + 13248, + 13251, + 13254, + 13257, + 13260, + 13263, + 13266, + 13269, + 13272, + 13275, + 13278, + 13281, + 13284, + 13287, + 13290, + 13293, + 13296, + 13299, + 13302, + 13305, + 13308, + 13311, + 13314, + 13317, + 13320, + 13323, + 13326, + 13329, + 13332, + 13335, + 13338, + 13341, + 13344, + 13347, + 13350, + 13353, + 13356, + 13359, + 13362, + 13365, + 13368, + 13371, + 13374, + 13377, + 13380, + 13383, + 13386, + 13389, + 13392, + 13395, + 13398, + 13401, + 13404, + 13407, + 13410, + 13413, + 13416, + 13419, + 13422, + 13425, + 13428, + 13431, + 13434, + 13437, + 13440, + 13443, + 13446, + 13449, + 13452, + 13455, + 13458, + 13461, + 13464, + 13467, + 13470, + 13473, + 13476, + 13479, + 13482, + 13485, + 13488, + 13491, + 13494, + 13497, + 13500, + 13503, + 13506, + 13509, + 13512, + 13515, + 13518, + 13521, + 13524, + 13527, + 13530, + 13533, + 13536, + 13539, + 13542, + 13545, + 13548, + 13551, + 13554, + 13557, + 13560, + 13563, + 13566, + 13569, + 13572, + 13575, + 13578, + 13581, + 13584, + 13587, + 13590, + 13593, + 13596, + 13599, + 13602, + 13605, + 13608, + 13611, + 13614, + 13617, + 13620, + 13623, + 13626, + 13629, + 13632, + 13635, + 13638, + 13641, + 13644, + 13647, + 13650, + 13653, + 13656, + 13659, + 13662, + 13665, + 13668, + 13671, + 13674, + 13677, + 13680, + 13683, + 13686, + 13689, + 13692, + 13695, + 13698, + 13701, + 13704, + 13707, + 13710, + 13713, + 13716, + 13719, + 13722, + 13725, + 13728, + 13731, + 13734, + 13737, + 13740, + 13743, + 13746, + 13749, + 13752, + 13755, + 13758, + 13761, + 13764, + 13767, + 13770, + 13773, + 13776, + 13779, + 13782, + 13785, + 13788, + 13791, + 13794, + 13797, + 13800, + 13803, + 13806, + 13809, + 13812, + 13815, + 13818, + 13821, + 13824, + 13827, + 13830, + 13833, + 13836, + 13839, + 13842, + 13845, + 13848, + 13851, + 13854, + 13857, + 13860, + 13863, + 13866, + 13869, + 13872, + 13875, + 13878, + 13881, + 13884, + 13887, + 13890, + 13893, + 13896, + 13899, + 13902, + 13905, + 13908, + 13911, + 13914, + 13917, + 13920, + 13923, + 13926, + 13929, + 13932, + 13935, + 13938, + 13941, + 13944, + 13947, + 13950, + 13953, + 13956, + 13959, + 13962, + 13965, + 13968, + 13971, + 13974, + 13977, + 13980, + 13983, + 13986, + 13989, + 13992, + 13995, + 13998, + 14001, + 14004, + 14007, + 14010, + 14013, + 14016, + 14019, + 14022, + 14025, + 14028, + 14031, + 14034, + 14037, + 14040, + 14043, + 14046, + 14049, + 14052, + 14055, + 14058, + 14061, + 14064, + 14067, + 14070, + 14073, + 14076, + 14079, + 14082, + 14085, + 14088, + 14091, + 14094, + 14097, + 14100, + 14103, + 14106, + 14109, + 14112, + 14115, + 14118, + 14121, + 14124, + 14127, + 14130, + 14133, + 14136, + 14139, + 14142, + 14145, + 14148, + 14151, + 14154, + 14157, + 14160, + 14163, + 14166, + 14169, + 14172, + 14175, + 14178, + 14181, + 14184, + 14187, + 14190, + 14193, + 14196, + 14199, + 14202, + 14205, + 14208, + 14211, + 14214, + 14217, + 14220, + 14223, + 14226, + 14229, + 14232, + 14235, + 14238, + 14241, + 14244, + 14247, + 14250, + 14253, + 14256, + 14259, + 14262, + 14265, + 14268, + 14271, + 14274, + 14277, + 14280, + 14283, + 14286, + 14289, + 14292, + 14295, + 14298, + 14301, + 14304, + 14307, + 14310, + 14313, + 14316, + 14319, + 14322, + 14325, + 14328, + 14331, + 14334, + 14337, + 14340, + 14343, + 14346, + 14349, + 14352, + 14355, + 14358, + 14361, + 14364, + 14367, + 14370, + 14373, + 14376, + 14379, + 14382, + 14385, + 14388, + 14391, + 14394, + 14397, + 14400, + 14403, + 14406, + 14409, + 14412, + 14415, + 14418, + 14421, + 14424, + 14427, + 14430, + 14433, + 14436, + 14439, + 14442, + 14445, + 14448, + 14451, + 14454, + 14457, + 14460, + 14463, + 14466, + 14469, + 14472, + 14475, + 14478, + 14481, + 14484, + 14487, + 14490, + 14493, + 14496, + 14499, + 14502, + 14505, + 14508, + 14511, + 14514, + 14517, + 14520, + 14523, + 14526, + 14529, + 14532, + 14535, + 14538, + 14541, + 14544, + 14547, + 14550, + 14553, + 14556, + 14559, + 14562, + 14565, + 14568, + 14571, + 14574, + 14577, + 14580, + 14583, + 14586, + 14589, + 14592, + 14595, + 14598, + 14601, + 14604, + 14607, + 14610, + 14613, + 14616, + 14619, + 14622, + 14625, + 14628, + 14631, + 14634, + 14637, + 14640, + 14643, + 14646, + 14649, + 14652, + 14655, + 14658, + 14661, + 14664, + 14667, + 14670, + 14673, + 14676, + 14679, + 14682, + 14685, + 14688, + 14691, + 14694, + 14697, + 14700, + 14703, + 14706, + 14709, + 14712, + 14715, + 14718, + 14721, + 14724, + 14727, + 14730, + 14733, + 14736, + 14739, + 14742, + 14745, + 14748, + 14751, + 14754, + 14757, + 14760, + 14763, + 14766, + 14769, + 14772, + 14775, + 14778, + 14781, + 14784, + 14787, + 14790, + 14793, + 14796, + 14799, + 14802, + 14805, + 14808, + 14811, + 14814, + 14817, + 14820, + 14823, + 14826, + 14829, + 14832, + 14835, + 14838, + 14841, + 14844, + 14847, + 14850, + 14853, + 14856, + 14859, + 14862, + 14865, + 14868, + 14871, + 14874, + 14877, + 14880, + 14883, + 14886, + 14889, + 14892, + 14895, + 14898, + 14901, + 14904, + 14907, + 14910, + 14913, + 14916, + 14919, + 14922, + 14925, + 14928, + 14931, + 14934, + 14937, + 14940, + 14943, + 14946, + 14949, + 14952, + 14955, + 14958, + 14961, + 14964, + 14967, + 14970, + 14973, + 14976, + 14979, + 14982, + 14985, + 14988, + 14991, + 14994, + 14997, + 15000, + 15003, + 15006, + 15009, + 15012, + 15015, + 15018, + 15021, + 15024, + 15027, + 15030, + 15033, + 15036, + 15039, + 15042, + 15045, + 15048, + 15051, + 15054, + 15057, + 15060, + 15063, + 15066, + 15069, + 15072, + 15075, + 15078, + 15081, + 15084, + 15087, + 15090, + 15093, + 15096, + 15099, + 15102, + 15105, + 15108, + 15111, + 15114, + 15117, + 15120, + 15123, + 15126, + 15129, + 15132, + 15135, + 15138, + 15141, + 15144, + 15147, + 15150, + 15153, + 15156, + 15159, + 15162, + 15165, + 15168, + 15171, + 15174, + 15177, + 15180, + 15183, + 15186, + 15189, + 15192, + 15195, + 15198, + 15201, + 15204, + 15207, + 15210, + 15213, + 15216, + 15219, + 15222, + 15225, + 15228, + 15231, + 15234, + 15237, + 15240, + 15243, + 15246, + 15249, + 15252, + 15255, + 15258, + 15261, + 15264, + 15267, + 15270, + 15273, + 15276, + 15279, + 15282, + 15285, + 15288, + 15291, + 15294, + 15297, + 15300, + 15303, + 15306, + 15309, + 15312, + 15315, + 15318, + 15321, + 15324, + 15327, + 15330, + 15333, + 15336, + 15339, + 15342, + 15345, + 15348, + 15351, + 15354, + 15357, + 15360, + 15363, + 15366, + 15369, + 15372, + 15375, + 15378, + 15381, + 15384, + 15387, + 15390, + 15393, + 15396, + 15399, + 15402, + 15405, + 15408, + 15411, + 15414, + 15417, + 15420, + 15423, + 15426, + 15429, + 15432, + 15435, + 15438, + 15441, + 15444, + 15447, + 15450, + 15453, + 15456, + 15459, + 15462, + 15465, + 15468, + 15471, + 15474, + 15477, + 15480, + 15483, + 15486, + 15489, + 15492, + 15495, + 15498, + 15501, + 15504, + 15507, + 15510, + 15513, + 15516, + 15519, + 15522, + 15525, + 15528, + 15531, + 15534, + 15537, + 15540, + 15543, + 15546, + 15549, + 15552, + 15555, + 15558, + 15561, + 15564, + 15567, + 15570, + 15573, + 15576, + 15579, + 15582, + 15585, + 15588, + 15591, + 15594, + 15597, + 15600, + 15603, + 15606, + 15609, + 15612, + 15615, + 15618, + 15621, + 15624, + 15627, + 15630, + 15633, + 15636, + 15639, + 15642, + 15645, + 15648, + 15651, + 15654, + 15657, + 15660, + 15663, + 15666, + 15669, + 15672, + 15675, + 15678, + 15681, + 15684, + 15687, + 15690, + 15693, + 15696, + 15699, + 15702, + 15705, + 15708, + 15711, + 15714, + 15717, + 15720, + 15723, + 15726, + 15729, + 15732, + 15735, + 15738, + 15741, + 15744, + 15747, + 15750, + 15753, + 15756, + 15759, + 15762, + 15765, + 15768, + 15771, + 15774, + 15777, + 15780, + 15783, + 15786, + 15789, + 15792, + 15795, + 15798, + 15801, + 15804, + 15807, + 15810, + 15813, + 15816, + 15819, + 15822, + 15825, + 15828, + 15831, + 15834, + 15837, + 15840, + 15843, + 15846, + 15849, + 15852, + 15855, + 15858, + 15861, + 15864, + 15867, + 15870, + 15873, + 15876, + 15879, + 15882, + 15885, + 15888, + 15891, + 15894, + 15897, + 15900, + 15903, + 15906, + 15909, + 15912, + 15915, + 15918, + 15921, + 15924, + 15927, + 15930, + 15933, + 15936, + 15939, + 15942, + 15945, + 15948, + 15951, + 15954, + 15957, + 15960, + 15963, + 15966, + 15969, + 15972, + 15975, + 15978, + 15981, + 15984, + 15987, + 15990, + 15993, + 15996, + 15999, + 16002, + 16005, + 16008, + 16011, + 16014, + 16017, + 16020, + 16023, + 16026, + 16029, + 16032, + 16035, + 16038, + 16041, + 16044, + 16047, + 16050, + 16053, + 16056, + 16059, + 16062, + 16065, + 16068, + 16071, + 16074, + 16077, + 16080, + 16083, + 16086, + 16089, + 16092, + 16095, + 16098, + 16101, + 16104, + 16107, + 16110, + 16113, + 16116, + 16119, + 16122, + 16125, + 16128, + 16131, + 16134, + 16137, + 16140, + 16143, + 16146, + 16149, + 16152, + 16155, + 16158, + 16161, + 16164, + 16167, + 16170, + 16173, + 16176, + 16179, + 16182, + 16185, + 16188, + 16191, + 16194, + 16197, + 16200, + 16203, + 16206, + 16209, + 16212, + 16215, + 16218, + 16221, + 16224, + 16227, + 16230, + 16233, + 16236, + 16239, + 16242, + 16245, + 16248, + 16251, + 16254, + 16257, + 16260, + 16263, + 16266, + 16269, + 16272, + 16275, + 16278, + 16281, + 16284, + 16287, + 16290, + 16293, + 16296, + 16299, + 16302, + 16305, + 16308, + 16311, + 16314, + 16317, + 16320, + 16323, + 16326, + 16329, + 16332, + 16335, + 16338, + 16341, + 16344, + 16347, + 16350, + 16353, + 16356, + 16359, + 16362, + 16365, + 16368, + 16371, + 16374, + 16377, + 16380, + 16383, + 16386, + 16389, + 16392, + 16395, + 16398, + 16401, + 16404, + 16407, + 16410, + 16413, + 16416, + 16419, + 16422, + 16425, + 16428, + 16431, + 16434, + 16437, + 16440, + 16443, + 16446, + 16449, + 16452, + 16455, + 16458, + 16461, + 16464, + 16467, + 16470, + 16473, + 16476, + 16479, + 16482, + 16485, + 16488, + 16491, + 16494, + 16497, + 16500, + 16503, + 16506, + 16509, + 16512, + 16515, + 16518, + 16521, + 16524, + 16527, + 16530, + 16533, + 16536, + 16539, + 16542, + 16545, + 16548, + 16551, + 16554, + 16557, + 16560, + 16563, + 16566, + 16569, + 16572, + 16575, + 16578, + 16581, + 16584, + 16587, + 16590, + 16593, + 16596, + 16599, + 16602, + 16605, + 16608, + 16611, + 16614, + 16617, + 16620, + 16623, + 16626, + 16629, + 16632, + 16635, + 16638, + 16641, + 16644, + 16647, + 16650, + 16653, + 16656, + 16659, + 16662, + 16665, + 16668, + 16671, + 16674, + 16677, + 16680, + 16683, + 16686, + 16689, + 16692, + 16695, + 16698, + 16701, + 16704, + 16707, + 16710, + 16713, + 16716, + 16719, + 16722, + 16725, + 16728, + 16731, + 16734, + 16737, + 16740, + 16743, + 16746, + 16749, + 16752, + 16755, + 16758, + 16761, + 16764, + 16767, + 16770, + 16773, + 16776, + 16779, + 16782, + 16785, + 16788, + 16791, + 16794, + 16797, + 16800, + 16803, + 16806, + 16809, + 16812, + 16815, + 16818, + 16821, + 16824, + 16827, + 16830, + 16833, + 16836, + 16839, + 16842, + 16845, + 16848, + 16851, + 16854, + 16857, + 16860, + 16863, + 16866, + 16869, + 16872, + 16875, + 16878, + 16881, + 16884, + 16887, + 16890, + 16893, + 16896, + 16899, + 16902, + 16905, + 16908, + 16911, + 16914, + 16917, + 16920, + 16923, + 16926, + 16929, + 16932, + 16935, + 16938, + 16941, + 16944, + 16947, + 16950, + 16953, + 16956, + 16959, + 16962, + 16965, + 16968, + 16971, + 16974, + 16977, + 16980, + 16983, + 16986, + 16989, + 16992, + 16995, + 16998, + 17001, + 17004, + 17007, + 17010, + 17013, + 17016, + 17019, + 17022, + 17025, + 17028, + 17031, + 17034, + 17037, + 17040, + 17043, + 17046, + 17049, + 17052, + 17055, + 17058, + 17061, + 17064, + 17067, + 17070, + 17073, + 17076, + 17079, + 17082, + 17085, + 17088, + 17091, + 17094, + 17097, + 17100, + 17103, + 17106, + 17109, + 17112, + 17115, + 17118, + 17121, + 17124, + 17127, + 17130, + 17133, + 17136, + 17139, + 17142, + 17145, + 17148, + 17151, + 17154, + 17157, + 17160, + 17163, + 17166, + 17169, + 17172, + 17175, + 17178, + 17181, + 17184, + 17187, + 17190, + 17193, + 17196, + 17199, + 17202, + 17205, + 17208, + 17211, + 17214, + 17217, + 17220, + 17223, + 17226, + 17229, + 17232, + 17235, + 17238, + 17241, + 17244, + 17247, + 17250, + 17253, + 17256, + 17259, + 17262, + 17265, + 17268, + 17271, + 17274, + 17277, + 17280, + 17283, + 17286, + 17289, + 17292, + 17295, + 17298, + 17301, + 17304, + 17307, + 17310, + 17313, + 17316, + 17319, + 17322, + 17325, + 17328, + 17331, + 17334, + 17337, + 17340, + 17343, + 17346, + 17349, + 17352, + 17355, + 17358, + 17361, + 17364, + 17367, + 17370, + 17373, + 17376, + 17379, + 17382, + 17385, + 17388, + 17391, + 17394, + 17397, + 17400, + 17403, + 17406, + 17409, + 17412, + 17415, + 17418, + 17421, + 17424, + 17427, + 17430, + 17433, + 17436, + 17439, + 17442, + 17445, + 17448, + 17451, + 17454, + 17457, + 17460, + 17463, + 17466, + 17469, + 17472, + 17475, + 17478, + 17481, + 17484, + 17487, + 17490, + 17493, + 17496, + 17499, + 17502, + 17505, + 17508, + 17511, + 17514, + 17517, + 17520, + 17523, + 17526, + 17529, + 17532, + 17535, + 17538, + 17541, + 17544, + 17547, + 17550, + 17553, + 17556, + 17559, + 17562, + 17565, + 17568, + 17571, + 17574, + 17577, + 17580, + 17583, + 17586, + 17589, + 17592, + 17595, + 17598, + 17601, + 17604, + 17607, + 17610, + 17613, + 17616, + 17619, + 17622, + 17625, + 17628, + 17631, + 17634, + 17637, + 17640, + 17643, + 17646, + 17649, + 17652, + 17655, + 17658, + 17661, + 17664, + 17667, + 17670, + 17673, + 17676, + 17679, + 17682, + 17685, + 17688, + 17691, + 17694, + 17697, + 17700, + 17703, + 17706, + 17709, + 17712, + 17715, + 17718, + 17721, + 17724, + 17727, + 17730, + 17733, + 17736, + 17739, + 17742, + 17745, + 17748, + 17751, + 17754, + 17757, + 17760, + 17763, + 17766, + 17769, + 17772, + 17775, + 17778, + 17781, + 17784, + 17787, + 17790, + 17793, + 17796, + 17799, + 17802, + 17805, + 17808, + 17811, + 17814, + 17817, + 17820, + 17823, + 17826, + 17829, + 17832, + 17835, + 17838, + 17841, + 17844, + 17847, + 17850, + 17853, + 17856, + 17859, + 17862, + 17865, + 17868, + 17871, + 17874, + 17877, + 17880, + 17883, + 17886, + 17889, + 17892, + 17895, + 17898, + 17901, + 17904, + 17907, + 17910, + 17913, + 17916, + 17919, + 17922, + 17925, + 17928, + 17931, + 17934, + 17937, + 17940, + 17943, + 17946, + 17949, + 17952, + 17955, + 17958, + 17961, + 17964, + 17967, + 17970, + 17973, + 17976, + 17979, + 17982, + 17985, + 17988, + 17991, + 17994, + 17997, + 18000, + 18003, + 18006, + 18009, + 18012, + 18015, + 18018, + 18021, + 18024, + 18027, + 18030, + 18033, + 18036, + 18039, + 18042, + 18045, + 18048, + 18051, + 18054, + 18057, + 18060, + 18063, + 18066, + 18069, + 18072, + 18075, + 18078, + 18081, + 18084, + 18087, + 18090, + 18093, + 18096, + 18099, + 18102, + 18105, + 18108, + 18111, + 18114, + 18117, + 18120, + 18123, + 18126, + 18129, + 18132, + 18135, + 18138, + 18141, + 18144, + 18147, + 18150, + 18153, + 18156, + 18159, + 18162, + 18165, + 18168, + 18171, + 18174, + 18177, + 18180, + 18183, + 18186, + 18189, + 18192, + 18195, + 18198, + 18201, + 18204, + 18207, + 18210, + 18213, + 18216, + 18219, + 18222, + 18225, + 18228, + 18231, + 18234, + 18237, + 18240, + 18243, + 18246, + 18249, + 18252, + 18255, + 18258, + 18261, + 18264, + 18267, + 18270, + 18273, + 18276, + 18279, + 18282, + 18285, + 18288, + 18291, + 18294, + 18297, + 18300, + 18303, + 18306, + 18309, + 18312, + 18315, + 18318, + 18321, + 18324, + 18327, + 18330, + 18333, + 18336, + 18339, + 18342, + 18345, + 18348, + 18351, + 18354, + 18357, + 18360, + 18363, + 18366, + 18369, + 18372, + 18375, + 18378, + 18381, + 18384, + 18387, + 18390, + 18393, + 18396, + 18399, + 18402, + 18405, + 18408, + 18411, + 18414, + 18417, + 18420, + 18423, + 18426, + 18429, + 18432, + 18435, + 18438, + 18441, + 18444, + 18447, + 18450, + 18453, + 18456, + 18459, + 18462, + 18465, + 18468, + 18471, + 18474, + 18477, + 18480, + 18483, + 18486, + 18489, + 18492, + 18495, + 18498, + 18501, + 18504, + 18507, + 18510, + 18513, + 18516, + 18519, + 18522, + 18525, + 18528, + 18531, + 18534, + 18537, + 18540, + 18543, + 18546, + 18549, + 18552, + 18555, + 18558, + 18561, + 18564, + 18567, + 18570, + 18573, + 18576, + 18579, + 18582, + 18585, + 18588, + 18591, + 18594, + 18597, + 18600, + 18603, + 18606, + 18609, + 18612, + 18615, + 18618, + 18621, + 18624, + 18627, + 18630, + 18633, + 18636, + 18639, + 18642, + 18645, + 18648, + 18651, + 18654, + 18657, + 18660, + 18663, + 18666, + 18669, + 18672, + 18675, + 18678, + 18681, + 18684, + 18687, + 18690, + 18693, + 18696, + 18699, + 18702, + 18705, + 18708, + 18711, + 18714, + 18717, + 18720, + 18723, + 18726, + 18729, + 18732, + 18735, + 18738, + 18741, + 18744, + 18747, + 18750, + 18753, + 18756, + 18759, + 18762, + 18765, + 18768, + 18771, + 18774, + 18777, + 18780, + 18783, + 18786, + 18789, + 18792, + 18795, + 18798, + 18801, + 18804, + 18807, + 18810, + 18813, + 18816, + 18819, + 18822, + 18825, + 18828, + 18831, + 18834, + 18837, + 18840, + 18843, + 18846, + 18849, + 18852, + 18855, + 18858, + 18861, + 18864, + 18867, + 18870, + 18873, + 18876, + 18879, + 18882, + 18885, + 18888, + 18891, + 18894, + 18897, + 18900, + 18903, + 18906, + 18909, + 18912, + 18915, + 18918, + 18921, + 18924, + 18927, + 18930, + 18933, + 18936, + 18939, + 18942, + 18945, + 18948, + 18951, + 18954, + 18957, + 18960, + 18963, + 18966, + 18969, + 18972, + 18975, + 18978, + 18981, + 18984, + 18987, + 18990, + 18993, + 18996, + 18999, + 19002, + 19005, + 19008, + 19011, + 19014, + 19017, + 19020, + 19023, + 19026, + 19029, + 19032, + 19035, + 19038, + 19041, + 19044, + 19047, + 19050, + 19053, + 19056, + 19059, + 19062, + 19065, + 19068, + 19071, + 19074, + 19077, + 19080, + 19083, + 19086, + 19089, + 19092, + 19095, + 19098, + 19101, + 19104, + 19107, + 19110, + 19113, + 19116, + 19119, + 19122, + 19125, + 19128, + 19131, + 19134, + 19137, + 19140, + 19143, + 19146, + 19149, + 19152, + 19155, + 19158, + 19161, + 19164, + 19167, + 19170, + 19173, + 19176, + 19179, + 19182, + 19185, + 19188, + 19191, + 19194, + 19197, + 19200, + 19203, + 19206, + 19209, + 19212, + 19215, + 19218, + 19221, + 19224, + 19227, + 19230, + 19233, + 19236, + 19239, + 19242, + 19245, + 19248, + 19251, + 19254, + 19257, + 19260, + 19263, + 19266, + 19269, + 19272, + 19275, + 19278, + 19281, + 19284, + 19287, + 19290, + 19293, + 19296, + 19299, + 19302, + 19305, + 19308, + 19311, + 19314, + 19317, + 19320, + 19323, + 19326, + 19329, + 19332, + 19335, + 19338, + 19341, + 19344, + 19347, + 19350, + 19353, + 19356, + 19359, + 19362, + 19365, + 19368, + 19371, + 19374, + 19377, + 19380, + 19383, + 19386, + 19389, + 19392, + 19395, + 19398, + 19401, + 19404, + 19407, + 19410, + 19413, + 19416, + 19419, + 19422, + 19425, + 19428, + 19431, + 19434, + 19437, + 19440, + 19443, + 19446, + 19449, + 19452, + 19455, + 19458, + 19461, + 19464, + 19467, + 19470, + 19473, + 19476, + 19479, + 19482, + 19485, + 19488, + 19491, + 19494, + 19497, + 19500, + 19503, + 19506, + 19509, + 19512, + 19515, + 19518, + 19521, + 19524, + 19527, + 19530, + 19533, + 19536, + 19539, + 19542, + 19545, + 19548, + 19551, + 19554, + 19557, + 19560, + 19563, + 19566, + 19569, + 19572, + 19575, + 19578, + 19581, + 19584, + 19587, + 19590, + 19593, + 19596, + 19599, + 19602, + 19605, + 19608, + 19611, + 19614, + 19617, + 19620, + 19623, + 19626, + 19629, + 19632, + 19635, + 19638, + 19641, + 19644, + 19647, + 19650, + 19653, + 19656, + 19659, + 19662, + 19665, + 19668, + 19671, + 19674, + 19677, + 19680, + 19683, + 19686, + 19689, + 19692, + 19695, + 19698, + 19701, + 19704, + 19707, + 19710, + 19713, + 19716, + 19719, + 19722, + 19725, + 19728, + 19731, + 19734, + 19737, + 19740, + 19743, + 19746, + 19749, + 19752, + 19755, + 19758, + 19761, + 19764, + 19767, + 19770, + 19773, + 19776, + 19779, + 19782, + 19785, + 19788, + 19791, + 19794, + 19797, + 19800, + 19803, + 19806, + 19809, + 19812, + 19815, + 19818, + 19821, + 19824, + 19827, + 19830, + 19833, + 19836, + 19839, + 19842, + 19845, + 19848, + 19851, + 19854, + 19857, + 19860, + 19863, + 19866, + 19869, + 19872, + 19875, + 19878, + 19881, + 19884, + 19887, + 19890, + 19893, + 19896, + 19899, + 19902, + 19905, + 19908, + 19911, + 19914, + 19917, + 19920, + 19923, + 19926, + 19929, + 19932, + 19935, + 19938, + 19941, + 19944, + 19947, + 19950, + 19953, + 19956, + 19959, + 19962, + 19965, + 19968, + 19971, + 19974, + 19977, + 19980, + 19983, + 19986, + 19989, + 19992, + 19995, + 19998, + 20001, + 20004, + 20007, + 20010, + 20013, + 20016, + 20019, + 20022, + 20025, + 20028, + 20031, + 20034, + 20037, + 20040, + 20043, + 20046, + 20049, + 20052, + 20055, + 20058, + 20061, + 20064, + 20067, + 20070, + 20073, + 20076, + 20079, + 20082, + 20085, + 20088, + 20091, + 20094, + 20097, + 20100, + 20103, + 20106, + 20109, + 20112, + 20115, + 20118, + 20121, + 20124, + 20127, + 20130, + 20133, + 20136, + 20139, + 20142, + 20145, + 20148, + 20151, + 20154, + 20157, + 20160, + 20163, + 20166, + 20169, + 20172, + 20175, + 20178, + 20181, + 20184, + 20187, + 20190, + 20193, + 20196, + 20199, + 20202, + 20205, + 20208, + 20211, + 20214, + 20217, + 20220, + 20223, + 20226, + 20229, + 20232, + 20235, + 20238, + 20241, + 20244, + 20247, + 20250, + 20253, + 20256, + 20259, + 20262, + 20265, + 20268, + 20271, + 20274, + 20277, + 20280, + 20283, + 20286, + 20289, + 20292, + 20295, + 20298, + 20301, + 20304, + 20307, + 20310, + 20313, + 20316, + 20319, + 20322, + 20325, + 20328, + 20331, + 20334, + 20337, + 20340, + 20343, + 20346, + 20349, + 20352, + 20355, + 20358, + 20361, + 20364, + 20367, + 20370, + 20373, + 20376, + 20379, + 20382, + 20385, + 20388, + 20391, + 20394, + 20397, + 20400, + 20403, + 20406, + 20409, + 20412, + 20415, + 20418, + 20421, + 20424, + 20427, + 20430, + 20433, + 20436, + 20439, + 20442, + 20445, + 20448, + 20451, + 20454, + 20457, + 20460, + 20463, + 20466, + 20469, + 20472, + 20475, + 20478, + 20481, + 20484, + 20487, + 20490, + 20493, + 20496, + 20499, + 20502, + 20505, + 20508, + 20511, + 20514, + 20517, + 20520, + 20523, + 20526, + 20529, + 20532, + 20535, + 20538, + 20541, + 20544, + 20547, + 20550, + 20553, + 20556, + 20559, + 20562, + 20565, + 20568, + 20571, + 20574, + 20577, + 20580, + 20583, + 20586, + 20589, + 20592, + 20595, + 20598, + 20601, + 20604, + 20607, + 20610, + 20613, + 20616, + 20619, + 20622, + 20625, + 20628, + 20631, + 20634, + 20637, + 20640, + 20643, + 20646, + 20649, + 20652, + 20655, + 20658, + 20661, + 20664, + 20667, + 20670, + 20673, + 20676, + 20679, + 20682, + 20685, + 20688, + 20691, + 20694, + 20697, + 20700, + 20703, + 20706, + 20709, + 20712, + 20715, + 20718, + 20721, + 20724, + 20727, + 20730, + 20733, + 20736, + 20739, + 20742, + 20745, + 20748, + 20751, + 20754, + 20757, + 20760, + 20763, + 20766, + 20769, + 20772, + 20775, + 20778, + 20781, + 20784, + 20787, + 20790, + 20793, + 20796, + 20799, + 20802, + 20805, + 20808, + 20811, + 20814, + 20817, + 20820, + 20823, + 20826, + 20829, + 20832, + 20835, + 20838, + 20841, + 20844, + 20847, + 20850, + 20853, + 20856, + 20859, + 20862, + 20865, + 20868, + 20871, + 20874, + 20877, + 20880, + 20883, + 20886, + 20889, + 20892, + 20895, + 20898, + 20901, + 20904, + 20907, + 20910, + 20913, + 20916, + 20919, + 20922, + 20925, + 20928, + 20931, + 20934, + 20937, + 20940, + 20943, + 20946, + 20949, + 20952, + 20955, + 20958, + 20961, + 20964, + 20967, + 20970, + 20973, + 20976, + 20979, + 20982, + 20985, + 20988, + 20991, + 20994, + 20997, + 21000, + 21003, + 21006, + 21009, + 21012, + 21015, + 21018, + 21021, + 21024, + 21027, + 21030, + 21033, + 21036, + 21039, + 21042, + 21045, + 21048, + 21051, + 21054, + 21057, + 21060, + 21063, + 21066, + 21069, + 21072, + 21075, + 21078, + 21081, + 21084, + 21087, + 21090, + 21093, + 21096, + 21099, + 21102, + 21105, + 21108, + 21111, + 21114, + 21117, + 21120, + 21123, + 21126, + 21129, + 21132, + 21135, + 21138, + 21141, + 21144, + 21147, + 21150, + 21153, + 21156, + 21159, + 21162, + 21165, + 21168, + 21171, + 21174, + 21177, + 21180, + 21183, + 21186, + 21189, + 21192, + 21195, + 21198, + 21201, + 21204, + 21207, + 21210, + 21213, + 21216, + 21219, + 21222, + 21225, + 21228, + 21231, + 21234, + 21237, + 21240, + 21243, + 21246, + 21249, + 21252, + 21255, + 21258, + 21261, + 21264, + 21267, + 21270, + 21273, + 21276, + 21279, + 21282, + 21285, + 21288, + 21291, + 21294, + 21297, + 21300, + 21303, + 21306, + 21309, + 21312, + 21315, + 21318, + 21321, + 21324, + 21327, + 21330, + 21333, + 21336, + 21339, + 21342, + 21345, + 21348, + 21351, + 21354, + 21357, + 21360, + 21363, + 21366, + 21369, + 21372, + 21375, + 21378, + 21381, + 21384, + 21387, + 21390, + 21393, + 21396, + 21399, + 21402, + 21405, + 21408, + 21411, + 21414, + 21417, + 21420, + 21423, + 21426, + 21429, + 21432, + 21435, + 21438, + 21441, + 21444, + 21447, + 21450, + 21453, + 21456, + 21459, + 21462, + 21465, + 21468, + 21471, + 21474, + 21477, + 21480, + 21483, + 21486, + 21489, + 21492, + 21495, + 21498, + 21501, + 21504, + 21507, + 21510, + 21513, + 21516, + 21519, + 21522, + 21525, + 21528, + 21531, + 21534, + 21537, + 21540, + 21543, + 21546, + 21549, + 21552, + 21555, + 21558, + 21561, + 21564, + 21567, + 21570, + 21573, + 21576, + 21579, + 21582, + 21585, + 21588, + 21591, + 21594, + 21597, + 21600, + 21603, + 21606, + 21609, + 21612, + 21615, + 21618, + 21621, + 21624, + 21627, + 21630, + 21633, + 21636, + 21639, + 21642, + 21645, + 21648, + 21651, + 21654, + 21657, + 21660, + 21663, + 21666, + 21669, + 21672, + 21675, + 21678, + 21681, + 21684, + 21687, + 21690, + 21693, + 21696, + 21699, + 21702, + 21705, + 21708, + 21711, + 21714, + 21717, + 21720, + 21723, + 21726, + 21729, + 21732, + 21735, + 21738, + 21741, + 21744, + 21747, + 21750, + 21753, + 21756, + 21759, + 21762, + 21765, + 21768, + 21771, + 21774, + 21777, + 21780, + 21783, + 21786, + 21789, + 21792, + 21795, + 21798, + 21801, + 21804, + 21807, + 21810, + 21813, + 21816, + 21819, + 21822, + 21825, + 21828, + 21831, + 21834, + 21837, + 21840, + 21843, + 21846, + 21849, + 21852, + 21855, + 21858, + 21861, + 21864, + 21867, + 21870, + 21873, + 21876, + 21879, + 21882, + 21885, + 21888, + 21891, + 21894, + 21897, + 21900, + 21903, + 21906, + 21909, + 21912, + 21915, + 21918, + 21921, + 21924, + 21927, + 21930, + 21933, + 21936, + 21939, + 21942, + 21945, + 21948, + 21951, + 21954, + 21957, + 21960, + 21963, + 21966, + 21969, + 21972, + 21975, + 21978, + 21981, + 21984, + 21987, + 21990, + 21993, + 21996, + 21999, + 22002, + 22005, + 22008, + 22011, + 22014, + 22017, + 22020, + 22023, + 22026, + 22029, + 22032, + 22035, + 22038, + 22041, + 22044, + 22047, + 22050, + 22053, + 22056, + 22059, + 22062, + 22065, + 22068, + 22071, + 22074, + 22077, + 22080, + 22083, + 22086, + 22089, + 22092, + 22095, + 22098, + 22101, + 22104, + 22107, + 22110, + 22113, + 22116, + 22119, + 22122, + 22125, + 22128, + 22131, + 22134, + 22137, + 22140, + 22143, + 22146, + 22149, + 22152, + 22155, + 22158, + 22161, + 22164, + 22167, + 22170, + 22173, + 22176, + 22179, + 22182, + 22185, + 22188, + 22191, + 22194, + 22197, + 22200, + 22203, + 22206, + 22209, + 22212, + 22215, + 22218, + 22221, + 22224, + 22227, + 22230, + 22233, + 22236, + 22239, + 22242, + 22245, + 22248, + 22251, + 22254, + 22257, + 22260, + 22263, + 22266, + 22269, + 22272, + 22275, + 22278, + 22281, + 22284, + 22287, + 22290, + 22293, + 22296, + 22299, + 22302, + 22305, + 22308, + 22311, + 22314, + 22317, + 22320, + 22323, + 22326, + 22329, + 22332, + 22335, + 22338, + 22341, + 22344, + 22347, + 22350, + 22353, + 22356, + 22359, + 22362, + 22365, + 22368, + 22371, + 22374, + 22377, + 22380, + 22383, + 22386, + 22389, + 22392, + 22395, + 22398, + 22401, + 22404, + 22407, + 22410, + 22413, + 22416, + 22419, + 22422, + 22425, + 22428, + 22431, + 22434, + 22437, + 22440, + 22443, + 22446, + 22449, + 22452, + 22455, + 22458, + 22461, + 22464, + 22467, + 22470, + 22473, + 22476, + 22479, + 22482, + 22485, + 22488, + 22491, + 22494, + 22497, + 22500, + 22503, + 22506, + 22509, + 22512, + 22515, + 22518, + 22521, + 22524, + 22527, + 22530, + 22533, + 22536, + 22539, + 22542, + 22545, + 22548, + 22551, + 22554, + 22557, + 22560, + 22563, + 22566, + 22569, + 22572, + 22575, + 22578, + 22581, + 22584, + 22587, + 22590, + 22593, + 22596, + 22599, + 22602, + 22605, + 22608, + 22611, + 22614, + 22617, + 22620, + 22623, + 22626, + 22629, + 22632, + 22635, + 22638, + 22641, + 22644, + 22647, + 22650, + 22653, + 22656, + 22659, + 22662, + 22665, + 22668, + 22671, + 22674, + 22677, + 22680, + 22683, + 22686, + 22689, + 22692, + 22695, + 22698, + 22701, + 22704, + 22707, + 22710, + 22713, + 22716, + 22719, + 22722, + 22725, + 22728, + 22731, + 22734, + 22737, + 22740, + 22743, + 22746, + 22749, + 22752, + 22755, + 22758, + 22761, + 22764, + 22767, + 22770, + 22773, + 22776, + 22779, + 22782, + 22785, + 22788, + 22791, + 22794, + 22797, + 22800, + 22803, + 22806, + 22809, + 22812, + 22815, + 22818, + 22821, + 22824, + 22827, + 22830, + 22833, + 22836, + 22839, + 22842, + 22845, + 22848, + 22851, + 22854, + 22857, + 22860, + 22863, + 22866, + 22869, + 22872, + 22875, + 22878, + 22881, + 22884, + 22887, + 22890, + 22893, + 22896, + 22899, + 22902, + 22905, + 22908, + 22911, + 22914, + 22917, + 22920, + 22923, + 22926, + 22929, + 22932, + 22935, + 22938, + 22941, + 22944, + 22947, + 22950, + 22953, + 22956, + 22959, + 22962, + 22965, + 22968, + 22971, + 22974, + 22977, + 22980, + 22983, + 22986, + 22989, + 22992, + 22995, + 22998, + 23001, + 23004, + 23007, + 23010, + 23013, + 23016, + 23019, + 23022, + 23025, + 23028, + 23031, + 23034, + 23037, + 23040, + 23043, + 23046, + 23049, + 23052, + 23055, + 23058, + 23061, + 23064, + 23067, + 23070, + 23073, + 23076, + 23079, + 23082, + 23085, + 23088, + 23091, + 23094, + 23097, + 23100, + 23103, + 23106, + 23109, + 23112, + 23115, + 23118, + 23121, + 23124, + 23127, + 23130, + 23133, + 23136, + 23139, + 23142, + 23145, + 23148, + 23151, + 23154, + 23157, + 23160, + 23163, + 23166, + 23169, + 23172, + 23175, + 23178, + 23181, + 23184, + 23187, + 23190, + 23193, + 23196, + 23199, + 23202, + 23205, + 23208, + 23211, + 23214, + 23217, + 23220, + 23223, + 23226, + 23229, + 23232, + 23235, + 23238, + 23241, + 23244, + 23247, + 23250, + 23253, + 23256, + 23259, + 23262, + 23265, + 23268, + 23271, + 23274, + 23277, + 23280, + 23283, + 23286, + 23289, + 23292, + 23295, + 23298, + 23301, + 23304, + 23307, + 23310, + 23313, + 23316, + 23319, + 23322, + 23325, + 23328, + 23331, + 23334, + 23337, + 23340, + 23343, + 23346, + 23349, + 23352, + 23355, + 23358, + 23361, + 23364, + 23367, + 23370, + 23373, + 23376, + 23379, + 23382, + 23385, + 23388, + 23391, + 23394, + 23397, + 23400, + 23403, + 23406, + 23409, + 23412, + 23415, + 23418, + 23421, + 23424, + 23427, + 23430, + 23433, + 23436, + 23439, + 23442, + 23445, + 23448, + 23451, + 23454, + 23457, + 23460, + 23463, + 23466, + 23469, + 23472, + 23475, + 23478, + 23481, + 23484, + 23487, + 23490, + 23493, + 23496, + 23499, + 23502, + 23505, + 23508, + 23511, + 23514, + 23517, + 23520, + 23523, + 23526, + 23529, + 23532, + 23535, + 23538, + 23541, + 23544, + 23547, + 23550, + 23553, + 23556, + 23559, + 23562, + 23565, + 23568, + 23571, + 23574, + 23577, + 23580, + 23583, + 23586, + 23589, + 23592, + 23595, + 23598, + 23601, + 23604, + 23607, + 23610, + 23613, + 23616, + 23619, + 23622, + 23625, + 23628, + 23631, + 23634, + 23637, + 23640, + 23643, + 23646, + 23649, + 23652, + 23655, + 23658, + 23661, + 23664, + 23667, + 23670, + 23673, + 23676, + 23679, + 23682, + 23685, + 23688, + 23691, + 23694, + 23697, + 23700, + 23703, + 23706, + 23709, + 23712, + 23715, + 23718, + 23721, + 23724, + 23727, + 23730, + 23733, + 23736, + 23739, + 23742, + 23745, + 23748, + 23751, + 23754, + 23757, + 23760, + 23763, + 23766, + 23769, + 23772, + 23775, + 23778, + 23781, + 23784, + 23787, + 23790, + 23793, + 23796, + 23799, + 23802, + 23805, + 23808, + 23811, + 23814, + 23817, + 23820, + 23823, + 23826, + 23829, + 23832, + 23835, + 23838, + 23841, + 23844, + 23847, + 23850, + 23853, + 23856, + 23859, + 23862, + 23865, + 23868, + 23871, + 23874, + 23877, + 23880, + 23883, + 23886, + 23889, + 23892, + 23895, + 23898, + 23901, + 23904, + 23907, + 23910, + 23913, + 23916, + 23919, + 23922, + 23925, + 23928, + 23931, + 23934, + 23937, + 23940, + 23943, + 23946, + 23949, + 23952, + 23955, + 23958, + 23961, + 23964, + 23967, + 23970, + 23973, + 23976, + 23979, + 23982, + 23985, + 23988, + 23991, + 23994, + 23997, + 24000, + 24003, + 24006, + 24009, + 24012, + 24015, + 24018, + 24021, + 24024, + 24027, + 24030, + 24033, + 24036, + 24039, + 24042, + 24045, + 24048, + 24051, + 24054, + 24057, + 24060, + 24063, + 24066, + 24069, + 24072, + 24075, + 24078, + 24081, + 24084, + 24087, + 24090, + 24093, + 24096, + 24099, + 24102, + 24105, + 24108, + 24111, + 24114, + 24117, + 24120, + 24123, + 24126, + 24129, + 24132, + 24135, + 24138, + 24141, + 24144, + 24147, + 24150, + 24153, + 24156, + 24159, + 24162, + 24165, + 24168, + 24171, + 24174, + 24177, + 24180, + 24183, + 24186, + 24189, + 24192, + 24195, + 24198, + 24201, + 24204, + 24207, + 24210, + 24213, + 24216, + 24219, + 24222, + 24225, + 24228, + 24231, + 24234, + 24237, + 24240, + 24243, + 24246, + 24249, + 24252, + 24255, + 24258, + 24261, + 24264, + 24267, + 24270, + 24273, + 24276, + 24279, + 24282, + 24285, + 24288, + 24291, + 24294, + 24297, + 24300, + 24303, + 24306, + 24309, + 24312, + 24315, + 24318, + 24321, + 24324, + 24327, + 24330, + 24333, + 24336, + 24339, + 24342, + 24345, + 24348, + 24351, + 24354, + 24357, + 24360, + 24363, + 24366, + 24369, + 24372, + 24375, + 24378, + 24381, + 24384, + 24387, + 24390, + 24393, + 24396, + 24399, + 24402, + 24405, + 24408, + 24411, + 24414, + 24417, + 24420, + 24423, + 24426, + 24429, + 24432, + 24435, + 24438, + 24441, + 24444, + 24447, + 24450, + 24453, + 24456, + 24459, + 24462, + 24465, + 24468, + 24471, + 24474, + 24477, + 24480, + 24483, + 24486, + 24489, + 24492, + 24495, + 24498, + 24501, + 24504, + 24507, + 24510, + 24513, + 24516, + 24519, + 24522, + 24525, + 24528, + 24531, + 24534, + 24537, + 24540, + 24543, + 24546, + 24549, + 24552, + 24555, + 24558, + 24561, + 24564, + 24567, + 24570, + 24573, + 24576, + 24579, + 24582, + 24585, + 24588, + 24591, + 24594, + 24597, + 24600, + 24603, + 24606, + 24609, + 24612, + 24615, + 24618, + 24621, + 24624, + 24627, + 24630, + 24633, + 24636, + 24639, + 24642, + 24645, + 24648, + 24651, + 24654, + 24657, + 24660, + 24663, + 24666, + 24669, + 24672, + 24675, + 24678, + 24681, + 24684, + 24687, + 24690, + 24693, + 24696, + 24699, + 24702, + 24705, + 24708, + 24711, + 24714, + 24717, + 24720, + 24723, + 24726, + 24729, + 24732, + 24735, + 24738, + 24741, + 24744, + 24747, + 24750, + 24753, + 24756, + 24759, + 24762, + 24765, + 24768, + 24771, + 24774, + 24777, + 24780, + 24783, + 24786, + 24789, + 24792, + 24795, + 24798, + 24801, + 24804, + 24807, + 24810, + 24813, + 24816, + 24819, + 24822, + 24825, + 24828, + 24831, + 24834, + 24837, + 24840, + 24843, + 24846, + 24849, + 24852, + 24855, + 24858, + 24861, + 24864, + 24867, + 24870, + 24873, + 24876, + 24879, + 24882, + 24885, + 24888, + 24891, + 24894, + 24897, + 24900, + 24903, + 24906, + 24909, + 24912, + 24915, + 24918, + 24921, + 24924, + 24927, + 24930, + 24933, + 24936, + 24939, + 24942, + 24945, + 24948, + 24951, + 24954, + 24957, + 24960, + 24963, + 24966, + 24969, + 24972, + 24975, + 24978, + 24981, + 24984, + 24987, + 24990, + 24993, + 24996, + 24999, + 25002, + 25005, + 25008, + 25011, + 25014, + 25017, + 25020, + 25023, + 25026, + 25029, + 25032, + 25035, + 25038, + 25041, + 25044, + 25047, + 25050, + 25053, + 25056, + 25059, + 25062, + 25065, + 25068, + 25071, + 25074, + 25077, + 25080, + 25083, + 25086, + 25089, + 25092, + 25095, + 25098, + 25101, + 25104, + 25107, + 25110, + 25113, + 25116, + 25119, + 25122, + 25125, + 25128, + 25131, + 25134, + 25137, + 25140, + 25143, + 25146, + 25149, + 25152, + 25155, + 25158, + 25161, + 25164, + 25167, + 25170, + 25173, + 25176, + 25179, + 25182, + 25185, + 25188, + 25191, + 25194, + 25197, + 25200, + 25203, + 25206, + 25209, + 25212, + 25215, + 25218, + 25221, + 25224, + 25227, + 25230, + 25233, + 25236, + 25239, + 25242, + 25245, + 25248, + 25251, + 25254, + 25257, + 25260, + 25263, + 25266, + 25269, + 25272, + 25275, + 25278, + 25281, + 25284, + 25287, + 25290, + 25293, + 25296, + 25299, + 25302, + 25305, + 25308, + 25311, + 25314, + 25317, + 25320, + 25323, + 25326, + 25329, + 25332, + 25335, + 25338, + 25341, + 25344, + 25347, + 25350, + 25353, + 25356, + 25359, + 25362, + 25365, + 25368, + 25371, + 25374, + 25377, + 25380, + 25383, + 25386, + 25389, + 25392, + 25395, + 25398, + 25401, + 25404, + 25407, + 25410, + 25413, + 25416, + 25419, + 25422, + 25425, + 25428, + 25431, + 25434, + 25437, + 25440, + 25443, + 25446, + 25449, + 25452, + 25455, + 25458, + 25461, + 25464, + 25467, + 25470, + 25473, + 25476, + 25479, + 25482, + 25485, + 25488, + 25491, + 25494, + 25497, + 25500, + 25503, + 25506, + 25509, + 25512, + 25515, + 25518, + 25521, + 25524, + 25527, + 25530, + 25533, + 25536, + 25539, + 25542, + 25545, + 25548, + 25551, + 25554, + 25557, + 25560, + 25563, + 25566, + 25569, + 25572, + 25575, + 25578, + 25581, + 25584, + 25587, + 25590, + 25593, + 25596, + 25599, + 25602, + 25605, + 25608, + 25611, + 25614, + 25617, + 25620, + 25623, + 25626, + 25629, + 25632, + 25635, + 25638, + 25641, + 25644, + 25647, + 25650, + 25653, + 25656, + 25659, + 25662, + 25665, + 25668, + 25671, + 25674, + 25677, + 25680, + 25683, + 25686, + 25689, + 25692, + 25695, + 25698, + 25701, + 25704, + 25707, + 25710, + 25713, + 25716, + 25719, + 25722, + 25725, + 25728, + 25731, + 25734, + 25737, + 25740, + 25743, + 25746, + 25749, + 25752, + 25755, + 25758, + 25761, + 25764, + 25767, + 25770, + 25773, + 25776, + 25779, + 25782, + 25785, + 25788, + 25791, + 25794, + 25797, + 25800, + 25803, + 25806, + 25809, + 25812, + 25815, + 25818, + 25821, + 25824, + 25827, + 25830, + 25833, + 25836, + 25839, + 25842, + 25845, + 25848, + 25851, + 25854, + 25857, + 25860, + 25863, + 25866, + 25869, + 25872, + 25875, + 25878, + 25881, + 25884, + 25887, + 25890, + 25893, + 25896, + 25899, + 25902, + 25905, + 25908, + 25911, + 25914, + 25917, + 25920, + 25923, + 25926, + 25929, + 25932, + 25935, + 25938, + 25941, + 25944, + 25947, + 25950, + 25953, + 25956, + 25959, + 25962, + 25965, + 25968, + 25971, + 25974, + 25977, + 25980, + 25983, + 25986, + 25989, + 25992, + 25995, + 25998, + 26001, + 26004, + 26007, + 26010, + 26013, + 26016, + 26019, + 26022, + 26025, + 26028, + 26031, + 26034, + 26037, + 26040, + 26043, + 26046, + 26049, + 26052, + 26055, + 26058, + 26061, + 26064, + 26067, + 26070, + 26073, + 26076, + 26079, + 26082, + 26085, + 26088, + 26091, + 26094, + 26097, + 26100, + 26103, + 26106, + 26109, + 26112, + 26115, + 26118, + 26121, + 26124, + 26127, + 26130, + 26133, + 26136, + 26139, + 26142, + 26145, + 26148, + 26151, + 26154, + 26157, + 26160, + 26163, + 26166, + 26169, + 26172, + 26175, + 26178, + 26181, + 26184, + 26187, + 26190, + 26193, + 26196, + 26199, + 26202, + 26205, + 26208, + 26211, + 26214, + 26217, + 26220, + 26223, + 26226, + 26229, + 26232, + 26235, + 26238, + 26241, + 26244, + 26247, + 26250, + 26253, + 26256, + 26259, + 26262, + 26265, + 26268, + 26271, + 26274, + 26277, + 26280, + 26283, + 26286, + 26289, + 26292, + 26295, + 26298, + 26301, + 26304, + 26307, + 26310, + 26313, + 26316, + 26319, + 26322, + 26325, + 26328, + 26331, + 26334, + 26337, + 26340, + 26343, + 26346, + 26349, + 26352, + 26355, + 26358, + 26361, + 26364, + 26367, + 26370, + 26373, + 26376, + 26379, + 26382, + 26385, + 26388, + 26391, + 26394, + 26397, + 26400, + 26403, + 26406, + 26409, + 26412, + 26415, + 26418, + 26421, + 26424, + 26427, + 26430, + 26433, + 26436, + 26439, + 26442, + 26445, + 26448, + 26451, + 26454, + 26457, + 26460, + 26463, + 26466, + 26469, + 26472, + 26475, + 26478, + 26481, + 26484, + 26487, + 26490, + 26493, + 26496, + 26499, + 26502, + 26505, + 26508, + 26511, + 26514, + 26517, + 26520, + 26523, + 26526, + 26529, + 26532, + 26535, + 26538, + 26541, + 26544, + 26547, + 26550, + 26553, + 26556, + 26559, + 26562, + 26565, + 26568, + 26571, + 26574, + 26577, + 26580, + 26583, + 26586, + 26589, + 26592, + 26595, + 26598, + 26601, + 26604, + 26607, + 26610, + 26613, + 26616, + 26619, + 26622, + 26625, + 26628, + 26631, + 26634, + 26637, + 26640, + 26643, + 26646, + 26649, + 26652, + 26655, + 26658, + 26661, + 26664, + 26667, + 26670, + 26673, + 26676, + 26679, + 26682, + 26685, + 26688, + 26691, + 26694, + 26697, + 26700, + 26703, + 26706, + 26709, + 26712, + 26715, + 26718, + 26721, + 26724, + 26727, + 26730, + 26733, + 26736, + 26739, + 26742, + 26745, + 26748, + 26751, + 26754, + 26757, + 26760, + 26763, + 26766, + 26769, + 26772, + 26775, + 26778, + 26781, + 26784, + 26787, + 26790, + 26793, + 26796, + 26799, + 26802, + 26805, + 26808, + 26811, + 26814, + 26817, + 26820, + 26823, + 26826, + 26829, + 26832, + 26835, + 26838, + 26841, + 26844, + 26847, + 26850, + 26853, + 26856, + 26859, + 26862, + 26865, + 26868, + 26871, + 26874, + 26877, + 26880, + 26883, + 26886, + 26889, + 26892, + 26895, + 26898, + 26901, + 26904, + 26907, + 26910, + 26913, + 26916, + 26919, + 26922, + 26925, + 26928, + 26931, + 26934, + 26937, + 26940, + 26943, + 26946, + 26949, + 26952, + 26955, + 26958, + 26961, + 26964, + 26967, + 26970, + 26973, + 26976, + 26979, + 26982, + 26985, + 26988, + 26991, + 26994, + 26997, + 27000, + 27003, + 27006, + 27009, + 27012, + 27015, + 27018, + 27021, + 27024, + 27027, + 27030, + 27033, + 27036, + 27039, + 27042, + 27045, + 27048, + 27051, + 27054, + 27057, + 27060, + 27063, + 27066, + 27069, + 27072, + 27075, + 27078, + 27081, + 27084, + 27087, + 27090, + 27093, + 27096, + 27099, + 27102, + 27105, + 27108, + 27111, + 27114, + 27117, + 27120, + 27123, + 27126, + 27129, + 27132, + 27135, + 27138, + 27141, + 27144, + 27147, + 27150, + 27153, + 27156, + 27159, + 27162, + 27165, + 27168, + 27171, + 27174, + 27177, + 27180, + 27183, + 27186, + 27189, + 27192, + 27195, + 27198, + 27201, + 27204, + 27207, + 27210, + 27213, + 27216, + 27219, + 27222, + 27225, + 27228, + 27231, + 27234, + 27237, + 27240, + 27243, + 27246, + 27249, + 27252, + 27255, + 27258, + 27261, + 27264, + 27267, + 27270, + 27273, + 27276, + 27279, + 27282, + 27285, + 27288, + 27291, + 27294, + 27297, + 27300, + 27303, + 27306, + 27309, + 27312, + 27315, + 27318, + 27321, + 27324, + 27327, + 27330, + 27333, + 27336, + 27339, + 27342, + 27345, + 27348, + 27351, + 27354, + 27357, + 27360, + 27363, + 27366, + 27369, + 27372, + 27375, + 27378, + 27381, + 27384, + 27387, + 27390, + 27393, + 27396, + 27399, + 27402, + 27405, + 27408, + 27411, + 27414, + 27417, + 27420, + 27423, + 27426, + 27429, + 27432, + 27435, + 27438, + 27441, + 27444, + 27447, + 27450, + 27453, + 27456, + 27459, + 27462, + 27465, + 27468, + 27471, + 27474, + 27477, + 27480, + 27483, + 27486, + 27489, + 27492, + 27495, + 27498, + 27501, + 27504, + 27507, + 27510, + 27513, + 27516, + 27519, + 27522, + 27525, + 27528, + 27531, + 27534, + 27537, + 27540, + 27543, + 27546, + 27549, + 27552, + 27555, + 27558, + 27561, + 27564, + 27567, + 27570, + 27573, + 27576, + 27579, + 27582, + 27585, + 27588, + 27591, + 27594, + 27597, + 27600, + 27603, + 27606, + 27609, + 27612, + 27615, + 27618, + 27621, + 27624, + 27627, + 27630, + 27633, + 27636, + 27639, + 27642, + 27645, + 27648, + 27651, + 27654, + 27657, + 27660, + 27663, + 27666, + 27669, + 27672, + 27675, + 27678, + 27681, + 27684, + 27687, + 27690, + 27693, + 27696, + 27699, + 27702, + 27705, + 27708, + 27711, + 27714, + 27717, + 27720, + 27723, + 27726, + 27729, + 27732, + 27735, + 27738, + 27741, + 27744, + 27747, + 27750, + 27753, + 27756, + 27759, + 27762, + 27765, + 27768, + 27771, + 27774, + 27777, + 27780, + 27783, + 27786, + 27789, + 27792, + 27795, + 27798, + 27801, + 27804, + 27807, + 27810, + 27813, + 27816, + 27819, + 27822, + 27825, + 27828, + 27831, + 27834, + 27837, + 27840, + 27843, + 27846, + 27849, + 27852, + 27855, + 27858, + 27861, + 27864, + 27867, + 27870, + 27873, + 27876, + 27879, + 27882, + 27885, + 27888, + 27891, + 27894, + 27897, + 27900, + 27903, + 27906, + 27909, + 27912, + 27915, + 27918, + 27921, + 27924, + 27927, + 27930, + 27933, + 27936, + 27939, + 27942, + 27945, + 27948, + 27951, + 27954, + 27957, + 27960, + 27963, + 27966, + 27969, + 27972, + 27975, + 27978, + 27981, + 27984, + 27987, + 27990, + 27993, + 27996, + 27999, + 28002, + 28005, + 28008, + 28011, + 28014, + 28017, + 28020, + 28023, + 28026, + 28029, + 28032, + 28035, + 28038, + 28041, + 28044, + 28047, + 28050, + 28053, + 28056, + 28059, + 28062, + 28065, + 28068, + 28071, + 28074, + 28077, + 28080, + 28083, + 28086, + 28089, + 28092, + 28095, + 28098, + 28101, + 28104, + 28107, + 28110, + 28113, + 28116, + 28119, + 28122, + 28125, + 28128, + 28131, + 28134, + 28137, + 28140, + 28143, + 28146, + 28149, + 28152, + 28155, + 28158, + 28161, + 28164, + 28167, + 28170, + 28173, + 28176, + 28179, + 28182, + 28185, + 28188, + 28191, + 28194, + 28197, + 28200, + 28203, + 28206, + 28209, + 28212, + 28215, + 28218, + 28221, + 28224, + 28227, + 28230, + 28233, + 28236, + 28239, + 28242, + 28245, + 28248, + 28251, + 28254, + 28257, + 28260, + 28263, + 28266, + 28269, + 28272, + 28275, + 28278, + 28281, + 28284, + 28287, + 28290, + 28293, + 28296, + 28299, + 28302, + 28305, + 28308, + 28311, + 28314, + 28317, + 28320, + 28323, + 28326, + 28329, + 28332, + 28335, + 28338, + 28341, + 28344, + 28347, + 28350, + 28353, + 28356, + 28359, + 28362, + 28365, + 28368, + 28371, + 28374, + 28377, + 28380, + 28383, + 28386, + 28389, + 28392, + 28395, + 28398, + 28401, + 28404, + 28407, + 28410, + 28413, + 28416, + 28419, + 28422, + 28425, + 28428, + 28431, + 28434, + 28437, + 28440, + 28443, + 28446, + 28449, + 28452, + 28455, + 28458, + 28461, + 28464, + 28467, + 28470, + 28473, + 28476, + 28479, + 28482, + 28485, + 28488, + 28491, + 28494, + 28497, + 28500, + 28503, + 28506, + 28509, + 28512, + 28515, + 28518, + 28521, + 28524, + 28527, + 28530, + 28533, + 28536, + 28539, + 28542, + 28545, + 28548, + 28551, + 28554, + 28557, + 28560, + 28563, + 28566, + 28569, + 28572, + 28575, + 28578, + 28581, + 28584, + 28587, + 28590, + 28593, + 28596, + 28599, + 28602, + 28605, + 28608, + 28611, + 28614, + 28617, + 28620, + 28623, + 28626, + 28629, + 28632, + 28635, + 28638, + 28641, + 28644, + 28647, + 28650, + 28653, + 28656, + 28659, + 28662, + 28665, + 28668, + 28671, + 28674, + 28677, + 28680, + 28683, + 28686, + 28689, + 28692, + 28695, + 28698, + 28701, + 28704, + 28707, + 28710, + 28713, + 28716, + 28719, + 28722, + 28725, + 28728, + 28731, + 28734, + 28737, + 28740, + 28743, + 28746, + 28749, + 28752, + 28755, + 28758, + 28761, + 28764, + 28767, + 28770, + 28773, + 28776, + 28779, + 28782, + 28785, + 28788, + 28791, + 28794, + 28797, + 28800, + 28803, + 28806, + 28809, + 28812, + 28815, + 28818, + 28821, + 28824, + 28827, + 28830, + 28833, + 28836, + 28839, + 28842, + 28845, + 28848, + 28851, + 28854, + 28857, + 28860, + 28863, + 28866, + 28869, + 28872, + 28875, + 28878, + 28881, + 28884, + 28887, + 28890, + 28893, + 28896, + 28899, + 28902, + 28905, + 28908, + 28911, + 28914, + 28917, + 28920, + 28923, + 28926, + 28929, + 28932, + 28935, + 28938, + 28941, + 28944, + 28947, + 28950, + 28953, + 28956, + 28959, + 28962, + 28965, + 28968, + 28971, + 28974, + 28977, + 28980, + 28983, + 28986, + 28989, + 28992, + 28995, + 28998, + 29001, + 29004, + 29007, + 29010, + 29013, + 29016, + 29019, + 29022, + 29025, + 29028, + 29031, + 29034, + 29037, + 29040, + 29043, + 29046, + 29049, + 29052, + 29055, + 29058, + 29061, + 29064, + 29067, + 29070, + 29073, + 29076, + 29079, + 29082, + 29085, + 29088, + 29091, + 29094, + 29097, + 29100, + 29103, + 29106, + 29109, + 29112, + 29115, + 29118, + 29121, + 29124, + 29127, + 29130, + 29133, + 29136, + 29139, + 29142, + 29145, + 29148, + 29151, + 29154, + 29157, + 29160, + 29163, + 29166, + 29169, + 29172, + 29175, + 29178, + 29181, + 29184, + 29187, + 29190, + 29193, + 29196, + 29199, + 29202, + 29205, + 29208, + 29211, + 29214, + 29217, + 29220, + 29223, + 29226, + 29229, + 29232, + 29235, + 29238, + 29241, + 29244, + 29247, + 29250, + 29253, + 29256, + 29259, + 29262, + 29265, + 29268, + 29271, + 29274, + 29277, + 29280, + 29283, + 29286, + 29289, + 29292, + 29295, + 29298, + 29301, + 29304, + 29307, + 29310, + 29313, + 29316, + 29319, + 29322, + 29325, + 29328, + 29331, + 29334, + 29337, + 29340, + 29343, + 29346, + 29349, + 29352, + 29355, + 29358, + 29361, + 29364, + 29367, + 29370, + 29373, + 29376, + 29379, + 29382, + 29385, + 29388, + 29391, + 29394, + 29397, + 29400, + 29403, + 29406, + 29409, + 29412, + 29415, + 29418, + 29421, + 29424, + 29427, + 29430, + 29433, + 29436, + 29439, + 29442, + 29445, + 29448, + 29451, + 29454, + 29457, + 29460, + 29463, + 29466, + 29469, + 29472, + 29475, + 29478, + 29481, + 29484, + 29487, + 29490, + 29493, + 29496, + 29499, + 29502, + 29505, + 29508, + 29511, + 29514, + 29517, + 29520, + 29523, + 29526, + 29529, + 29532, + 29535, + 29538, + 29541, + 29544, + 29547, + 29550, + 29553, + 29556, + 29559, + 29562, + 29565, + 29568, + 29571, + 29574, + 29577, + 29580, + 29583, + 29586, + 29589, + 29592, + 29595, + 29598, + 29601, + 29604, + 29607, + 29610, + 29613, + 29616, + 29619, + 29622, + 29625, + 29628, + 29631, + 29634, + 29637, + 29640, + 29643, + 29646, + 29649, + 29652, + 29655, + 29658, + 29661, + 29664, + 29667, + 29670, + 29673, + 29676, + 29679, + 29682, + 29685, + 29688, + 29691, + 29694, + 29697, + 29700, + 29703, + 29706, + 29709, + 29712, + 29715, + 29718, + 29721, + 29724, + 29727, + 29730, + 29733, + 29736, + 29739, + 29742, + 29745, + 29748, + 29751, + 29754, + 29757, + 29760, + 29763, + 29766, + 29769, + 29772, + 29775, + 29778, + 29781, + 29784, + 29787, + 29790, + 29793, + 29796, + 29799, + 29802, + 29805, + 29808, + 29811, + 29814, + 29817, + 29820, + 29823, + 29826, + 29829, + 29832, + 29835, + 29838, + 29841, + 29844, + 29847, + 29850, + 29853, + 29856, + 29859, + 29862, + 29865, + 29868, + 29871, + 29874, + 29877, + 29880, + 29883, + 29886, + 29889, + 29892, + 29895, + 29898, + 29901, + 29904, + 29907, + 29910, + 29913, + 29916, + 29919, + 29922, + 29925, + 29928, + 29931, + 29934, + 29937, + 29940, + 29943, + 29946, + 29949, + 29952, + 29955, + 29958, + 29961, + 29964, + 29967, + 29970, + 29973, + 29976, + 29979, + 29982, + 29985, + 29988, + 29991, + 29994, + 29997, + 30000, + 30003, + 30006, + 30009, + 30012, + 30015, + 30018, + 30021, + 30024, + 30027, + 30030, + 30033, + 30036, + 30039, + 30042, + 30045, + 30048, + 30051, + 30054, + 30057, + 30060, + 30063, + 30066, + 30069, + 30072, + 30075, + 30078, + 30081, + 30084, + 30087, + 30090, + 30093, + 30096, + 30099, + 30102, + 30105, + 30108, + 30111, + 30114, + 30117, + 30120, + 30123, + 30126, + 30129, + 30132, + 30135, + 30138, + 30141, + 30144, + 30147, + 30150, + 30153, + 30156, + 30159, + 30162, + 30165, + 30168, + 30171, + 30174, + 30177, + 30180, + 30183, + 30186, + 30189, + 30192, + 30195, + 30198, + 30201, + 30204, + 30207, + 30210, + 30213, + 30216, + 30219, + 30222, + 30225, + 30228, + 30231, + 30234, + 30237, + 30240, + 30243, + 30246, + 30249, + 30252, + 30255, + 30258, + 30261, + 30264, + 30267, + 30270, + 30273, + 30276, + 30279, + 30282, + 30285, + 30288, + 30291, + 30294, + 30297, + 30300, + 30303, + 30306, + 30309, + 30312, + 30315, + 30318, + 30321, + 30324, + 30327, + 30330, + 30333, + 30336, + 30339, + 30342, + 30345, + 30348, + 30351, + 30354, + 30357, + 30360, + 30363, + 30366, + 30369, + 30372, + 30375, + 30378, + 30381, + 30384, + 30387, + 30390, + 30393, + 30396, + 30399, + 30402, + 30405, + 30408, + 30411, + 30414, + 30417, + 30420, + 30423, + 30426, + 30429, + 30432, + 30435, + 30438, + 30441, + 30444, + 30447, + 30450, + 30453, + 30456, + 30459, + 30462, + 30465, + 30468, + 30471, + 30474, + 30477, + 30480, + 30483, + 30486, + 30489, + 30492, + 30495, + 30498, + 30501, + 30504, + 30507, + 30510, + 30513, + 30516, + 30519, + 30522, + 30525, + 30528, + 30531, + 30534, + 30537, + 30540, + 30543, + 30546, + 30549, + 30552, + 30555, + 30558, + 30561, + 30564, + 30567, + 30570, + 30573, + 30576, + 30579, + 30582, + 30585, + 30588, + 30591, + 30594, + 30597, + 30600, + 30603, + 30606, + 30609, + 30612, + 30615, + 30618, + 30621, + 30624, + 30627, + 30630, + 30633, + 30636, + 30639, + 30642, + 30645, + 30648, + 30651, + 30654, + 30657, + 30660, + 30663, + 30666, + 30669, + 30672, + 30675, + 30678, + 30681, + 30684, + 30687, + 30690, + 30693, + 30696, + 30699, + 30702, + 30705, + 30708, + 30711, + 30714, + 30717, + 30720, + 30723, + 30726, + 30729, + 30732, + 30735, + 30738, + 30741, + 30744, + 30747, + 30750, + 30753, + 30756, + 30759, + 30762, + 30765, + 30768, + 30771, + 30774, + 30777, + 30780, + 30783, + 30786, + 30789, + 30792, + 30795, + 30798, + 30801, + 30804, + 30807, + 30810, + 30813, + 30816, + 30819, + 30822, + 30825, + 30828, + 30831, + 30834, + 30837, + 30840, + 30843, + 30846, + 30849, + 30852, + 30855, + 30858, + 30861, + 30864, + 30867, + 30870, + 30873, + 30876, + 30879, + 30882, + 30885, + 30888, + 30891, + 30894, + 30897, + 30900, + 30903, + 30906, + 30909, + 30912, + 30915, + 30918, + 30921, + 30924, + 30927, + 30930, + 30933, + 30936, + 30939, + 30942, + 30945, + 30948, + 30951, + 30954, + 30957, + 30960, + 30963, + 30966, + 30969, + 30972, + 30975, + 30978, + 30981, + 30984, + 30987, + 30990, + 30993, + 30996, + 30999, + 31002, + 31005, + 31008, + 31011, + 31014, + 31017, + 31020, + 31023, + 31026, + 31029, + 31032, + 31035, + 31038, + 31041, + 31044, + 31047, + 31050, + 31053, + 31056, + 31059, + 31062, + 31065, + 31068, + 31071, + 31074, + 31077, + 31080, + 31083, + 31086, + 31089, + 31092, + 31095, + 31098, + 31101, + 31104, + 31107, + 31110, + 31113, + 31116, + 31119, + 31122, + 31125, + 31128, + 31131, + 31134, + 31137, + 31140, + 31143, + 31146, + 31149, + 31152, + 31155, + 31158, + 31161, + 31164, + 31167, + 31170, + 31173, + 31176, + 31179, + 31182, + 31185, + 31188, + 31191, + 31194, + 31197, + 31200, + 31203, + 31206, + 31209, + 31212, + 31215, + 31218, + 31221, + 31224, + 31227, + 31230, + 31233, + 31236, + 31239, + 31242, + 31245, + 31248, + 31251, + 31254, + 31257, + 31260, + 31263, + 31266, + 31269, + 31272, + 31275, + 31278, + 31281, + 31284, + 31287, + 31290, + 31293, + 31296, + 31299, + 31302, + 31305, + 31308, + 31311, + 31314, + 31317, + 31320, + 31323, + 31326, + 31329, + 31332, + 31335, + 31338, + 31341, + 31344, + 31347, + 31350, + 31353, + 31356, + 31359, + 31362, + 31365, + 31368, + 31371, + 31374, + 31377, + 31380, + 31383, + 31386, + 31389, + 31392, + 31395, + 31398, + 31401, + 31404, + 31407, + 31410, + 31413, + 31416, + 31419, + 31422, + 31425, + 31428, + 31431, + 31434, + 31437, + 31440, + 31443, + 31446, + 31449, + 31452, + 31455, + 31458, + 31461, + 31464, + 31467, + 31470, + 31473, + 31476, + 31479, + 31482, + 31485, + 31488, + 31491, + 31494, + 31497, + 31500, + 31503, + 31506, + 31509, + 31512, + 31515, + 31518, + 31521, + 31524, + 31527, + 31530, + 31533, + 31536, + 31539, + 31542, + 31545, + 31548, + 31551, + 31554, + 31557, + 31560, + 31563, + 31566, + 31569, + 31572, + 31575, + 31578, + 31581, + 31584, + 31587, + 31590, + 31593, + 31596, + 31599, + 31602, + 31605, + 31608, + 31611, + 31614, + 31617, + 31620, + 31623, + 31626, + 31629, + 31632, + 31635, + 31638, + 31641, + 31644, + 31647, + 31650, + 31653, + 31656, + 31659, + 31662, + 31665, + 31668, + 31671, + 31674, + 31677, + 31680, + 31683, + 31686, + 31689, + 31692, + 31695, + 31698, + 31701, + 31704, + 31707, + 31710, + 31713, + 31716, + 31719, + 31722, + 31725, + 31728, + 31731, + 31734, + 31737, + 31740, + 31743, + 31746, + 31749, + 31752, + 31755, + 31758, + 31761, + 31764, + 31767, + 31770, + 31773, + 31776, + 31779, + 31782, + 31785, + 31788, + 31791, + 31794, + 31797, + 31800, + 31803, + 31806, + 31809, + 31812, + 31815, + 31818, + 31821, + 31824, + 31827, + 31830, + 31833, + 31836, + 31839, + 31842, + 31845, + 31848, + 31851, + 31854, + 31857, + 31860, + 31863, + 31866, + 31869, + 31872, + 31875, + 31878, + 31881, + 31884, + 31887, + 31890, + 31893, + 31896, + 31899, + 31902, + 31905, + 31908, + 31911, + 31914, + 31917, + 31920, + 31923, + 31926, + 31929, + 31932, + 31935, + 31938, + 31941, + 31944, + 31947, + 31950, + 31953, + 31956, + 31959, + 31962, + 31965, + 31968, + 31971, + 31974, + 31977, + 31980, + 31983, + 31986, + 31989, + 31992, + 31995, + 31998, + 32001, + 32004, + 32007, + 32010, + 32013, + 32016, + 32019, + 32022, + 32025, + 32028, + 32031, + 32034, + 32037, + 32040, + 32043, + 32046, + 32049, + 32052, + 32055, + 32058, + 32061, + 32064, + 32067, + 32070, + 32073, + 32076, + 32079, + 32082, + 32085, + 32088, + 32091, + 32094, + 32097, + 32100, + 32103, + 32106, + 32109, + 32112, + 32115, + 32118, + 32121, + 32124, + 32127, + 32130, + 32133, + 32136, + 32139, + 32142, + 32145, + 32148, + 32151, + 32154, + 32157, + 32160, + 32163, + 32166, + 32169, + 32172, + 32175, + 32178, + 32181, + 32184, + 32187, + 32190, + 32193, + 32196, + 32199, + 32202, + 32205, + 32208, + 32211, + 32214, + 32217, + 32220, + 32223, + 32226, + 32229, + 32232, + 32235, + 32238, + 32241, + 32244, + 32247, + 32250, + 32253, + 32256, + 32259, + 32262, + 32265, + 32268, + 32271, + 32274, + 32277, + 32280, + 32283, + 32286, + 32289, + 32292, + 32295, + 32298, + 32301, + 32304, + 32307, + 32310, + 32313, + 32316, + 32319, + 32322, + 32325, + 32328, + 32331, + 32334, + 32337, + 32340, + 32343, + 32346, + 32349, + 32352, + 32355, + 32358, + 32361, + 32364, + 32367, + 32370, + 32373, + 32376, + 32379, + 32382, + 32385, + 32388, + 32391, + 32394, + 32397, + 32400, + 32403, + 32406, + 32409, + 32412, + 32415, + 32418, + 32421, + 32424, + 32427, + 32430, + 32433, + 32436, + 32439, + 32442, + 32445, + 32448, + 32451, + 32454, + 32457, + 32460, + 32463, + 32466, + 32469, + 32472, + 32475, + 32478, + 32481, + 32484, + 32487, + 32490, + 32493, + 32496, + 32499, + 32502, + 32505, + 32508, + 32511, + 32514, + 32517, + 32520, + 32523, + 32526, + 32529, + 32532, + 32535, + 32538, + 32541, + 32544, + 32547, + 32550, + 32553, + 32556, + 32559, + 32562, + 32565, + 32568, + 32571, + 32574, + 32577, + 32580, + 32583, + 32586, + 32589, + 32592, + 32595, + 32598, + 32601, + 32604, + 32607, + 32610, + 32613, + 32616, + 32619, + 32622, + 32625, + 32628, + 32631, + 32634, + 32637, + 32640, + 32643, + 32646, + 32649, + 32652, + 32655, + 32658, + 32661, + 32664, + 32667, + 32670, + 32673, + 32676, + 32679, + 32682, + 32685, + 32688, + 32691, + 32694, + 32697, + 32700, + 32703, + 32706, + 32709, + 32712, + 32715, + 32718, + 32721, + 32724, + 32727, + 32730, + 32733, + 32736, + 32739, + 32742, + 32745, + 32748, + 32751, + 32754, + 32757, + 32760, + 32763, + 32766, + 32769, + 32772, + 32775, + 32778, + 32781, + 32784, + 32787, + 32790, + 32793, + 32796, + 32799, + 32802, + 32805, + 32808, + 32811, + 32814, + 32817, + 32820, + 32823, + 32826, + 32829, + 32832, + 32835, + 32838, + 32841, + 32844, + 32847, + 32850, + 32853, + 32856, + 32859, + 32862, + 32865, + 32868, + 32871, + 32874, + 32877, + 32880, + 32883, + 32886, + 32889, + 32892, + 32895, + 32898, + 32901, + 32904, + 32907, + 32910, + 32913, + 32916, + 32919, + 32922, + 32925, + 32928, + 32931, + 32934, + 32937, + 32940, + 32943, + 32946, + 32949, + 32952, + 32955, + 32958, + 32961, + 32964, + 32967, + 32970, + 32973, + 32976, + 32979, + 32982, + 32985, + 32988, + 32991, + 32994, + 32997, + 33000, + 33003, + 33006, + 33009, + 33012, + 33015, + 33018, + 33021, + 33024, + 33027, + 33030, + 33033, + 33036, + 33039, + 33042, + 33045, + 33048, + 33051, + 33054, + 33057, + 33060, + 33063, + 33066, + 33069, + 33072, + 33075, + 33078, + 33081, + 33084, + 33087, + 33090, + 33093, + 33096, + 33099, + 33102, + 33105, + 33108, + 33111, + 33114, + 33117, + 33120, + 33123, + 33126, + 33129, + 33132, + 33135, + 33138, + 33141, + 33144, + 33147, + 33150, + 33153, + 33156, + 33159, + 33162, + 33165, + 33168, + 33171, + 33174, + 33177, + 33180, + 33183, + 33186, + 33189, + 33192, + 33195, + 33198, + 33201, + 33204, + 33207, + 33210, + 33213, + 33216, + 33219, + 33222, + 33225, + 33228, + 33231, + 33234, + 33237, + 33240, + 33243, + 33246, + 33249, + 33252, + 33255, + 33258, + 33261, + 33264, + 33267, + 33270, + 33273, + 33276, + 33279, + 33282, + 33285, + 33288, + 33291, + 33294, + 33297, + 33300, + 33303, + 33306, + 33309, + 33312, + 33315, + 33318, + 33321, + 33324, + 33327, + 33330, + 33333, + 33336, + 33339, + 33342, + 33345, + 33348, + 33351, + 33354, + 33357, + 33360, + 33363, + 33366, + 33369, + 33372, + 33375, + 33378, + 33381, + 33384, + 33387, + 33390, + 33393, + 33396, + 33399, + 33402, + 33405, + 33408, + 33411, + 33414, + 33417, + 33420, + 33423, + 33426, + 33429, + 33432, + 33435, + 33438, + 33441, + 33444, + 33447, + 33450, + 33453, + 33456, + 33459, + 33462, + 33465, + 33468, + 33471, + 33474, + 33477, + 33480, + 33483, + 33486, + 33489, + 33492, + 33495, + 33498, + 33501, + 33504, + 33507, + 33510, + 33513, + 33516, + 33519, + 33522, + 33525, + 33528, + 33531, + 33534, + 33537, + 33540, + 33543, + 33546, + 33549, + 33552, + 33555, + 33558, + 33561, + 33564, + 33567, + 33570, + 33573, + 33576, + 33579, + 33582, + 33585, + 33588, + 33591, + 33594, + 33597, + 33600, + 33603, + 33606, + 33609, + 33612, + 33615, + 33618, + 33621, + 33624, + 33627, + 33630, + 33633, + 33636, + 33639, + 33642, + 33645, + 33648, + 33651, + 33654, + 33657, + 33660, + 33663, + 33666, + 33669, + 33672, + 33675, + 33678, + 33681, + 33684, + 33687, + 33690, + 33693, + 33696, + 33699, + 33702, + 33705, + 33708, + 33711, + 33714, + 33717, + 33720, + 33723, + 33726, + 33729, + 33732, + 33735, + 33738, + 33741, + 33744, + 33747, + 33750, + 33753, + 33756, + 33759, + 33762, + 33765, + 33768, + 33771, + 33774, + 33777, + 33780, + 33783, + 33786, + 33789, + 33792, + 33795, + 33798, + 33801, + 33804, + 33807, + 33810, + 33813, + 33816, + 33819, + 33822, + 33825, + 33828, + 33831, + 33834, + 33837, + 33840, + 33843, + 33846, + 33849, + 33852, + 33855, + 33858, + 33861, + 33864, + 33867, + 33870, + 33873, + 33876, + 33879, + 33882, + 33885, + 33888, + 33891, + 33894, + 33897, + 33900, + 33903, + 33906, + 33909, + 33912, + 33915, + 33918, + 33921, + 33924, + 33927, + 33930, + 33933, + 33936, + 33939, + 33942, + 33945, + 33948, + 33951, + 33954, + 33957, + 33960, + 33963, + 33966, + 33969, + 33972, + 33975, + 33978, + 33981, + 33984, + 33987, + 33990, + 33993, + 33996, + 33999, + 34002, + 34005, + 34008, + 34011, + 34014, + 34017, + 34020, + 34023, + 34026, + 34029, + 34032, + 34035, + 34038, + 34041, + 34044, + 34047, + 34050, + 34053, + 34056, + 34059, + 34062, + 34065, + 34068, + 34071, + 34074, + 34077, + 34080, + 34083, + 34086, + 34089, + 34092, + 34095, + 34098, + 34101, + 34104, + 34107, + 34110, + 34113, + 34116, + 34119, + 34122, + 34125, + 34128, + 34131, + 34134, + 34137, + 34140, + 34143, + 34146, + 34149, + 34152, + 34155, + 34158, + 34161, + 34164, + 34167, + 34170, + 34173, + 34176, + 34179, + 34182, + 34185, + 34188, + 34191, + 34194, + 34197, + 34200, + 34203, + 34206, + 34209, + 34212, + 34215, + 34218, + 34221, + 34224, + 34227, + 34230, + 34233, + 34236, + 34239, + 34242, + 34245, + 34248, + 34251, + 34254, + 34257, + 34260, + 34263, + 34266, + 34269, + 34272, + 34275, + 34278, + 34281, + 34284, + 34287, + 34290, + 34293, + 34296, + 34299, + 34302, + 34305, + 34308, + 34311, + 34314, + 34317, + 34320, + 34323, + 34326, + 34329, + 34332, + 34335, + 34338, + 34341, + 34344, + 34347, + 34350, + 34353, + 34356, + 34359, + 34362, + 34365, + 34368, + 34371, + 34374, + 34377, + 34380, + 34383, + 34386, + 34389, + 34392, + 34395, + 34398, + 34401, + 34404, + 34407, + 34410, + 34413, + 34416, + 34419, + 34422, + 34425, + 34428, + 34431, + 34434, + 34437, + 34440, + 34443, + 34446, + 34449, + 34452, + 34455, + 34458, + 34461, + 34464, + 34467, + 34470, + 34473, + 34476, + 34479, + 34482, + 34485, + 34488, + 34491, + 34494, + 34497, + 34500, + 34503, + 34506, + 34509, + 34512, + 34515, + 34518, + 34521, + 34524, + 34527, + 34530, + 34533, + 34536, + 34539, + 34542, + 34545, + 34548, + 34551, + 34554, + 34557, + 34560, + 34563, + 34566, + 34569, + 34572, + 34575, + 34578, + 34581, + 34584, + 34587, + 34590, + 34593, + 34596, + 34599, + 34602, + 34605, + 34608, + 34611, + 34614, + 34617, + 34620, + 34623, + 34626, + 34629, + 34632, + 34635, + 34638, + 34641, + 34644, + 34647, + 34650, + 34653, + 34656, + 34659, + 34662, + 34665, + 34668, + 34671, + 34674, + 34677, + 34680, + 34683, + 34686, + 34689, + 34692, + 34695, + 34698, + 34701, + 34704, + 34707, + 34710, + 34713, + 34716, + 34719, + 34722, + 34725, + 34728, + 34731, + 34734, + 34737, + 34740, + 34743, + 34746, + 34749, + 34752, + 34755, + 34758, + 34761, + 34764, + 34767, + 34770, + 34773, + 34776, + 34779, + 34782, + 34785, + 34788, + 34791, + 34794, + 34797, + 34800, + 34803, + 34806, + 34809, + 34812, + 34815, + 34818, + 34821, + 34824, + 34827, + 34830, + 34833, + 34836, + 34839, + 34842, + 34845, + 34848, + 34851, + 34854, + 34857, + 34860, + 34863, + 34866, + 34869, + 34872, + 34875, + 34878, + 34881, + 34884, + 34887, + 34890, + 34893, + 34896, + 34899, + 34902, + 34905, + 34908, + 34911, + 34914, + 34917, + 34920, + 34923, + 34926, + 34929, + 34932, + 34935, + 34938, + 34941, + 34944, + 34947, + 34950, + 34953, + 34956, + 34959, + 34962, + 34965, + 34968, + 34971, + 34974, + 34977, + 34980, + 34983, + 34986, + 34989, + 34992, + 34995, + 34998, + 35001, + 35004, + 35007, + 35010, + 35013, + 35016, + 35019, + 35022, + 35025, + 35028, + 35031, + 35034, + 35037, + 35040, + 35043, + 35046, + 35049, + 35052, + 35055, + 35058, + 35061, + 35064, + 35067, + 35070, + 35073, + 35076, + 35079, + 35082, + 35085, + 35088, + 35091, + 35094, + 35097, + 35100, + 35103, + 35106, + 35109, + 35112, + 35115, + 35118, + 35121, + 35124, + 35127, + 35130, + 35133, + 35136, + 35139, + 35142, + 35145, + 35148, + 35151, + 35154, + 35157, + 35160, + 35163, + 35166, + 35169, + 35172, + 35175, + 35178, + 35181, + 35184, + 35187, + 35190, + 35193, + 35196, + 35199, + 35202, + 35205, + 35208, + 35211, + 35214, + 35217, + 35220, + 35223, + 35226, + 35229, + 35232, + 35235, + 35238, + 35241, + 35244, + 35247, + 35250, + 35253, + 35256, + 35259, + 35262, + 35265, + 35268, + 35271, + 35274, + 35277, + 35280, + 35283, + 35286, + 35289, + 35292, + 35295, + 35298, + 35301, + 35304, + 35307, + 35310, + 35313, + 35316, + 35319, + 35322, + 35325, + 35328, + 35331, + 35334, + 35337, + 35340, + 35343, + 35346, + 35349, + 35352, + 35355, + 35358, + 35361, + 35364, + 35367, + 35370, + 35373, + 35376, + 35379, + 35382, + 35385, + 35388, + 35391, + 35394, + 35397, + 35400, + 35403, + 35406, + 35409, + 35412, + 35415, + 35418, + 35421, + 35424, + 35427, + 35430, + 35433, + 35436, + 35439, + 35442, + 35445, + 35448, + 35451, + 35454, + 35457, + 35460, + 35463, + 35466, + 35469, + 35472, + 35475, + 35478, + 35481, + 35484, + 35487, + 35490, + 35493, + 35496, + 35499, + 35502, + 35505, + 35508, + 35511, + 35514, + 35517, + 35520, + 35523, + 35526, + 35529, + 35532, + 35535, + 35538, + 35541, + 35544, + 35547, + 35550, + 35553, + 35556, + 35559, + 35562, + 35565, + 35568, + 35571, + 35574, + 35577, + 35580, + 35583, + 35586, + 35589, + 35592, + 35595, + 35598, + 35601, + 35604, + 35607, + 35610, + 35613, + 35616, + 35619, + 35622, + 35625, + 35628, + 35631, + 35634, + 35637, + 35640, + 35643, + 35646, + 35649, + 35652, + 35655, + 35658, + 35661, + 35664, + 35667, + 35670, + 35673, + 35676, + 35679, + 35682, + 35685, + 35688, + 35691, + 35694, + 35697, + 35700, + 35703, + 35706, + 35709, + 35712, + 35715, + 35718, + 35721, + 35724, + 35727, + 35730, + 35733, + 35736, + 35739, + 35742, + 35745, + 35748, + 35751, + 35754, + 35757, + 35760, + 35763, + 35766, + 35769, + 35772, + 35775, + 35778, + 35781, + 35784, + 35787, + 35790, + 35793, + 35796, + 35799, + 35802, + 35805, + 35808, + 35811, + 35814, + 35817, + 35820, + 35823, + 35826, + 35829, + 35832, + 35835, + 35838, + 35841, + 35844, + 35847, + 35850, + 35853, + 35856, + 35859, + 35862, + 35865, + 35868, + 35871, + 35874, + 35877, + 35880, + 35883, + 35886, + 35889, + 35892, + 35895, + 35898, + 35901, + 35904, + 35907, + 35910, + 35913, + 35916, + 35919, + 35922, + 35925, + 35928, + 35931, + 35934, + 35937, + 35940, + 35943, + 35946, + 35949, + 35952, + 35955, + 35958, + 35961, + 35964, + 35967, + 35970, + 35973, + 35976, + 35979, + 35982, + 35985, + 35988, + 35991, + 35994, + 35997, + 36000, + 36003, + 36006, + 36009, + 36012, + 36015, + 36018, + 36021, + 36024, + 36027, + 36030, + 36033, + 36036, + 36039, + 36042, + 36045, + 36048, + 36051, + 36054, + 36057, + 36060, + 36063, + 36066, + 36069, + 36072, + 36075, + 36078, + 36081, + 36084, + 36087, + 36090, + 36093, + 36096, + 36099, + 36102, + 36105, + 36108, + 36111, + 36114, + 36117, + 36120, + 36123, + 36126, + 36129, + 36132, + 36135, + 36138, + 36141, + 36144, + 36147, + 36150, + 36153, + 36156, + 36159, + 36162, + 36165, + 36168, + 36171, + 36174, + 36177, + 36180, + 36183, + 36186, + 36189, + 36192, + 36195, + 36198, + 36201, + 36204, + 36207, + 36210, + 36213, + 36216, + 36219, + 36222, + 36225, + 36228, + 36231, + 36234, + 36237, + 36240, + 36243, + 36246, + 36249, + 36252, + 36255, + 36258, + 36261, + 36264, + 36267, + 36270, + 36273, + 36276, + 36279, + 36282, + 36285, + 36288, + 36291, + 36294, + 36297, + 36300, + 36303, + 36306, + 36309, + 36312, + 36315, + 36318, + 36321, + 36324, + 36327, + 36330, + 36333, + 36336, + 36339, + 36342, + 36345, + 36348, + 36351, + 36354, + 36357, + 36360, + 36363, + 36366, + 36369, + 36372, + 36375, + 36378, + 36381, + 36384, + 36387, + 36390, + 36393, + 36396, + 36399, + 36402, + 36405, + 36408, + 36411, + 36414, + 36417, + 36420, + 36423, + 36426, + 36429, + 36432, + 36435, + 36438, + 36441, + 36444, + 36447, + 36450, + 36453, + 36456, + 36459, + 36462, + 36465, + 36468, + 36471, + 36474, + 36477, + 36480, + 36483, + 36486, + 36489, + 36492, + 36495, + 36498, + 36501, + 36504, + 36507, + 36510, + 36513, + 36516, + 36519, + 36522, + 36525, + 36528, + 36531, + 36534, + 36537, + 36540, + 36543, + 36546, + 36549, + 36552, + 36555, + 36558, + 36561, + 36564, + 36567, + 36570, + 36573, + 36576, + 36579, + 36582, + 36585, + 36588, + 36591, + 36594, + 36597, + 36600, + 36603, + 36606, + 36609, + 36612, + 36615, + 36618, + 36621, + 36624, + 36627, + 36630, + 36633, + 36636, + 36639, + 36642, + 36645, + 36648, + 36651, + 36654, + 36657, + 36660, + 36663, + 36666, + 36669, + 36672, + 36675, + 36678, + 36681, + 36684, + 36687, + 36690, + 36693, + 36696, + 36699, + 36702, + 36705, + 36708, + 36711, + 36714, + 36717, + 36720, + 36723, + 36726, + 36729, + 36732, + 36735, + 36738, + 36741, + 36744, + 36747, + 36750, + 36753, + 36756, + 36759, + 36762, + 36765, + 36768, + 36771, + 36774, + 36777, + 36780, + 36783, + 36786, + 36789, + 36792, + 36795, + 36798, + 36801, + 36804, + 36807, + 36810, + 36813, + 36816, + 36819, + 36822, + 36825, + 36828, + 36831, + 36834, + 36837, + 36840, + 36843, + 36846, + 36849, + 36852, + 36855, + 36858, + 36861, + 36864, + 36867, + 36870, + 36873, + 36876, + 36879, + 36882, + 36885, + 36888, + 36891, + 36894, + 36897, + 36900, + 36903, + 36906, + 36909, + 36912, + 36915, + 36918, + 36921, + 36924, + 36927, + 36930, + 36933, + 36936, + 36939, + 36942, + 36945, + 36948, + 36951, + 36954, + 36957, + 36960, + 36963, + 36966, + 36969, + 36972, + 36975, + 36978, + 36981, + 36984, + 36987, + 36990, + 36993, + 36996, + 36999, + 37002, + 37005, + 37008, + 37011, + 37014, + 37017, + 37020, + 37023, + 37026, + 37029, + 37032, + 37035, + 37038, + 37041, + 37044, + 37047, + 37050, + 37053, + 37056, + 37059, + 37062, + 37065, + 37068, + 37071, + 37074, + 37077, + 37080, + 37083, + 37086, + 37089, + 37092, + 37095, + 37098, + 37101, + 37104, + 37107, + 37110, + 37113, + 37116, + 37119, + 37122, + 37125, + 37128, + 37131, + 37134, + 37137, + 37140, + 37143, + 37146, + 37149, + 37152, + 37155, + 37158, + 37161, + 37164, + 37167, + 37170, + 37173, + 37176, + 37179, + 37182, + 37185, + 37188, + 37191, + 37194, + 37197, + 37200, + 37203, + 37206, + 37209, + 37212, + 37215, + 37218, + 37221, + 37224, + 37227, + 37230, + 37233, + 37236, + 37239, + 37242, + 37245, + 37248, + 37251, + 37254, + 37257, + 37260, + 37263, + 37266, + 37269, + 37272, + 37275, + 37278, + 37281, + 37284, + 37287, + 37290, + 37293, + 37296, + 37299, + 37302, + 37305, + 37308, + 37311, + 37314, + 37317, + 37320, + 37323, + 37326, + 37329, + 37332, + 37335, + 37338, + 37341, + 37344, + 37347, + 37350, + 37353, + 37356, + 37359, + 37362, + 37365, + 37368, + 37371, + 37374, + 37377, + 37380, + 37383, + 37386, + 37389, + 37392, + 37395, + 37398, + 37401, + 37404, + 37407, + 37410, + 37413, + 37416, + 37419, + 37422, + 37425, + 37428, + 37431, + 37434, + 37437, + 37440, + 37443, + 37446, + 37449, + 37452, + 37455, + 37458, + 37461, + 37464, + 37467, + 37470, + 37473, + 37476, + 37479, + 37482, + 37485, + 37488, + 37491, + 37494, + 37497, + 37500, + 37503, + 37506, + 37509, + 37512, + 37515, + 37518, + 37521, + 37524, + 37527, + 37530, + 37533, + 37536, + 37539, + 37542, + 37545, + 37548, + 37551, + 37554, + 37557, + 37560, + 37563, + 37566, + 37569, + 37572, + 37575, + 37578, + 37581, + 37584, + 37587, + 37590, + 37593, + 37596, + 37599, + 37602, + 37605, + 37608, + 37611, + 37614, + 37617, + 37620, + 37623, + 37626, + 37629, + 37632, + 37635, + 37638, + 37641, + 37644, + 37647, + 37650, + 37653, + 37656, + 37659, + 37662, + 37665, + 37668, + 37671, + 37674, + 37677, + 37680, + 37683, + 37686, + 37689, + 37692, + 37695, + 37698, + 37701, + 37704, + 37707, + 37710, + 37713, + 37716, + 37719, + 37722, + 37725, + 37728, + 37731, + 37734, + 37737, + 37740, + 37743, + 37746, + 37749, + 37752, + 37755, + 37758, + 37761, + 37764, + 37767, + 37770, + 37773, + 37776, + 37779, + 37782, + 37785, + 37788, + 37791, + 37794, + 37797, + 37800, + 37803, + 37806, + 37809, + 37812, + 37815, + 37818, + 37821, + 37824, + 37827, + 37830, + 37833, + 37836, + 37839, + 37842, + 37845, + 37848, + 37851, + 37854, + 37857, + 37860, + 37863, + 37866, + 37869, + 37872, + 37875, + 37878, + 37881, + 37884, + 37887, + 37890, + 37893, + 37896, + 37899, + 37902, + 37905, + 37908, + 37911, + 37914, + 37917, + 37920, + 37923, + 37926, + 37929, + 37932, + 37935, + 37938, + 37941, + 37944, + 37947, + 37950, + 37953, + 37956, + 37959, + 37962, + 37965, + 37968, + 37971, + 37974, + 37977, + 37980, + 37983, + 37986, + 37989, + 37992, + 37995, + 37998, + 38001, + 38004, + 38007, + 38010, + 38013, + 38016, + 38019, + 38022, + 38025, + 38028, + 38031, + 38034, + 38037, + 38040, + 38043, + 38046, + 38049, + 38052, + 38055, + 38058, + 38061, + 38064, + 38067, + 38070, + 38073, + 38076, + 38079, + 38082, + 38085, + 38088, + 38091, + 38094, + 38097, + 38100, + 38103, + 38106, + 38109, + 38112, + 38115, + 38118, + 38121, + 38124, + 38127, + 38130, + 38133, + 38136, + 38139, + 38142, + 38145, + 38148, + 38151, + 38154, + 38157, + 38160, + 38163, + 38166, + 38169, + 38172, + 38175, + 38178, + 38181, + 38184, + 38187, + 38190, + 38193, + 38196, + 38199, + 38202, + 38205, + 38208, + 38211, + 38214, + 38217, + 38220, + 38223, + 38226, + 38229, + 38232, + 38235, + 38238, + 38241, + 38244, + 38247, + 38250, + 38253, + 38256, + 38259, + 38262, + 38265, + 38268, + 38271, + 38274, + 38277, + 38280, + 38283, + 38286, + 38289, + 38292, + 38295, + 38298, + 38301, + 38304, + 38307, + 38310, + 38313, + 38316, + 38319, + 38322, + 38325, + 38328, + 38331, + 38334, + 38337, + 38340, + 38343, + 38346, + 38349, + 38352, + 38355, + 38358, + 38361, + 38364, + 38367, + 38370, + 38373, + 38376, + 38379, + 38382, + 38385, + 38388, + 38391, + 38394, + 38397, + 38400, + 38403, + 38406, + 38409, + 38412, + 38415, + 38418, + 38421, + 38424, + 38427, + 38430, + 38433, + 38436, + 38439, + 38442, + 38445, + 38448, + 38451, + 38454, + 38457, + 38460, + 38463, + 38466, + 38469, + 38472, + 38475, + 38478, + 38481, + 38484, + 38487, + 38490, + 38493, + 38496, + 38499, + 38502, + 38505, + 38508, + 38511, + 38514, + 38517, + 38520, + 38523, + 38526, + 38529, + 38532, + 38535, + 38538, + 38541, + 38544, + 38547, + 38550, + 38553, + 38556, + 38559, + 38562, + 38565, + 38568, + 38571, + 38574, + 38577, + 38580, + 38583, + 38586, + 38589, + 38592, + 38595, + 38598, + 38601, + 38604, + 38607, + 38610, + 38613, + 38616, + 38619, + 38622, + 38625, + 38628, + 38631, + 38634, + 38637, + 38640, + 38643, + 38646, + 38649, + 38652, + 38655, + 38658, + 38661, + 38664, + 38667, + 38670, + 38673, + 38676, + 38679, + 38682, + 38685, + 38688, + 38691, + 38694, + 38697, + 38700, + 38703, + 38706, + 38709, + 38712, + 38715, + 38718, + 38721, + 38724, + 38727, + 38730, + 38733, + 38736, + 38739, + 38742, + 38745, + 38748, + 38751, + 38754, + 38757, + 38760, + 38763, + 38766, + 38769, + 38772, + 38775, + 38778, + 38781, + 38784, + 38787, + 38790, + 38793, + 38796, + 38799, + 38802, + 38805, + 38808, + 38811, + 38814, + 38817, + 38820, + 38823, + 38826, + 38829, + 38832, + 38835, + 38838, + 38841, + 38844, + 38847, + 38850, + 38853, + 38856, + 38859, + 38862, + 38865, + 38868, + 38871, + 38874, + 38877, + 38880, + 38883, + 38886, + 38889, + 38892, + 38895, + 38898, + 38901, + 38904, + 38907, + 38910, + 38913, + 38916, + 38919, + 38922, + 38925, + 38928, + 38931, + 38934, + 38937, + 38940, + 38943, + 38946, + 38949, + 38952, + 38955, + 38958, + 38961, + 38964, + 38967, + 38970, + 38973, + 38976, + 38979, + 38982, + 38985, + 38988, + 38991, + 38994, + 38997, + 39000, + 39003, + 39006, + 39009, + 39012, + 39015, + 39018, + 39021, + 39024, + 39027, + 39030, + 39033, + 39036, + 39039, + 39042, + 39045, + 39048, + 39051, + 39054, + 39057, + 39060, + 39063, + 39066, + 39069, + 39072, + 39075, + 39078, + 39081, + 39084, + 39087, + 39090, + 39093, + 39096, + 39099, + 39102, + 39105, + 39108, + 39111, + 39114, + 39117, + 39120, + 39123, + 39126, + 39129, + 39132, + 39135, + 39138, + 39141, + 39144, + 39147, + 39150, + 39153, + 39156, + 39159, + 39162, + 39165, + 39168, + 39171, + 39174, + 39177, + 39180, + 39183, + 39186, + 39189, + 39192, + 39195, + 39198, + 39201, + 39204, + 39207, + 39210, + 39213, + 39216, + 39219, + 39222, + 39225, + 39228, + 39231, + 39234, + 39237, + 39240, + 39243, + 39246, + 39249, + 39252, + 39255, + 39258, + 39261, + 39264, + 39267, + 39270, + 39273, + 39276, + 39279, + 39282, + 39285, + 39288, + 39291, + 39294, + 39297, + 39300, + 39303, + 39306, + 39309, + 39312, + 39315, + 39318, + 39321, + 39324, + 39327, + 39330, + 39333, + 39336, + 39339, + 39342, + 39345, + 39348, + 39351, + 39354, + 39357, + 39360, + 39363, + 39366, + 39369, + 39372, + 39375, + 39378, + 39381, + 39384, + 39387, + 39390, + 39393, + 39396, + 39399, + 39402, + 39405, + 39408, + 39411, + 39414, + 39417, + 39420, + 39423, + 39426, + 39429, + 39432, + 39435, + 39438, + 39441, + 39444, + 39447, + 39450, + 39453, + 39456, + 39459, + 39462, + 39465, + 39468, + 39471, + 39474, + 39477, + 39480, + 39483, + 39486, + 39489, + 39492, + 39495, + 39498, + 39501, + 39504, + 39507, + 39510, + 39513, + 39516, + 39519, + 39522, + 39525, + 39528, + 39531, + 39534, + 39537, + 39540, + 39543, + 39546, + 39549, + 39552, + 39555, + 39558, + 39561, + 39564, + 39567, + 39570, + 39573, + 39576, + 39579, + 39582, + 39585, + 39588, + 39591, + 39594, + 39597, + 39600, + 39603, + 39606, + 39609, + 39612, + 39615, + 39618, + 39621, + 39624, + 39627, + 39630, + 39633, + 39636, + 39639, + 39642, + 39645, + 39648, + 39651, + 39654, + 39657, + 39660, + 39663, + 39666, + 39669, + 39672, + 39675, + 39678, + 39681, + 39684, + 39687, + 39690, + 39693, + 39696, + 39699, + 39702, + 39705, + 39708, + 39711, + 39714, + 39717, + 39720, + 39723, + 39726, + 39729, + 39732, + 39735, + 39738, + 39741, + 39744, + 39747, + 39750, + 39753, + 39756, + 39759, + 39762, + 39765, + 39768, + 39771, + 39774, + 39777, + 39780, + 39783, + 39786, + 39789, + 39792, + 39795, + 39798, + 39801, + 39804, + 39807, + 39810, + 39813, + 39816, + 39819, + 39822, + 39825, + 39828, + 39831, + 39834, + 39837, + 39840, + 39843, + 39846, + 39849, + 39852, + 39855, + 39858, + 39861, + 39864, + 39867, + 39870, + 39873, + 39876, + 39879, + 39882, + 39885, + 39888, + 39891, + 39894, + 39897, + 39900, + 39903, + 39906, + 39909, + 39912, + 39915, + 39918, + 39921, + 39924, + 39927, + 39930, + 39933, + 39936, + 39939, + 39942, + 39945, + 39948, + 39951, + 39954, + 39957, + 39960, + 39963, + 39966, + 39969, + 39972, + 39975, + 39978, + 39981, + 39984, + 39987, + 39990, + 39993, + 39996, + 39999, + 40002, + 40005, + 40008, + 40011, + 40014, + 40017, + 40020, + 40023, + 40026, + 40029, + 40032, + 40035, + 40038, + 40041, + 40044, + 40047, + 40050, + 40053, + 40056, + 40059, + 40062, + 40065, + 40068, + 40071, + 40074, + 40077, + 40080, + 40083, + 40086, + 40089, + 40092, + 40095, + 40098, + 40101, + 40104, + 40107, + 40110, + 40113, + 40116, + 40119, + 40122, + 40125, + 40128, + 40131, + 40134, + 40137, + 40140, + 40143, + 40146, + 40149, + 40152, + 40155, + 40158, + 40161, + 40164, + 40167, + 40170, + 40173, + 40176, + 40179, + 40182, + 40185, + 40188, + 40191, + 40194, + 40197, + 40200, + 40203, + 40206, + 40209, + 40212, + 40215, + 40218, + 40221, + 40224, + 40227, + 40230, + 40233, + 40236, + 40239, + 40242, + 40245, + 40248, + 40251, + 40254, + 40257, + 40260, + 40263, + 40266, + 40269, + 40272, + 40275, + 40278, + 40281, + 40284, + 40287, + 40290, + 40293, + 40296, + 40299, + 40302, + 40305, + 40308, + 40311, + 40314, + 40317, + 40320, + 40323, + 40326, + 40329, + 40332, + 40335, + 40338, + 40341, + 40344, + 40347, + 40350, + 40353, + 40356, + 40359, + 40362, + 40365, + 40368, + 40371, + 40374, + 40377, + 40380, + 40383, + 40386, + 40389, + 40392, + 40395, + 40398, + 40401, + 40404, + 40407, + 40410, + 40413, + 40416, + 40419, + 40422, + 40425, + 40428, + 40431, + 40434, + 40437, + 40440, + 40443, + 40446, + 40449, + 40452, + 40455, + 40458, + 40461, + 40464, + 40467, + 40470, + 40473, + 40476, + 40479, + 40482, + 40485, + 40488, + 40491, + 40494, + 40497, + 40500, + 40503, + 40506, + 40509, + 40512, + 40515, + 40518, + 40521, + 40524, + 40527, + 40530, + 40533, + 40536, + 40539, + 40542, + 40545, + 40548, + 40551, + 40554, + 40557, + 40560, + 40563, + 40566, + 40569, + 40572, + 40575, + 40578, + 40581, + 40584, + 40587, + 40590, + 40593, + 40596, + 40599, + 40602, + 40605, + 40608, + 40611, + 40614, + 40617, + 40620, + 40623, + 40626, + 40629, + 40632, + 40635, + 40638, + 40641, + 40644, + 40647, + 40650, + 40653, + 40656, + 40659, + 40662, + 40665, + 40668, + 40671, + 40674, + 40677, + 40680, + 40683, + 40686, + 40689, + 40692, + 40695, + 40698, + 40701, + 40704, + 40707, + 40710, + 40713, + 40716, + 40719, + 40722, + 40725, + 40728, + 40731, + 40734, + 40737, + 40740, + 40743, + 40746, + 40749, + 40752, + 40755, + 40758, + 40761, + 40764, + 40767, + 40770, + 40773, + 40776, + 40779, + 40782, + 40785, + 40788, + 40791, + 40794, + 40797, + 40800, + 40803, + 40806, + 40809, + 40812, + 40815, + 40818, + 40821, + 40824, + 40827, + 40830, + 40833, + 40836, + 40839, + 40842, + 40845, + 40848, + 40851, + 40854, + 40857, + 40860, + 40863, + 40866, + 40869, + 40872, + 40875, + 40878, + 40881, + 40884, + 40887, + 40890, + 40893, + 40896, + 40899, + 40902, + 40905, + 40908, + 40911, + 40914, + 40917, + 40920, + 40923, + 40926, + 40929, + 40932, + 40935, + 40938, + 40941, + 40944, + 40947, + 40950, + 40953, + 40956, + 40959, + 40962, + 40965, + 40968, + 40971, + 40974, + 40977, + 40980, + 40983, + 40986, + 40989, + 40992, + 40995, + 40998, + 41001, + 41004, + 41007, + 41010, + 41013, + 41016, + 41019, + 41022, + 41025, + 41028, + 41031, + 41034, + 41037, + 41040, + 41043, + 41046, + 41049, + 41052, + 41055, + 41058, + 41061, + 41064, + 41067, + 41070, + 41073, + 41076, + 41079, + 41082, + 41085, + 41088, + 41091, + 41094, + 41097, + 41100, + 41103, + 41106, + 41109, + 41112, + 41115, + 41118, + 41121, + 41124, + 41127, + 41130, + 41133, + 41136, + 41139, + 41142, + 41145, + 41148, + 41151, + 41154, + 41157, + 41160, + 41163, + 41166, + 41169, + 41172, + 41175, + 41178, + 41181, + 41184, + 41187, + 41190, + 41193, + 41196, + 41199, + 41202, + 41205, + 41208, + 41211, + 41214, + 41217, + 41220, + 41223, + 41226, + 41229, + 41232, + 41235, + 41238, + 41241, + 41244, + 41247, + 41250, + 41253, + 41256, + 41259, + 41262, + 41265, + 41268, + 41271, + 41274, + 41277, + 41280, + 41283, + 41286, + 41289, + 41292, + 41295, + 41298, + 41301, + 41304, + 41307, + 41310, + 41313, + 41316, + 41319, + 41322, + 41325, + 41328, + 41331, + 41334, + 41337, + 41340, + 41343, + 41346, + 41349, + 41352, + 41355, + 41358, + 41361, + 41364, + 41367, + 41370, + 41373, + 41376, + 41379, + 41382, + 41385, + 41388, + 41391, + 41394, + 41397, + 41400, + 41403, + 41406, + 41409, + 41412, + 41415, + 41418, + 41421, + 41424, + 41427, + 41430, + 41433, + 41436, + 41439, + 41442, + 41445, + 41448, + 41451, + 41454, + 41457, + 41460, + 41463, + 41466, + 41469, + 41472, + 41475, + 41478, + 41481, + 41484, + 41487, + 41490, + 41493, + 41496, + 41499, + 41502, + 41505, + 41508, + 41511, + 41514, + 41517, + 41520, + 41523, + 41526, + 41529, + 41532, + 41535, + 41538, + 41541, + 41544, + 41547, + 41550, + 41553, + 41556, + 41559, + 41562, + 41565, + 41568, + 41571, + 41574, + 41577, + 41580, + 41583, + 41586, + 41589, + 41592, + 41595, + 41598, + 41601, + 41604, + 41607, + 41610, + 41613, + 41616, + 41619, + 41622, + 41625, + 41628, + 41631, + 41634, + 41637, + 41640, + 41643, + 41646, + 41649, + 41652, + 41655, + 41658, + 41661, + 41664, + 41667, + 41670, + 41673, + 41676, + 41679, + 41682, + 41685, + 41688, + 41691, + 41694, + 41697, + 41700, + 41703, + 41706, + 41709, + 41712, + 41715, + 41718, + 41721, + 41724, + 41727, + 41730, + 41733, + 41736, + 41739, + 41742, + 41745, + 41748, + 41751, + 41754, + 41757, + 41760, + 41763, + 41766, + 41769, + 41772, + 41775, + 41778, + 41781, + 41784, + 41787, + 41790, + 41793, + 41796, + 41799, + 41802, + 41805, + 41808, + 41811, + 41814, + 41817, + 41820, + 41823, + 41826, + 41829, + 41832, + 41835, + 41838, + 41841, + 41844, + 41847, + 41850, + 41853, + 41856, + 41859, + 41862, + 41865, + 41868, + 41871, + 41874, + 41877, + 41880, + 41883, + 41886, + 41889, + 41892, + 41895, + 41898, + 41901, + 41904, + 41907, + 41910, + 41913, + 41916, + 41919, + 41922, + 41925, + 41928, + 41931, + 41934, + 41937, + 41940, + 41943, + 41946, + 41949, + 41952, + 41955, + 41958, + 41961, + 41964, + 41967, + 41970, + 41973, + 41976, + 41979, + 41982, + 41985, + 41988, + 41991, + 41994, + 41997, + 42000, + 42003, + 42006, + 42009, + 42012, + 42015, + 42018, + 42021, + 42024, + 42027, + 42030, + 42033, + 42036, + 42039, + 42042, + 42045, + 42048, + 42051, + 42054, + 42057, + 42060, + 42063, + 42066, + 42069, + 42072, + 42075, + 42078, + 42081, + 42084, + 42087, + 42090, + 42093, + 42096, + 42099, + 42102, + 42105, + 42108, + 42111, + 42114, + 42117, + 42120, + 42123, + 42126, + 42129, + 42132, + 42135, + 42138, + 42141, + 42144, + 42147, + 42150, + 42153, + 42156, + 42159, + 42162, + 42165, + 42168, + 42171, + 42174, + 42177, + 42180, + 42183, + 42186, + 42189, + 42192, + 42195, + 42198, + 42201, + 42204, + 42207, + 42210, + 42213, + 42216, + 42219, + 42222, + 42225, + 42228, + 42231, + 42234, + 42237, + 42240, + 42243, + 42246, + 42249, + 42252, + 42255, + 42258, + 42261, + 42264, + 42267, + 42270, + 42273, + 42276, + 42279, + 42282, + 42285, + 42288, + 42291, + 42294, + 42297, + 42300, + 42303, + 42306, + 42309, + 42312, + 42315, + 42318, + 42321, + 42324, + 42327, + 42330, + 42333, + 42336, + 42339, + 42342, + 42345, + 42348, + 42351, + 42354, + 42357, + 42360, + 42363, + 42366, + 42369, + 42372, + 42375, + 42378, + 42381, + 42384, + 42387, + 42390, + 42393, + 42396, + 42399, + 42402, + 42405, + 42408, + 42411, + 42414, + 42417, + 42420, + 42423, + 42426, + 42429, + 42432, + 42435, + 42438, + 42441, + 42444, + 42447, + 42450, + 42453, + 42456, + 42459, + 42462, + 42465, + 42468, + 42471, + 42474, + 42477, + 42480, + 42483, + 42486, + 42489, + 42492, + 42495, + 42498, + 42501, + 42504, + 42507, + 42510, + 42513, + 42516, + 42519, + 42522, + 42525, + 42528, + 42531, + 42534, + 42537, + 42540, + 42543, + 42546, + 42549, + 42552, + 42555, + 42558, + 42561, + 42564, + 42567, + 42570, + 42573, + 42576, + 42579, + 42582, + 42585, + 42588, + 42591, + 42594, + 42597, + 42600, + 42603, + 42606, + 42609, + 42612, + 42615, + 42618, + 42621, + 42624, + 42627, + 42630, + 42633, + 42636, + 42639, + 42642, + 42645, + 42648, + 42651, + 42654, + 42657, + 42660, + 42663, + 42666, + 42669, + 42672, + 42675, + 42678, + 42681, + 42684, + 42687, + 42690, + 42693, + 42696, + 42699, + 42702, + 42705, + 42708, + 42711, + 42714, + 42717, + 42720, + 42723, + 42726, + 42729, + 42732, + 42735, + 42738, + 42741, + 42744, + 42747, + 42750, + 42753, + 42756, + 42759, + 42762, + 42765, + 42768, + 42771, + 42774, + 42777, + 42780, + 42783, + 42786, + 42789, + 42792, + 42795, + 42798, + 42801, + 42804, + 42807, + 42810, + 42813, + 42816, + 42819, + 42822, + 42825, + 42828, + 42831, + 42834, + 42837, + 42840, + 42843, + 42846, + 42849, + 42852, + 42855, + 42858, + 42861, + 42864, + 42867, + 42870, + 42873, + 42876, + 42879, + 42882, + 42885, + 42888, + 42891, + 42894, + 42897, + 42900, + 42903, + 42906, + 42909, + 42912, + 42915, + 42918, + 42921, + 42924, + 42927, + 42930, + 42933, + 42936, + 42939, + 42942, + 42945, + 42948, + 42951, + 42954, + 42957, + 42960, + 42963, + 42966, + 42969, + 42972, + 42975, + 42978, + 42981, + 42984, + 42987, + 42990, + 42993, + 42996, + 42999, + 43002, + 43005, + 43008, + 43011, + 43014, + 43017, + 43020, + 43023, + 43026, + 43029, + 43032, + 43035, + 43038, + 43041, + 43044, + 43047, + 43050, + 43053, + 43056, + 43059, + 43062, + 43065, + 43068, + 43071, + 43074, + 43077, + 43080, + 43083, + 43086, + 43089, + 43092, + 43095, + 43098, + 43101, + 43104, + 43107, + 43110, + 43113, + 43116, + 43119, + 43122, + 43125, + 43128, + 43131, + 43134, + 43137, + 43140, + 43143, + 43146, + 43149, + 43152, + 43155, + 43158, + 43161, + 43164, + 43167, + 43170, + 43173, + 43176, + 43179, + 43182, + 43185, + 43188, + 43191, + 43194, + 43197, + 43200, + 43203, + 43206, + 43209, + 43212, + 43215, + 43218, + 43221, + 43224, + 43227, + 43230, + 43233, + 43236, + 43239, + 43242, + 43245, + 43248, + 43251, + 43254, + 43257, + 43260, + 43263, + 43266, + 43269, + 43272, + 43275, + 43278, + 43281, + 43284, + 43287, + 43290, + 43293, + 43296, + 43299, + 43302, + 43305, + 43308, + 43311, + 43314, + 43317, + 43320, + 43323, + 43326, + 43329, + 43332, + 43335, + 43338, + 43341, + 43344, + 43347, + 43350, + 43353, + 43356, + 43359, + 43362, + 43365, + 43368, + 43371, + 43374, + 43377, + 43380, + 43383, + 43386, + 43389, + 43392, + 43395, + 43398, + 43401, + 43404, + 43407, + 43410, + 43413, + 43416, + 43419, + 43422, + 43425, + 43428, + 43431, + 43434, + 43437, + 43440, + 43443, + 43446, + 43449, + 43452, + 43455, + 43458, + 43461, + 43464, + 43467, + 43470, + 43473, + 43476, + 43479, + 43482, + 43485, + 43488, + 43491, + 43494, + 43497, + 43500, + 43503, + 43506, + 43509, + 43512, + 43515, + 43518, + 43521, + 43524, + 43527, + 43530, + 43533, + 43536, + 43539, + 43542, + 43545, + 43548, + 43551, + 43554, + 43557, + 43560, + 43563, + 43566, + 43569, + 43572, + 43575, + 43578, + 43581, + 43584, + 43587, + 43590, + 43593, + 43596, + 43599, + 43602, + 43605, + 43608, + 43611, + 43614, + 43617, + 43620, + 43623, + 43626, + 43629, + 43632, + 43635, + 43638, + 43641, + 43644, + 43647, + 43650, + 43653, + 43656, + 43659, + 43662, + 43665, + 43668, + 43671, + 43674, + 43677, + 43680, + 43683, + 43686, + 43689, + 43692, + 43695, + 43698, + 43701, + 43704, + 43707, + 43710, + 43713, + 43716, + 43719, + 43722, + 43725, + 43728, + 43731, + 43734, + 43737, + 43740, + 43743, + 43746, + 43749, + 43752, + 43755, + 43758, + 43761, + 43764, + 43767, + 43770, + 43773, + 43776, + 43779, + 43782, + 43785, + 43788, + 43791, + 43794, + 43797, + 43800, + 43803, + 43806, + 43809, + 43812, + 43815, + 43818, + 43821, + 43824, + 43827, + 43830, + 43833, + 43836, + 43839, + 43842, + 43845, + 43848, + 43851, + 43854, + 43857, + 43860, + 43863, + 43866, + 43869, + 43872, + 43875, + 43878, + 43881, + 43884, + 43887, + 43890, + 43893, + 43896, + 43899, + 43902, + 43905, + 43908, + 43911, + 43914, + 43917, + 43920, + 43923, + 43926, + 43929, + 43932, + 43935, + 43938, + 43941, + 43944, + 43947, + 43950, + 43953, + 43956, + 43959, + 43962, + 43965, + 43968, + 43971, + 43974, + 43977, + 43980, + 43983, + 43986, + 43989, + 43992, + 43995, + 43998, + 44001, + 44004, + 44007, + 44010, + 44013, + 44016, + 44019, + 44022, + 44025, + 44028, + 44031, + 44034, + 44037, + 44040, + 44043, + 44046, + 44049, + 44052, + 44055, + 44058, + 44061, + 44064, + 44067, + 44070, + 44073, + 44076, + 44079, + 44082, + 44085, + 44088, + 44091, + 44094, + 44097, + 44100, + 44103, + 44106, + 44109, + 44112, + 44115, + 44118, + 44121, + 44124, + 44127, + 44130, + 44133, + 44136, + 44139, + 44142, + 44145, + 44148, + 44151, + 44154, + 44157, + 44160, + 44163, + 44166, + 44169, + 44172, + 44175, + 44178, + 44181, + 44184, + 44187, + 44190, + 44193, + 44196, + 44199, + 44202, + 44205, + 44208, + 44211, + 44214, + 44217, + 44220 + ], + "simulator_time_includes_preroll": true, + "unrecorded_preroll_duration_s": 0.6333333333333333 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e4ecf3e12808e78d42f4f8d2abdae85915eef7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json @@ -0,0 +1,734 @@ +{ + "status": "PASSED", + "passed": true, + "threshold_px": 0.25, + "only_passive_distal_fingers": true, + "passive_path_pattern": "/gripper_[lr]_(inner|outer)_link[234]$", + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "windows": [ + { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 2.8159646537346162e-06, + "robot_link_rotation_span_rad": 0.000176313848961596, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195446, + "camera_link_translation_span_m": 3.371747880871523e-07, + "camera_link_rotation_span_rad": 7.426700469480266e-07, + "driven_robot_link_translation_span_m": 5.960464477539062e-07, + "driven_robot_link_rotation_span_rad": 8.724499445143082e-07 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.025116797315576277, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0046986385182442485, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.008270966452913829, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002091724384971257, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.008270966452913829 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013933034884051926, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01783726681549923, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005265864983350325, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.01783726681549923 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004346896213376365, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.00735876934778579, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0015751488665913611, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.00735876934778579 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005276400581082378, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015273085934574193, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0025689889924535086, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015273085934574193 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009598396920741869, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.023663685135828873, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004334387717791847, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.023663685135828873 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004516487995344821, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.013011951767111181, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.00120375635939961, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.013011951767111181 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007819686311560547, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002906341425282057, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01322017010223088, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.01322017010223088 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.017969898454899165, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007116758692570047, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.021320117611274305, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.021320117611274305 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007878053352483962, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002157452638531639, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011129469479166671, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.011129469479166671 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00482991543093169, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002100150366210102, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01128504620197779, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.01128504620197779 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.011252434735235113, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004873988785355162, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.025116797315576277, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.025116797315576277 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + ], + "evaluated_passive_paths": [ + "/World/Robot/gripper_l_inner_link3", + "/World/Robot/gripper_l_inner_link4", + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_outer_link3", + "/World/Robot/gripper_l_outer_link4", + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_r_inner_link3", + "/World/Robot/gripper_r_inner_link4", + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_outer_link3", + "/World/Robot/gripper_r_outer_link4", + "/World/Robot/gripper_r_outer_link2" + ], + "evaluated_driven_paths": [ + "/World/Robot/base_link", + "/World/Robot/body_link1", + "/World/Robot/body_link2", + "/World/Robot/head_link1", + "/World/Robot/head_link2", + "/World/Robot/arm_base_link", + "/World/Robot/arm_l_base_link", + "/World/Robot/arm_l_link1", + "/World/Robot/arm_l_link2", + "/World/Robot/arm_l_link3", + "/World/Robot/arm_l_link4", + "/World/Robot/arm_l_link5", + "/World/Robot/arm_l_link6", + "/World/Robot/arm_l_end_link", + "/World/Robot/gripper_l_base_link", + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_center_link", + "/World/Robot/arm_r_base_link", + "/World/Robot/arm_r_link1", + "/World/Robot/arm_r_link2", + "/World/Robot/arm_r_link3", + "/World/Robot/arm_r_link4", + "/World/Robot/arm_r_link5", + "/World/Robot/arm_r_link6", + "/World/Robot/arm_r_end_link", + "/World/Robot/gripper_r_base_link", + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_center_link" + ], + "evaluated_cameras": [ + "/World/Robot/head_link2/Head_Camera", + "/World/Robot/gripper_l_base_link/Left_Camera", + "/World/Robot/gripper_r_base_link/Right_Camera" + ], + "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "scene_sha256": "9ae32ec169a2d74cd9aca9de8935fa19ecd6372f7062eb65fb5579b09360d208", + "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/preroll_stability.py", + "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK.json new file mode 100644 index 0000000000000000000000000000000000000000..79b1b37ac86f45417d7908c4f18d542993a3da07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK.json @@ -0,0 +1,19 @@ +{ + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 44221, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 14740, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..0a837730c23cddefbbdb0e64c2d4cb66bd19b20e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json @@ -0,0 +1,42 @@ +{ + "schema": "multi_startup_clock_audit_v1", + "passed": true, + "checks": { + "schema": true, + "rates": true, + "unrecorded_preroll_steps": true, + "unrecorded_preroll_duration": true, + "retained_rows": true, + "first_global_step": true, + "timestamp_formula": true, + "global_step_formula": true, + "camera_formula": true, + "command_semantics": true, + "contact_semantics": true, + "recording_tick": true, + "recording_timestamp": true + }, + "failures": [], + "clock": { + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 44221, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 14740, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." + }, + "clock_sha256": "7e4f3214b1ca9454ff16fa1f3aa985ca1a48894d84a8c11525e7b6edce6aa9db", + "retained_rows": 44221, + "preroll_rows_60hz": 38 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..6f9554f04698aae05f4e3ddd4087a432b803db25 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_00.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/ShelfItems/gatorade_m", + "pre_pick_pose": [ + -2.6978635787963867, + 2.2153143882751465, + 1.1825001239776611, + 9.713819963508286e-06, + 4.05377113565919e-06, + -0.09470631927251816, + 0.9955052733421326 + ], + "live_pose": [ + -2.5917305946350098, + 1.9260835647583008, + 1.2441637516021729, + 0.11767110973596573, + 0.18682634830474854, + -0.5887706875801086, + 0.7775593400001526 + ], + "lift_m": 0.06166362762451172, + "grasp_contact": { + "active_target": "/World/Assets/ShelfItems/gatorade_m", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "window_control_ticks": 30, + "window_start_tick": 1648, + "window_end_tick": 1677, + "inner_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "outer_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 1675, + 1676, + 1677 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..4eefaba7369d45b3a95dec2fc4cb6f1b7bf0ffa8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_01.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/Tier2Items/chomps_r", + "pre_pick_pose": [ + -2.2530148029327393, + 2.2207834720611572, + 0.7510004043579102, + 2.2328458726406097e-07, + -4.991917990082584e-10, + -0.5188618302345276, + 0.8548582196235657 + ], + "live_pose": [ + -2.1243484020233154, + 1.8856369256973267, + 0.8200559020042419, + 0.20558594167232513, + -0.15651431679725647, + -0.11556904762983322, + 0.9591046571731567 + ], + "lift_m": 0.06905549764633179, + "grasp_contact": { + "active_target": "/World/Assets/Tier2Items/chomps_r", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "window_control_ticks": 30, + "window_start_tick": 11999, + "window_end_tick": 12028, + "inner_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "outer_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 12026, + 12027, + 12028 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..eb822d57351fe6e290b9d41e4ede6ef65147d7c6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_02.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/ShelfItems/gatorade_t", + "pre_pick_pose": [ + -2.0334043502807617, + 2.213392972946167, + 1.1825004816055298, + -1.603689815965481e-05, + 1.143585359386634e-05, + -0.4041038751602173, + 0.9147130846977234 + ], + "live_pose": [ + -2.137014389038086, + 1.9405955076217651, + 1.274705171585083, + 0.2595826983451843, + -0.10333392024040222, + 0.1011485606431961, + 0.9548340439796448 + ], + "lift_m": 0.09220468997955322, + "grasp_contact": { + "active_target": "/World/Assets/ShelfItems/gatorade_t", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "window_control_ticks": 30, + "window_start_tick": 22904, + "window_end_tick": 22933, + "inner_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "outer_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 22931, + 22932, + 22933 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_03.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_03.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba79da29de04fc34517c8f784ad256b4e49ae3b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_GATE.item_03.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/Tier2Items/zbar_t", + "pre_pick_pose": [ + -2.5654242038726807, + 2.24345326423645, + 0.7510001063346863, + 2.7532223612070084e-08, + 1.0477378964424133e-08, + 0.47697481513023376, + 0.8789169788360596 + ], + "live_pose": [ + -2.538241386413574, + 1.962361454963684, + 0.9219046831130981, + 0.2510589063167572, + 0.06186036393046379, + 0.18047381937503815, + 0.948984682559967 + ], + "lift_m": 0.17090457677841187, + "grasp_contact": { + "active_target": "/World/Assets/Tier2Items/zbar_t", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "window_control_ticks": 30, + "window_start_tick": 37015, + "window_end_tick": 37044, + "inner_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "outer_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 37042, + 37043, + 37044 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..4677f8402d0972b4448ea91721432299b7e81748 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/ShelfItems/gatorade_m", + "expected_pose": [ + -2.6978628635406494, + 2.2153139114379883, + 1.182828426361084, + 1.7053025658242404e-13, + 4.121147867408581e-13, + -0.09467542171478271, + 0.9955081939697266 + ], + "live_pose": [ + -2.6978635787963867, + 2.2153143882751465, + 1.1825001239776611, + 9.713819963508286e-06, + 4.05377113565919e-06, + -0.09470631927251816, + 0.9955052733421326 + ], + "translation_error_m": 0.0003283035184722394, + "rotation_error_rad": 6.554327238280711e-05 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..034089362c372c73fecdfc9f12ea8374250bd30d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/Tier2Items/chomps_r", + "expected_pose": [ + -2.2530150413513184, + 2.2207839488983154, + 0.7513301372528076, + -1.1641532182693481e-10, + -6.892975079608732e-11, + -0.5188618302345276, + 0.8548582792282104 + ], + "live_pose": [ + -2.2530148029327393, + 2.2207834720611572, + 0.7510004043579102, + 2.2328458726406097e-07, + -4.991917990082584e-10, + -0.5188618302345276, + 0.8548582196235657 + ], + "translation_error_m": 0.0003297333314549178, + "rotation_error_rad": 4.510637958669408e-07 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..de6e474f05b16814d16353db65536501ef66bc8d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/ShelfItems/gatorade_t", + "expected_pose": [ + -2.033402681350708, + 2.2133936882019043, + 1.182828426361084, + 8.86757334228605e-12, + 4.6771475581408595e-12, + -0.4041115939617157, + 0.9147096276283264 + ], + "live_pose": [ + -2.0334043502807617, + 2.213392972946167, + 1.1825004816055298, + -1.603689815965481e-05, + 1.143585359386634e-05, + -0.4041038751602173, + 0.9147130846977234 + ], + "translation_error_m": 0.00032794979051686823, + "rotation_error_rad": 4.2871455376066455e-05 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json new file mode 100644 index 0000000000000000000000000000000000000000..c21e022f2b49f93cb7b5cf60dc15bd0b0e41a24b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/Tier2Items/zbar_t", + "expected_pose": [ + -2.5654244422912598, + 2.243452787399292, + 0.7513301968574524, + 0.0, + 0.0, + 0.4769749343395233, + 0.8789169192314148 + ], + "live_pose": [ + -2.5654242038726807, + 2.24345326423645, + 0.7510001063346863, + 2.7532223612070084e-08, + 1.0477378964424133e-08, + 0.47697481513023376, + 0.8789169788360596 + ], + "translation_error_m": 0.00033009095932357013, + "rotation_error_rad": 2.728469538861112e-07 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..90561082f232e6261ae90aedda2d6fb5200f6b9a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json @@ -0,0 +1,300 @@ +{ + "candidate": 0, + "goal": [ + [ + -0.16763116508665926, + -0.9858497819098452, + 0.0, + -1.7475907421156816 + ], + [ + 0.9858497819098452, + -0.16763116508665926, + 0.0, + 0.16355454199352923 + ], + [ + 0.0, + 0.0, + 1.0, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + 0.0007877019794580043, + 0.00010526986956210282, + -0.9999996842218736, + 0.15077113498310268 + ], + [ + -0.9995784091983285, + -0.02902376771056937, + -0.0007904254693890249, + -0.00030858990914295337 + ], + [ + -0.029023841753484516, + 0.9995787161730374, + 8.236340947652682e-05, + 0.13604469947312148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [], + "clutter_clearance": 0.014093626075781459, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.7475907421156816, + 0.16355454199352923 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.781720970377036, + 0.1558003467279177 + ], + [ + -1.780416856168224, + 0.15141179632768278 + ], + [ + -1.77855107776737, + 0.14723101131806807 + ], + [ + -1.7761555597141143, + 0.14332952612211827 + ], + [ + -1.773271288385108, + 0.13977409816357578 + ], + [ + -1.769947618010755, + 0.13662555813518765 + ], + [ + -1.7662414135858628, + 0.13393778168641093 + ], + [ + -1.7622160913432072, + 0.13175675596888786 + ], + [ + -1.7579405256521974, + 0.13011979949210364 + ], + [ + -1.753487872238379, + 0.12905492229388177 + ], + [ + -1.748934317460252, + 0.1285803398478868 + ], + [ + -1.74435777361797, + 0.12870417875586504 + ], + [ + -1.7398365468500696, + 0.12942431373217508 + ], + [ + -1.735447996449835, + 0.1307284279409869 + ], + [ + -1.73126721144022, + 0.1325942063418407 + ], + [ + -1.7273657262442705, + 0.1349897243950964 + ], + [ + -1.723810298285728, + 0.13787399572410278 + ], + [ + -1.7206617582573396, + 0.141197666098456 + ], + [ + -1.717973981808563, + 0.14490387052334816 + ], + [ + -1.71579295609104, + 0.14892919276600403 + ], + [ + -1.7141559996142555, + 0.15320475845701337 + ], + [ + -1.7130911224160343, + 0.15765741187083193 + ], + [ + -1.7126165399700393, + 0.16221096664895923 + ], + [ + -1.7127403788780171, + 0.16678751049124074 + ], + [ + -1.7134605138543273, + 0.17130873725914122 + ], + [ + -1.714764628063139, + 0.1756972876593759 + ], + [ + -1.716630406463993, + 0.1798780726689906 + ], + [ + -1.7190259245172483, + 0.1837795578649404 + ], + [ + -1.721910195846255, + 0.1873349858234829 + ], + [ + -1.7252338662206081, + 0.19048352585187125 + ], + [ + -1.7289400706455003, + 0.19317130230064775 + ], + [ + -1.7329653928881563, + 0.19535232801817107 + ], + [ + -1.7372409585791657, + 0.19698928449495526 + ], + [ + -1.741693611992984, + 0.1980541616931769 + ], + [ + -1.7462471667711115, + 0.1985287441391719 + ], + [ + -1.7508237106133926, + 0.19840490523119383 + ], + [ + -1.755344937381293, + 0.1976847702548836 + ], + [ + -1.7597334877815285, + 0.19638065604607202 + ], + [ + -1.763914272791143, + 0.194514877645218 + ], + [ + -1.767815757987093, + 0.1921193595919623 + ], + [ + -1.7713711859456351, + 0.1892350882629559 + ], + [ + -1.7745197259740235, + 0.1859114178886027 + ], + [ + -1.7772075024228, + 0.18220521346371074 + ], + [ + -1.779388528140323, + 0.17817989122105488 + ], + [ + -1.7810254846171076, + 0.1739043255300453 + ], + [ + -1.7820903618153292, + 0.16945167211622697 + ], + [ + -1.7825649442613243, + 0.16489811733809948 + ], + [ + -1.782441105353346, + 0.16032157349581816 + ] + ], + "tolerance_m": 0.02 + }, + "reserved_future_slots": 3, + "hover_clearance_m": 0.0, + "candidate_budget": 800, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 280, + "opening_samples": 121, + "retreat_samples": 159, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000267", + "recording_60hz_sha256": "b7daff1a5ecee57a5b28aea6bb12ecc007a37faac54c6b5666ab52d3e33b050e", + "place_metrics_sha256": "eb755388931d444bc4015e0e6d8d25dbc5a6e4466b89b1a22b3f3c7f9dcaac6d", + "opening_start_row": 606, + "opening_end_row": 661, + "source_opening_samples": 56, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..e6bb92f09be9653c05185c1565c4f142435bdc6e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json @@ -0,0 +1,2198 @@ +{ + "candidate": 233, + "goal": [ + [ + -0.9598000041303649, + -0.28068479130753005, + -0.0, + -1.8392982845364476 + ], + [ + 0.28068479130753005, + -0.9598000041303649, + 0.0, + 0.22353949184850433 + ], + [ + 0.0, + -0.0, + 1.0, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + 0.12037959529205726, + -0.016872567653960956, + 0.9925845402272202, + -0.16307243474015098 + ], + [ + 0.10638047796082643, + 0.9943174500122759, + 0.004000313726463237, + -0.004608131813796823 + ], + [ + -0.9870116245243241, + 0.10511006165846594, + 0.12149044403576276, + 0.15311913275538935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [ + { + "candidate": 0, + "stage": "landing", + "error": [ + 0.046675969278940535, + 0.2553032925443959 + ] + }, + { + "candidate": 1, + "stage": "landing", + "error": [ + 0.04643368842748332, + 0.25395903364664063 + ] + }, + { + "candidate": 2, + "stage": "landing", + "error": [ + 0.04767850747553674, + 0.26068095282572984 + ] + }, + { + "candidate": 3, + "stage": "landing", + "error": [ + 0.0453489238293909, + 0.24812889076803163 + ] + }, + { + "candidate": 4, + "stage": "landing", + "error": [ + 0.04778859022268277, + 0.26137190307458424 + ] + }, + { + "candidate": 5, + "stage": "landing", + "error": [ + 0.047923288559528224, + 0.26207265407439706 + ] + }, + { + "candidate": 6, + "stage": "landing", + "error": [ + 0.046714586137899486, + 0.2552014460920025 + ] + }, + { + "candidate": 7, + "stage": "landing", + "error": [ + 0.04554660455496694, + 0.24905588381130628 + ] + }, + { + "candidate": 8, + "stage": "landing", + "error": [ + 0.04514641018259093, + 0.24696507098516812 + ] + }, + { + "candidate": 9, + "stage": "landing", + "error": [ + 0.04813034315322238, + 0.26280355484375434 + ] + }, + { + "candidate": 10, + "stage": "landing", + "error": [ + 0.04747792269481144, + 0.25956753553575024 + ] + }, + { + "candidate": 11, + "stage": "landing", + "error": [ + 0.04504290543315434, + 0.2466313837722351 + ] + }, + { + "candidate": 12, + "stage": "landing", + "error": [ + 0.04597803387729442, + 0.25121034903080497 + ] + }, + { + "candidate": 13, + "stage": "landing", + "error": [ + 0.04367760698606986, + 0.2392791587946939 + ] + }, + { + "candidate": 14, + "stage": "landing", + "error": [ + 0.04911247811628811, + 0.2684914231824576 + ] + }, + { + "candidate": 15, + "stage": "landing", + "error": [ + 0.04923637476430143, + 0.2692059651360631 + ] + }, + { + "candidate": 16, + "stage": "landing", + "error": [ + 0.04955603761139923, + 0.2707968062177142 + ] + }, + { + "candidate": 17, + "stage": "landing", + "error": [ + 0.05055179152162281, + 0.27611849310908715 + ] + }, + { + "candidate": 18, + "stage": "landing", + "error": [ + 0.04956583064793717, + 0.2706509447433064 + ] + }, + { + "candidate": 19, + "stage": "landing", + "error": [ + 0.043205396849426626, + 0.23660223755553436 + ] + }, + { + "candidate": 20, + "stage": "landing", + "error": [ + 0.05020853339901806, + 0.27424204679105263 + ] + }, + { + "candidate": 21, + "stage": "landing", + "error": [ + 0.05000347520671993, + 0.2730611595367899 + ] + }, + { + "candidate": 22, + "stage": "landing", + "error": [ + 0.05031679742306147, + 0.2747282858359116 + ] + }, + { + "candidate": 23, + "stage": "landing", + "error": [ + 0.0425470302732873, + 0.2332831608891942 + ] + }, + { + "candidate": 24, + "stage": "landing", + "error": [ + 0.04263574398940526, + 0.23389900224537924 + ] + }, + { + "candidate": 25, + "stage": "landing", + "error": [ + 0.042835874436432345, + 0.23441109154543766 + ] + }, + { + "candidate": 26, + "stage": "landing", + "error": [ + 0.05176794813350647, + 0.2826588194822833 + ] + }, + { + "candidate": 27, + "stage": "landing", + "error": [ + 0.05141766582208039, + 0.28069044929086623 + ] + }, + { + "candidate": 28, + "stage": "landing", + "error": [ + 0.051457754703252756, + 0.2811326794008984 + ] + }, + { + "candidate": 29, + "stage": "landing", + "error": [ + 0.05196755409384835, + 0.2836704535649271 + ] + }, + { + "candidate": 30, + "stage": "landing", + "error": [ + 0.050927717109741234, + 0.2784268871439142 + ] + }, + { + "candidate": 31, + "stage": "landing", + "error": [ + 0.04067716405033857, + 0.2230763214708986 + ] + }, + { + "candidate": 32, + "stage": "landing", + "error": [ + 0.05294897960421897, + 0.2888991512585548 + ] + }, + { + "candidate": 33, + "stage": "landing", + "error": [ + 0.05277388623041826, + 0.28786886427420794 + ] + }, + { + "candidate": 34, + "stage": "landing", + "error": [ + 0.0520377855216956, + 0.28427986677181155 + ] + }, + { + "candidate": 35, + "stage": "landing", + "error": [ + 0.05124958077111959, + 0.2799125821001107 + ] + }, + { + "candidate": 36, + "stage": "landing", + "error": [ + 0.04057499742216469, + 0.2223732703791131 + ] + }, + { + "candidate": 37, + "stage": "landing", + "error": [ + 0.04130018025611523, + 0.22622666501871846 + ] + }, + { + "candidate": 38, + "stage": "landing", + "error": [ + 0.05343028693624884, + 0.29165570334413277 + ] + }, + { + "candidate": 39, + "stage": "landing", + "error": [ + 0.05290437510913806, + 0.2884387607329823 + ] + }, + { + "candidate": 40, + "stage": "landing", + "error": [ + 0.05397943982294886, + 0.29450803687129173 + ] + }, + { + "candidate": 41, + "stage": "landing", + "error": [ + 0.05330276718189416, + 0.2905777367145582 + ] + }, + { + "candidate": 42, + "stage": "landing", + "error": [ + 0.040539769778759366, + 0.22227272615087587 + ] + }, + { + "candidate": 43, + "stage": "landing", + "error": [ + 0.03914687966659597, + 0.21505404236589973 + ] + }, + { + "candidate": 44, + "stage": "landing", + "error": [ + 0.04044014374613059, + 0.22212613465122386 + ] + }, + { + "candidate": 45, + "stage": "landing", + "error": [ + 0.053475011467524015, + 0.29133926003167865 + ] + }, + { + "candidate": 46, + "stage": "landing", + "error": [ + 0.053630987899343875, + 0.29206735072762446 + ] + }, + { + "candidate": 47, + "stage": "landing", + "error": [ + 0.03997004659042495, + 0.21955550983833944 + ] + }, + { + "candidate": 48, + "stage": "landing", + "error": [ + 0.054318460379061115, + 0.2960087120554648 + ] + }, + { + "candidate": 49, + "stage": "landing", + "error": [ + 0.05353905216271447, + 0.2921629467169106 + ] + }, + { + "candidate": 50, + "stage": "landing", + "error": [ + 0.05484331011424729, + 0.29878942704511346 + ] + }, + { + "candidate": 51, + "stage": "landing", + "error": [ + 0.03783971714646803, + 0.2078506289231074 + ] + }, + { + "candidate": 52, + "stage": "landing", + "error": [ + 0.05458982067028623, + 0.29743199348041177 + ] + }, + { + "candidate": 53, + "stage": "landing", + "error": [ + 0.03818881703897891, + 0.20969325081260207 + ] + }, + { + "candidate": 54, + "stage": "landing", + "error": [ + 0.03825279634558495, + 0.20996821743250915 + ] + }, + { + "candidate": 55, + "stage": "landing", + "error": [ + 0.05536194128055464, + 0.3018553491614669 + ] + }, + { + "candidate": 56, + "stage": "landing", + "error": [ + 0.03838039211474834, + 0.2110434509785904 + ] + }, + { + "candidate": 57, + "stage": "landing", + "error": [ + 0.03694165433606665, + 0.2029109545801897 + ] + }, + { + "candidate": 58, + "stage": "landing", + "error": [ + 0.03854320507277635, + 0.21128862081556318 + ] + }, + { + "candidate": 59, + "stage": "landing", + "error": [ + 0.03800178379774891, + 0.20876150384301112 + ] + }, + { + "candidate": 60, + "stage": "landing", + "error": [ + 0.03721136195979493, + 0.20440032907219588 + ] + }, + { + "candidate": 61, + "stage": "landing", + "error": [ + 0.0552992845298897, + 0.3010155058654616 + ] + }, + { + "candidate": 62, + "stage": "landing", + "error": [ + 0.05790465894321837, + 0.31518075084129504 + ] + }, + { + "candidate": 63, + "stage": "landing", + "error": [ + 0.05539907760123579, + 0.30211936407882745 + ] + }, + { + "candidate": 64, + "stage": "landing", + "error": [ + 0.05639367799376217, + 0.306773106707504 + ] + }, + { + "candidate": 65, + "stage": "landing", + "error": [ + 0.055721815336112764, + 0.3032258910680606 + ] + }, + { + "candidate": 66, + "stage": "landing", + "error": [ + 0.0357602963523841, + 0.19676202591664452 + ] + }, + { + "candidate": 67, + "stage": "landing", + "error": [ + 0.03511909207254399, + 0.19321250528802184 + ] + }, + { + "candidate": 68, + "stage": "landing", + "error": [ + 0.0570712544561595, + 0.31117627442231693 + ] + }, + { + "candidate": 69, + "stage": "landing", + "error": [ + 0.034580824528853776, + 0.19023407848110113 + ] + }, + { + "candidate": 70, + "stage": "landing", + "error": [ + 0.05815990204911827, + 0.316246247333627 + ] + }, + { + "candidate": 71, + "stage": "landing", + "error": [ + 0.05779133515704755, + 0.31426564137626 + ] + }, + { + "candidate": 72, + "stage": "landing", + "error": [ + 0.05813238589784576, + 0.3164669050465111 + ] + }, + { + "candidate": 73, + "stage": "landing", + "error": [ + 0.03499516273250926, + 0.19242904309394385 + ] + }, + { + "candidate": 74, + "stage": "landing", + "error": [ + 0.035252412551589285, + 0.1935981861050987 + ] + }, + { + "candidate": 75, + "stage": "landing", + "error": [ + 0.03361360423262386, + 0.18509107970313876 + ] + }, + { + "candidate": 76, + "stage": "landing", + "error": [ + 0.05899162200226866, + 0.32105292354001913 + ] + }, + { + "candidate": 77, + "stage": "landing", + "error": [ + 0.05894478979721707, + 0.32095808400764 + ] + }, + { + "candidate": 78, + "stage": "landing", + "error": [ + 0.058725808468276595, + 0.3193355012577477 + ] + }, + { + "candidate": 79, + "stage": "landing", + "error": [ + 0.03338846792962695, + 0.18388163700967428 + ] + }, + { + "candidate": 80, + "stage": "landing", + "error": [ + 0.03349494534293456, + 0.18418710914820471 + ] + }, + { + "candidate": 81, + "stage": "landing", + "error": [ + 0.03360489880671127, + 0.18504768893541076 + ] + }, + { + "candidate": 82, + "stage": "landing", + "error": [ + 0.05906150884533001, + 0.3211005623231909 + ] + }, + { + "candidate": 83, + "stage": "landing", + "error": [ + 0.033917268483796746, + 0.18649662810293594 + ] + }, + { + "candidate": 84, + "stage": "landing", + "error": [ + 0.0602694653903486, + 0.3278950949311837 + ] + }, + { + "candidate": 85, + "stage": "landing", + "error": [ + 0.03234012306978706, + 0.17805425441733955 + ] + }, + { + "candidate": 86, + "stage": "landing", + "error": [ + 0.03328819690724026, + 0.1830485653218766 + ] + }, + { + "candidate": 87, + "stage": "landing", + "error": [ + 0.05993025383994674, + 0.3262293586031134 + ] + }, + { + "candidate": 88, + "stage": "landing", + "error": [ + 0.0331014383518891, + 0.18226148544950735 + ] + }, + { + "candidate": 89, + "stage": "landing", + "error": [ + 0.061028866623171696, + 0.33164577847756266 + ] + }, + { + "candidate": 90, + "stage": "landing", + "error": [ + 0.032189732493522194, + 0.17713898506748615 + ] + }, + { + "candidate": 91, + "stage": "landing", + "error": [ + 0.061325565342651184, + 0.33371328810889955 + ] + }, + { + "candidate": 92, + "stage": "landing", + "error": [ + 0.03226453356321315, + 0.17760094997775916 + ] + }, + { + "candidate": 93, + "stage": "landing", + "error": [ + 0.031261654077337844, + 0.17243427004570783 + ] + }, + { + "candidate": 94, + "stage": "landing", + "error": [ + 0.029860009740459714, + 0.16458325320741415 + ] + }, + { + "candidate": 95, + "stage": "landing", + "error": [ + 0.030919563898722986, + 0.17051125133753692 + ] + }, + { + "candidate": 96, + "stage": "landing", + "error": [ + 0.030414668809410326, + 0.16759121824166032 + ] + }, + { + "candidate": 97, + "stage": "landing", + "error": [ + 0.0635860781370489, + 0.3452831502603023 + ] + }, + { + "candidate": 98, + "stage": "landing", + "error": [ + 0.06264990157067407, + 0.34038365503554635 + ] + }, + { + "candidate": 99, + "stage": "landing", + "error": [ + 0.03007412654367627, + 0.16579284013731446 + ] + }, + { + "candidate": 100, + "stage": "landing", + "error": [ + 0.03098299579233119, + 0.17052031181979044 + ] + }, + { + "candidate": 101, + "stage": "landing", + "error": [ + 0.030810816959780087, + 0.1695351212682801 + ] + }, + { + "candidate": 102, + "stage": "landing", + "error": [ + 0.03041984327749935, + 0.16754871794539353 + ] + }, + { + "candidate": 103, + "stage": "landing", + "error": [ + 0.029220833232395552, + 0.16125949718239713 + ] + }, + { + "candidate": 104, + "stage": "landing", + "error": [ + 0.0641402526031274, + 0.3483467728301848 + ] + }, + { + "candidate": 105, + "stage": "landing", + "error": [ + 0.029307068132244367, + 0.16173137896830062 + ] + }, + { + "candidate": 106, + "stage": "landing", + "error": [ + 0.028912676611126755, + 0.15955197666347012 + ] + }, + { + "candidate": 107, + "stage": "landing", + "error": [ + 0.06421725038002203, + 0.3489644535699885 + ] + }, + { + "candidate": 108, + "stage": "landing", + "error": [ + 0.06313268693541116, + 0.3433944927768496 + ] + }, + { + "candidate": 109, + "stage": "landing", + "error": [ + 0.029249345135642025, + 0.16143362265167757 + ] + }, + { + "candidate": 110, + "stage": "landing", + "error": [ + 0.029554078885133884, + 0.1627437461122283 + ] + }, + { + "candidate": 111, + "stage": "landing", + "error": [ + 0.028661801718798185, + 0.15808483329716944 + ] + }, + { + "candidate": 112, + "stage": "landing", + "error": [ + 0.06492033414232566, + 0.35249006544076666 + ] + }, + { + "candidate": 113, + "stage": "landing", + "error": [ + 0.028903897559353804, + 0.1592493148608132 + ] + }, + { + "candidate": 114, + "stage": "landing", + "error": [ + 0.028768827982454656, + 0.1585831361404026 + ] + }, + { + "candidate": 115, + "stage": "landing", + "error": [ + 0.027833584218018, + 0.15353141836313575 + ] + }, + { + "candidate": 116, + "stage": "landing", + "error": [ + 0.03025125721440854, + 0.16654305927070484 + ] + }, + { + "candidate": 117, + "stage": "landing", + "error": [ + 0.06595561000225804, + 0.3576709565649873 + ] + }, + { + "candidate": 118, + "stage": "landing", + "error": [ + 0.06617951374814993, + 0.3589067114114858 + ] + }, + { + "candidate": 119, + "stage": "landing", + "error": [ + 0.06425005082623393, + 0.3493690496503173 + ] + }, + { + "candidate": 120, + "stage": "landing", + "error": [ + 0.06646995617425336, + 0.3606889163760111 + ] + }, + { + "candidate": 121, + "stage": "landing", + "error": [ + 0.02836945223155383, + 0.15626121127595782 + ] + }, + { + "candidate": 122, + "stage": "landing", + "error": [ + 0.06525639975310749, + 0.3545248780543526 + ] + }, + { + "candidate": 123, + "stage": "landing", + "error": [ + 0.06590784843746117, + 0.3580329708702475 + ] + }, + { + "candidate": 124, + "stage": "landing", + "error": [ + 0.06588472821090499, + 0.3579388480557781 + ] + }, + { + "candidate": 125, + "stage": "landing", + "error": [ + 0.06686983399665641, + 0.36277231921241226 + ] + }, + { + "candidate": 126, + "stage": "landing", + "error": [ + 0.02629614334134108, + 0.1450637002337858 + ] + }, + { + "candidate": 127, + "stage": "landing", + "error": [ + 0.025372441778302564, + 0.1402552139156484 + ] + }, + { + "candidate": 128, + "stage": "landing", + "error": [ + 0.02635649565695552, + 0.14564783237688583 + ] + }, + { + "candidate": 129, + "stage": "landing", + "error": [ + 0.06795337642846261, + 0.36843616978936217 + ] + }, + { + "candidate": 130, + "stage": "landing", + "error": [ + 0.06796390165209741, + 0.3682949326176572 + ] + }, + { + "candidate": 131, + "stage": "landing", + "error": [ + 0.06851016414932529, + 0.37124119975321124 + ] + }, + { + "candidate": 132, + "stage": "landing", + "error": [ + 0.06751884797571787, + 0.36589979291970914 + ] + }, + { + "candidate": 133, + "stage": "landing", + "error": [ + 0.02433656724635022, + 0.13453593548110007 + ] + }, + { + "candidate": 134, + "stage": "landing", + "error": [ + 0.02517243874525135, + 0.13909635271526294 + ] + }, + { + "candidate": 135, + "stage": "landing", + "error": [ + 0.025000006197281273, + 0.13804151611823684 + ] + }, + { + "candidate": 136, + "stage": "landing", + "error": [ + 0.025848590599791492, + 0.14262090659315152 + ] + }, + { + "candidate": 137, + "stage": "landing", + "error": [ + 0.06855914564593169, + 0.37164613698385324 + ] + }, + { + "candidate": 138, + "stage": "landing", + "error": [ + 0.024844879371927815, + 0.13725874285794898 + ] + }, + { + "candidate": 139, + "stage": "landing", + "error": [ + 0.023500355719330422, + 0.1300103522902612 + ] + }, + { + "candidate": 140, + "stage": "landing", + "error": [ + 0.023814215405464148, + 0.13166649254975737 + ] + }, + { + "candidate": 141, + "stage": "landing", + "error": [ + 0.06888820353041007, + 0.37380518864882833 + ] + }, + { + "candidate": 142, + "stage": "landing", + "error": [ + 0.025165014706568792, + 0.13893227088143362 + ] + }, + { + "candidate": 143, + "stage": "landing", + "error": [ + 0.023398681986351397, + 0.12948781010009874 + ] + }, + { + "candidate": 144, + "stage": "landing", + "error": [ + 0.06875555144674365, + 0.37321344545910057 + ] + }, + { + "candidate": 145, + "stage": "landing", + "error": [ + 0.07060396362410257, + 0.3825421241194467 + ] + }, + { + "candidate": 146, + "stage": "landing", + "error": [ + 0.023154161841649708, + 0.12807084460269622 + ] + }, + { + "candidate": 147, + "stage": "landing", + "error": [ + 0.023296861647617684, + 0.12883757331914936 + ] + }, + { + "candidate": 148, + "stage": "landing", + "error": [ + 0.022920891863883623, + 0.12676866818865193 + ] + }, + { + "candidate": 149, + "stage": "landing", + "error": [ + 0.023432550912024678, + 0.12963732090613556 + ] + }, + { + "candidate": 150, + "stage": "landing", + "error": [ + 0.06920113883454755, + 0.37547320103997595 + ] + }, + { + "candidate": 151, + "stage": "landing", + "error": [ + 0.022931089813491144, + 0.1269285925383832 + ] + }, + { + "candidate": 152, + "stage": "landing", + "error": [ + 0.06970992114140986, + 0.3775500428967962 + ] + }, + { + "candidate": 153, + "stage": "landing", + "error": [ + 0.023969558213150978, + 0.13233379332018586 + ] + }, + { + "candidate": 154, + "stage": "landing", + "error": [ + 0.02254323069669954, + 0.12481177960521465 + ] + }, + { + "candidate": 155, + "stage": "landing", + "error": [ + 0.022688350402286363, + 0.12564519663193585 + ] + }, + { + "candidate": 156, + "stage": "landing", + "error": [ + 0.02319053803351315, + 0.12836680370582124 + ] + }, + { + "candidate": 157, + "stage": "landing", + "error": [ + 0.02156788674001737, + 0.11940509639106905 + ] + }, + { + "candidate": 158, + "stage": "landing", + "error": [ + 0.02214964438179242, + 0.12251086574483465 + ] + }, + { + "candidate": 159, + "stage": "landing", + "error": [ + 0.06995374140845409, + 0.37941903726667686 + ] + }, + { + "candidate": 160, + "stage": "landing", + "error": [ + 0.021846893594801176, + 0.12096171434724186 + ] + }, + { + "candidate": 161, + "stage": "landing", + "error": [ + 0.023331454327439678, + 0.12896737871879962 + ] + }, + { + "candidate": 162, + "stage": "landing", + "error": [ + 0.023156904993070597, + 0.12800754754713642 + ] + }, + { + "candidate": 163, + "stage": "landing", + "error": [ + 0.022410433605043422, + 0.12387872791731858 + ] + }, + { + "candidate": 164, + "stage": "landing", + "error": [ + 0.022125286258542817, + 0.12251952452291894 + ] + }, + { + "candidate": 165, + "stage": "landing", + "error": [ + 0.02261536782713049, + 0.12501325630319182 + ] + }, + { + "candidate": 166, + "stage": "landing", + "error": [ + 0.021228310030185174, + 0.11748780492371512 + ] + }, + { + "candidate": 167, + "stage": "landing", + "error": [ + 0.07130863524283984, + 0.38603018666363037 + ] + }, + { + "candidate": 168, + "stage": "landing", + "error": [ + 0.0714690090756513, + 0.3872970750810396 + ] + }, + { + "candidate": 169, + "stage": "landing", + "error": [ + 0.07159767381697134, + 0.3872328538933602 + ] + }, + { + "candidate": 170, + "stage": "landing", + "error": [ + 0.020594251823864283, + 0.11411083110199342 + ] + }, + { + "candidate": 171, + "stage": "landing", + "error": [ + 0.02129647862729367, + 0.11792881032074738 + ] + }, + { + "candidate": 172, + "stage": "landing", + "error": [ + 0.020253092532189716, + 0.11221005257184653 + ] + }, + { + "candidate": 173, + "stage": "landing", + "error": [ + 0.07234080624591217, + 0.3911899137439736 + ] + }, + { + "candidate": 174, + "stage": "landing", + "error": [ + 0.02152858500857557, + 0.11901883855648658 + ] + }, + { + "candidate": 175, + "stage": "landing", + "error": [ + 0.021563587341581026, + 0.1195415834464974 + ] + }, + { + "candidate": 176, + "stage": "landing", + "error": [ + 0.021361500884435215, + 0.11841036238101121 + ] + }, + { + "candidate": 177, + "stage": "landing", + "error": [ + 0.020824331921358886, + 0.11546422119923788 + ] + }, + { + "candidate": 178, + "stage": "landing", + "error": [ + 0.021155307078576498, + 0.11695742941905982 + ] + }, + { + "candidate": 179, + "stage": "landing", + "error": [ + 0.019182825908319552, + 0.10624141548239552 + ] + }, + { + "candidate": 180, + "stage": "landing", + "error": [ + 0.018691752040785128, + 0.10361773577504389 + ] + }, + { + "candidate": 181, + "stage": "landing", + "error": [ + 0.018776251967156144, + 0.10414967987978811 + ] + }, + { + "candidate": 182, + "stage": "landing", + "error": [ + 0.019172452036618288, + 0.10636512766910661 + ] + }, + { + "candidate": 183, + "stage": "landing", + "error": [ + 0.017829365073069765, + 0.09886475936837674 + ] + }, + { + "candidate": 184, + "stage": "landing", + "error": [ + 0.018156858312721007, + 0.10059419162673634 + ] + }, + { + "candidate": 185, + "stage": "landing", + "error": [ + 0.01848562248386658, + 0.10241891651857046 + ] + }, + { + "candidate": 186, + "stage": "landing", + "error": [ + 0.017867183569562975, + 0.09908334124789742 + ] + }, + { + "candidate": 187, + "stage": "landing", + "error": [ + 0.018306194063964134, + 0.1016044033861 + ] + }, + { + "candidate": 188, + "stage": "landing", + "error": [ + 0.018881234415665686, + 0.1045489936961832 + ] + }, + { + "candidate": 189, + "stage": "landing", + "error": [ + 0.01776457349791191, + 0.09853087378928518 + ] + }, + { + "candidate": 190, + "stage": "landing", + "error": [ + 0.017429987121561675, + 0.09669918284975004 + ] + }, + { + "candidate": 191, + "stage": "landing", + "error": [ + 0.018093118610318742, + 0.1002705421326845 + ] + }, + { + "candidate": 192, + "stage": "landing", + "error": [ + 0.015982833165204477, + 0.08876801016994108 + ] + }, + { + "candidate": 193, + "stage": "landing", + "error": [ + 0.016807212142204257, + 0.09338697008807129 + ] + }, + { + "candidate": 194, + "stage": "landing", + "error": [ + 0.015191867891899032, + 0.08432930465014331 + ] + }, + { + "candidate": 195, + "stage": "landing", + "error": [ + 0.015511349979658398, + 0.08622517768901564 + ] + }, + { + "candidate": 196, + "stage": "landing", + "error": [ + 0.01520904275496842, + 0.08455487764966912 + ] + }, + { + "candidate": 197, + "stage": "landing", + "error": [ + 0.015349825272779588, + 0.08514777286558362 + ] + }, + { + "candidate": 198, + "stage": "landing", + "error": [ + 0.01439648690201338, + 0.07994468175134455 + ] + }, + { + "candidate": 199, + "stage": "landing", + "error": [ + 0.015724793233097507, + 0.08721923259232471 + ] + }, + { + "candidate": 200, + "stage": "landing", + "error": [ + 0.013401572347412747, + 0.07447475948515807 + ] + }, + { + "candidate": 201, + "stage": "landing", + "error": [ + 0.012727878652876404, + 0.07078673951874048 + ] + }, + { + "candidate": 202, + "stage": "landing", + "error": [ + 0.013537427299639308, + 0.07523974809623075 + ] + }, + { + "candidate": 203, + "stage": "landing", + "error": [ + 0.014699677650421985, + 0.0817469593788653 + ] + }, + { + "candidate": 204, + "stage": "landing", + "error": [ + 0.013802744261118464, + 0.07661087186250093 + ] + }, + { + "candidate": 205, + "stage": "landing", + "error": [ + 0.013093985923247273, + 0.07285500410460163 + ] + }, + { + "candidate": 206, + "stage": "landing", + "error": [ + 0.01238443863787948, + 0.06888935776416484 + ] + }, + { + "candidate": 207, + "stage": "landing", + "error": [ + 0.011302354815346978, + 0.0629112103731934 + ] + }, + { + "candidate": 208, + "stage": "landing", + "error": [ + 0.012176118368005038, + 0.06780121534104011 + ] + }, + { + "candidate": 209, + "stage": "landing", + "error": [ + 0.011752378030939238, + 0.06527453871659256 + ] + }, + { + "candidate": 210, + "stage": "landing", + "error": [ + 0.008909886820640964, + 0.04965027237979818 + ] + }, + { + "candidate": 211, + "stage": "landing", + "error": [ + 0.00920653011027149, + 0.051320142798324926 + ] + }, + { + "candidate": 212, + "stage": "landing", + "error": [ + 0.009348436377615274, + 0.052116198875682855 + ] + }, + { + "candidate": 213, + "stage": "landing", + "error": [ + 0.00924196169198141, + 0.05142190833874761 + ] + }, + { + "candidate": 214, + "stage": "landing", + "error": [ + 0.00813700138548629, + 0.045384693100998616 + ] + }, + { + "candidate": 215, + "stage": "landing", + "error": [ + 0.008002490547690243, + 0.044543683705196485 + ] + }, + { + "candidate": 216, + "stage": "landing", + "error": [ + 0.0068772597883896055, + 0.038325658126574826 + ] + }, + { + "candidate": 217, + "stage": "landing", + "error": [ + 0.006721230807705528, + 0.03745229312561701 + ] + }, + { + "candidate": 218, + "stage": "landing", + "error": [ + 0.00559736617307165, + 0.03123942515153163 + ] + }, + { + "candidate": 219, + "stage": "landing", + "error": [ + 0.007444448602883582, + 0.041565513333168914 + ] + }, + { + "candidate": 220, + "stage": "landing", + "error": [ + 0.007306373956482509, + 0.040678936422816725 + ] + }, + { + "candidate": 221, + "stage": "landing", + "error": [ + 0.00566576014655656, + 0.03163708488821168 + ] + }, + { + "candidate": 222, + "stage": "landing", + "error": [ + 0.006275850283551794, + 0.03496385964861386 + ] + }, + { + "candidate": 223, + "stage": "landing", + "error": [ + 0.0064484659136737335, + 0.035919029064266104 + ] + }, + { + "candidate": 224, + "stage": "landing", + "error": [ + 0.005630259300162837, + 0.03137902741144833 + ] + }, + { + "candidate": 225, + "stage": "landing", + "error": [ + 0.004805431621801809, + 0.026847565146535187 + ] + }, + { + "candidate": 226, + "stage": "landing", + "error": [ + 0.005184952413771122, + 0.028946194960981088 + ] + }, + { + "candidate": 227, + "stage": "landing", + "error": [ + 0.005025010372934246, + 0.02802075908037525 + ] + }, + { + "candidate": 228, + "stage": "landing", + "error": [ + 0.004609064461853024, + 0.0257429757560399 + ] + }, + { + "candidate": 229, + "stage": "landing", + "error": [ + 0.0029568703118142948, + 0.016513733545129083 + ] + }, + { + "candidate": 230, + "stage": "landing", + "error": [ + 0.0035794255365957633, + 0.019973514106786508 + ] + }, + { + "candidate": 231, + "stage": "landing", + "error": [ + 0.0024420581115871197, + 0.013637039325596144 + ] + }, + { + "candidate": 232, + "stage": "landing", + "error": [ + 0.003319937691049772, + 0.018524982344265466 + ] + } + ], + "clutter_clearance": 0.013082215375825023, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.8397247350580384, + 0.22383232216805643 + ], + "yaw_rad": 2.8402519951194756, + "footprint_xy": [ + [ + -1.8931894028012088, + 0.2539686332136071 + ], + [ + -1.9008527974373564, + 0.22931209680502387 + ], + [ + -1.897452309454433, + 0.22581327879018953 + ], + [ + -1.8939092526967616, + 0.2227731551484363 + ], + [ + -1.8902446997944482, + 0.22012393844232758 + ], + [ + -1.8864780375090295, + 0.21780326542067546 + ], + [ + -1.8826269566140226, + 0.21575419192282397 + ], + [ + -1.8787074724102366, + 0.2139252021807308 + ], + [ + -1.8747339133804468, + 0.21227020139169966 + ], + [ + -1.870718919410682, + 0.21074851516554755 + ], + [ + -1.8666734465735295, + 0.20932489296181803 + ], + [ + -1.8626067619122053, + 0.20796951232025646 + ], + [ + -1.8585264549780842, + 0.20665796684243753 + ], + [ + -1.8544384223992183, + 0.20537127504933647 + ], + [ + -1.8503468781079444, + 0.2040958835601278 + ], + [ + -1.8462543508770675, + 0.20282365462319102 + ], + [ + -1.8421616832262462, + 0.20155187747943598 + ], + [ + -1.8380680326358225, + 0.20028326288795317 + ], + [ + -1.833970869443633, + 0.1990259483239453 + ], + [ + -1.8298659823854126, + 0.19779348799748953 + ], + [ + -1.8257474694969686, + 0.19660486172910774 + ], + [ + -1.8216077483417794, + 0.19548447812856273 + ], + [ + -1.8174375483192027, + 0.1944621585504409 + ], + [ + -1.8132259133566515, + 0.19357315353519713 + ], + [ + -1.8089602000106688, + 0.19285813636734703 + ], + [ + -1.804626083355908, + 0.19236320295525522 + ], + [ + -1.8002075552064118, + 0.19213987127830168 + ], + [ + -1.7956869105589561, + 0.19224508107446697 + ], + [ + -1.7910447697668597, + 0.19274119780627635 + ], + [ + -1.7862600673148683, + 0.19369601112250578 + ], + [ + -1.7785966726787208, + 0.2183525475310888 + ], + [ + -1.781997160661644, + 0.22185136554592336 + ], + [ + -1.7855402174193156, + 0.22489148918767637 + ], + [ + -1.7892047703216285, + 0.22754070589378517 + ], + [ + -1.7929714326070478, + 0.2298613789154372 + ], + [ + -1.7968225135020546, + 0.2319104524132887 + ], + [ + -1.8007419977058408, + 0.23373944215538164 + ], + [ + -1.8047155567356303, + 0.23539444294441322 + ], + [ + -1.8087305507053952, + 0.23691612917056534 + ], + [ + -1.8127760235425474, + 0.2383397513742945 + ], + [ + -1.8168427082038714, + 0.23969513201585607 + ], + [ + -1.820923015137993, + 0.24100667749367502 + ], + [ + -1.8250110477168584, + 0.24229336928677606 + ], + [ + -1.829102592008133, + 0.24356876077598485 + ], + [ + -1.83319511923901, + 0.24484098971292168 + ], + [ + -1.8372877868898305, + 0.24611276685667655 + ], + [ + -1.8413814374802546, + 0.2473813814481597 + ], + [ + -1.8454786006724442, + 0.24863869601216737 + ], + [ + -1.849583487730664, + 0.24987115633862325 + ], + [ + -1.8537020006191085, + 0.2510597826070052 + ], + [ + -1.8578417217742977, + 0.25218016620754985 + ], + [ + -1.8620119217968745, + 0.2532024857856718 + ], + [ + -1.8662235567594256, + 0.25409149080091553 + ], + [ + -1.8704892701054083, + 0.25480650796876564 + ], + [ + -1.8748233867601691, + 0.25530144138085764 + ], + [ + -1.8792419149096653, + 0.25552477305781124 + ], + [ + -1.8837625595571206, + 0.2554195632616458 + ], + [ + -1.8884047003492175, + 0.2549234465298361 + ] + ], + "tolerance_m": 0.001 + }, + "reserved_future_slots": 2, + "hover_clearance_m": 0.0, + "candidate_budget": 800, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 307, + "opening_samples": 121, + "retreat_samples": 186, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000470", + "recording_60hz_sha256": "8213e6fed77597341abfb99b7de67ae8ae6d015e8479833253260c00b2b421a3", + "place_metrics_sha256": "bc16155b85db65c86887b891039b558d739008f6b201aaf6986e5f073b966f7e", + "opening_start_row": 606, + "opening_end_row": 667, + "source_opening_samples": 62, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b62924f331a4992ca00f922e4be7563e153829 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json @@ -0,0 +1,299 @@ +{ + "candidate": 0, + "goal": [ + [ + -0.9993222370493667, + -0.036811228431678264, + 0.0, + -1.6365201855497675 + ], + [ + 0.036811228431678264, + -0.9993222370493667, + 0.0, + 0.20930976406863636 + ], + [ + 0.0, + 0.0, + 0.9999999999999999, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + -0.039977634048731454, + 0.029797102962138496, + 0.9987561871802993, + -0.15968627723720286 + ], + [ + 0.5815177176236421, + 0.813533130935293, + -0.00099446488575199, + -3.1701591912125515e-05 + ], + [ + -0.812550880170377, + 0.5807546620783021, + -0.049850673101389215, + 0.1438381416332586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [], + "clutter_clearance": 0.015093392353301269, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "reserved_future_slots": 1, + "hover_clearance_m": 0.0, + "candidate_budget": 800, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 265, + "opening_samples": 121, + "retreat_samples": 144, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000324", + "recording_60hz_sha256": "fc9d7d173b90d1447e6e09a06138694c8b398ed67a893ab611acf3f852933cec", + "place_metrics_sha256": "3856e2bddfb45e43dd7d082e9dc3fc4a98a06377058e6fc5b81a425f63acb355", + "opening_start_row": 606, + "opening_end_row": 661, + "source_opening_samples": 56, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json new file mode 100644 index 0000000000000000000000000000000000000000..6bac0e8b657502285ad5048ad01e4de80821c2a5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json @@ -0,0 +1,136 @@ +{ + "candidate": 0, + "goal": [ + [ + -0.9858899166923717, + 0.1673949585988436, + 0.0, + -1.6677247350580382 + ], + [ + -0.1673949585988436, + -0.9858899166923717, + -0.0, + 0.2878323221680563 + ], + [ + -0.0, + 0.0, + 1.0, + 0.45690211957462423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "held": [ + [ + -0.001467953833277407, + 0.00039829439871457366, + -0.9999988432358891, + 0.06666106152383033 + ], + [ + 0.03809350069970171, + 0.9992741206403217, + 0.0003420861803694424, + 0.002392971971902913 + ], + [ + 0.9992731009668914, + -0.0380929544677875, + -0.0014820607038448866, + 0.19500433149483287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prior_failures": [], + "clutter_clearance": 0.026631225298257104, + "policy": "reserved_multi_item_slots_live_obstacles_v2_release_sweep", + "slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "reserved_future_slots": 0, + "hover_clearance_m": 0.0, + "retreat_direction_m": [ + 0.0, + 0.0, + 0.15 + ], + "candidate_budget": 800, + "release_sweep": { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": 279, + "opening_samples": 121, + "retreat_samples": 158, + "joint_step_rad_max": 0.005, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": { + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000404", + "recording_60hz_sha256": "9edb7e95913d46b81d1c92499a22698f5181104d15b975717971cd8a86605b47", + "place_metrics_sha256": "c502811b7546fdea079b981ba6184a699961956d4d93912e585522bbe16d80fe", + "opening_start_row": 606, + "opening_end_row": 666, + "source_opening_samples": 61, + "release_t_20hz": 203.0 + }, + "assigned_contact_samples": { + "opening": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14 + ], + "retreat": [] + }, + "first_three_clean_retreat_start": 0, + "final_retreat_quarter_clear": true, + "no_recontact_after_three_clean_samples": true, + "all_live_props_checked": true, + "released_target_stationary_at_goal": true, + "pose_writes_or_resets": false + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLANNING_WAITS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLANNING_WAITS.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5907b6fe859f4585d50e2d13fcfe569a86407d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PLANNING_WAITS.json @@ -0,0 +1,745 @@ +[ + { + "item_index": 0, + "kind": "return", + "error": "TypeError('list indices must be integers or slices, not tuple')", + "tick": 6107, + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_00_return.json", + "time": 1791277974.7760224, + "repair_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "repair_sha256": "381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406", + "overrides": {}, + "repair_module": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "repair_module_sha256": "d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623", + "repair_module_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "repair_module_result": {} + }, + { + "item_index": 2, + "kind": "place", + "error": "RuntimeError('Carry geometry preflight exceeded 180 seconds')", + "tick": 26330, + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_02_place.json", + "time": 1791282026.2393603, + "repair_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "repair_sha256": "872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063", + "overrides": { + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6365201855497675, + 0.20930976406863636, + 0.45490211957462423 + ], + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -0.9053938251463108, + 0.5228742851265118, + 0.23439173838878408, + -1.2723367243111823, + 0.661710860501515, + 1.41911359866257, + -0.14611657834780648, + 1.1407616074658022, + -0.9794371652871695, + -0.40701537953262257, + 0.5127611225071805, + -0.8331235361738845, + -1.568475418746423, + -0.43017814557680517, + 0.007593975402414799, + 0.5235987755982988, + 0.0, + 0.4363323129985824, + 0.7844152450561523, + 0.42039015889167786 + ], + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38" + } + }, + "repair_module": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "repair_module_sha256": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "repair_module_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "repair_module_result": { + "job_overrides": { + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.25, + 0.45, + 0.15, + 0.05 + ] + }, + "receipt": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json" + } + }, + { + "item_index": 3, + "kind": "place", + "error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "tick": 40402, + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json", + "time": 1791290503.452736, + "repair_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "repair_sha256": "3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75", + "overrides": { + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6677247350580382, + 0.2878323221680563, + 0.45490211957462423 + ], + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -1.0998790264129639, + 0.6286609768867493, + 0.3257550895214081, + -1.3167250156402588, + 0.6697197556495667, + 1.5019153356552124, + -0.17134644091129303, + 1.1586757898330688, + -0.6661624312400818, + -0.3321197032928467, + 1.2061527967453003, + -0.7023106813430786, + -1.4243680238723755, + 0.16752956807613373, + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + 0.22855523228645325, + 0.7844305634498596 + ], + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca" + } + }, + "repair_module": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/repair_case03_fine_tick40402_8eda348647da.py", + "repair_module_sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "repair_module_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "repair_module_result": { + "job_overrides": { + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.25, + 0.45, + 0.15, + 0.05 + ] + }, + "receipt": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json" + } + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json new file mode 100644 index 0000000000000000000000000000000000000000..c4be636b19b0fcf14bcc053a74c287cf5a9a1b94 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "drive", + "goal": [ + -1.8155560036257765, + 1.2960764031631178, + -1.5445591623760397 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + "base": [ + -1.8155508041381836, + 1.295876383781433, + -1.544559121131897 + ], + "xy_error_m": 0.00020008695040094564, + "yaw_error_rad": 4.124414276773791e-08, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json new file mode 100644 index 0000000000000000000000000000000000000000..352d04575bbc458baaed0711cacf64b98874567f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "turn", + "goal": [ + -1.8155560036257765, + 1.2960764031631178, + -2.5843837417367643 + ], + "return_stage": "room_navigation" + }, + "base": [ + -1.8155508041381836, + 1.295876383781433, + -2.584306478500366 + ], + "xy_error_m": 0.00020008695040094564, + "yaw_error_rad": 7.726323639811739e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json new file mode 100644 index 0000000000000000000000000000000000000000..f47f49bba7ff556f90fd21f5066fb0b6160892fe --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 1, + "primitive": { + "kind": "drive", + "goal": [ + -2.396176105163997, + 0.9343105119890491, + -2.5843837417367643 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + "base": [ + -2.395890235900879, + 0.9342229962348938, + -2.584306478500366 + ], + "xy_error_m": 0.00029896528698352933, + "yaw_error_rad": 7.726323639811739e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json new file mode 100644 index 0000000000000000000000000000000000000000..dc84a318998f9afe861ff19dd6573e23c8e371b0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 2, + "primitive": { + "kind": "turn", + "goal": [ + -2.396176105163997, + 0.9343105119890491, + -4.779138008609497 + ], + "return_stage": "room_navigation" + }, + "base": [ + -2.395890235900879, + 0.9342230558395386, + 1.5041359663009644 + ], + "xy_error_m": 0.00029894784441935744, + "yaw_error_rad": 8.866773087465794e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json new file mode 100644 index 0000000000000000000000000000000000000000..df0fcb3dbc81985dcd5ce13b6a7e53122595db48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json @@ -0,0 +1,25 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 3, + "primitive": { + "kind": "drive", + "goal": [ + -2.369496315844963, + 1.3334197562341454, + 1.5040472985700897 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + }, + "base": [ + -2.3692541122436523, + 1.3332074880599976, + 1.5041358470916748 + ], + "xy_error_m": 0.0003220564581620363, + "yaw_error_rad": 8.854852158513005e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json new file mode 100644 index 0000000000000000000000000000000000000000..37d3ad61eedc2c19d57f2e9b59d54ee2839ea587 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "drive", + "goal": [ + -1.6927761346940808, + 1.3375817183846843, + -1.5678043212995798 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + "base": [ + -1.6927756071090698, + 1.3373826742172241, + -1.567804217338562 + ], + "xy_error_m": 0.00019904486666544698, + "yaw_error_rad": 1.0396101779441835e-07, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json new file mode 100644 index 0000000000000000000000000000000000000000..e5fc60ff2e015db18cc82276a789ba8d5b739678 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "turn", + "goal": [ + -1.6927761346940808, + 1.3375817183846843, + -2.5573507103452875 + ], + "return_stage": "room_navigation" + }, + "base": [ + -1.692775845527649, + 1.3373826742172241, + -2.557272434234619 + ], + "xy_error_m": 0.00019904437750699482, + "yaw_error_rad": 7.82761106683516e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json new file mode 100644 index 0000000000000000000000000000000000000000..bd13e7645a3d1900fea669a4f48dde08b48682a6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 1, + "primitive": { + "kind": "drive", + "goal": [ + -2.355046613619906, + 0.8996565821015674, + -2.5573507103452875 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + "base": [ + -2.3547542095184326, + 0.8995761871337891, + -2.557272434234619 + ], + "xy_error_m": 0.0003032548588277682, + "yaw_error_rad": 7.82761106683516e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json new file mode 100644 index 0000000000000000000000000000000000000000..6617a54ab5fee7e87cbbc7d91a911eba2e2809f4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 2, + "primitive": { + "kind": "turn", + "goal": [ + -2.355046613619906, + 0.8996565821015674, + -4.690496071079645 + ], + "return_stage": "room_navigation" + }, + "base": [ + -2.3547542095184326, + 0.8995762467384338, + 1.5927788019180298 + ], + "xy_error_m": 0.0003032390626689955, + "yaw_error_rad": 8.956581808814356e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json new file mode 100644 index 0000000000000000000000000000000000000000..3a3966d0ab84dcf340286d4421cf6f411a86274d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json @@ -0,0 +1,25 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 3, + "primitive": { + "kind": "drive", + "goal": [ + -2.363803077808022, + 1.2995607260347384, + 1.5926892360999416 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + }, + "base": [ + -2.36354398727417, + 1.2993667125701904, + 1.592779278755188 + ], + "xy_error_m": 0.00032368059743784016, + "yaw_error_rad": 9.004265524636956e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json new file mode 100644 index 0000000000000000000000000000000000000000..add9da533e0753b287f8d4e1f4ab0edcb1a138f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "drive", + "goal": [ + -1.1390571912160854, + 1.2616257067943186, + -1.8841909877886502 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + "base": [ + -1.1391178369522095, + 1.2614387273788452, + -1.8841910362243652 + ], + "xy_error_m": 0.0001965685812148243, + "yaw_error_rad": 4.843571499435484e-08, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json new file mode 100644 index 0000000000000000000000000000000000000000..0860447ad4559153066e273d346a4d4836f630a8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "turn", + "goal": [ + -1.1390571912160854, + 1.2616257067943186, + 3.6135961559934877 + ], + "return_stage": "room_navigation" + }, + "base": [ + -1.1391178369522095, + 1.2614388465881348, + -2.669506788253784 + ], + "xy_error_m": 0.00019645519073087706, + "yaw_error_rad": 8.236293231458427e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ec665d571a7093f406f17cc4af0d76883ffaac --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 1, + "primitive": { + "kind": "drive", + "goal": [ + -1.4413569278956517, + 1.1073050367482589, + 3.6135961559934877 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + "base": [ + -1.4411050081253052, + 1.1072463989257812, + -2.669506788253784 + ], + "xy_error_m": 0.0002586541415024637, + "yaw_error_rad": 8.236293231458427e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json new file mode 100644 index 0000000000000000000000000000000000000000..fd12ae5ae1a2e0fae14e07d25bac441e0b354b8d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 2, + "primitive": { + "kind": "turn", + "goal": [ + -1.4413569278956517, + 1.1073050367482589, + -3.0040797958480447 + ], + "return_stage": "room_navigation" + }, + "base": [ + -1.4411050081253052, + 1.1072463989257812, + -3.0039923191070557 + ], + "xy_error_m": 0.0002586541415024637, + "yaw_error_rad": 8.747674098907865e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json new file mode 100644 index 0000000000000000000000000000000000000000..4a1297263909cd23ee14c521b98ece38585eee48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 3, + "primitive": { + "kind": "drive", + "goal": [ + -2.3885735994677826, + 0.9762232791923044, + -3.0040797958480447 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + "base": [ + -2.3883540630340576, + 0.9760758280754089, + -3.0039923191070557 + ], + "xy_error_m": 0.0002644580828910519, + "yaw_error_rad": 8.747674098907865e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json new file mode 100644 index 0000000000000000000000000000000000000000..57f795fe8bf4fd87066d821a11cd6c4b8b94a32d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 4, + "primitive": { + "kind": "turn", + "goal": [ + -2.3885735994677826, + 0.9762232791923044, + -4.7211112857765505 + ], + "return_stage": "room_navigation" + }, + "base": [ + -2.3883540630340576, + 0.9760758280754089, + 1.562152624130249 + ], + "xy_error_m": 0.0002644580828910519, + "yaw_error_rad": 7.860272721302785e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json new file mode 100644 index 0000000000000000000000000000000000000000..35b784732c38c4f16d164c8b27bd3295a7380a88 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json @@ -0,0 +1,25 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 5, + "primitive": { + "kind": "drive", + "goal": [ + -2.3850847215495956, + 1.3762080635665004, + 1.5620740214030364 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + }, + "base": [ + -2.384896993637085, + 1.3760091066360474, + 1.5621527433395386 + ], + "xy_error_m": 0.00027354273763142365, + "yaw_error_rad": 7.872193650215742e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..79fa5a365fd267de2f039e4ea73f287c2db22585 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json @@ -0,0 +1,42 @@ +{ + "schema": "multi_item.fresh_case_input_manifest.v1", + "layout_id": 3, + "attempt_index": 3, + "prepared_utc": 1791276525.7287133, + "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03", + "archive_destination": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_03/attempt_003", + "source_status_sha256": "cc31fdca160314a323fd383228fd33e5ca58ab243055ca32974c727c81bd933b", + "source_job_sha256": "7481262dd83969c2f6a18ae9e2ff0ba4e4f20cb016a1ac939b6a050d1d624a11", + "fresh_job_sha256": "b1fff0782664c4d2baca82be7908d1f1abd12c9a1f2ddef8471a78ac1eafd4ae", + "copied_files_sha256": { + "scene.usda": "08a36e60a439697b619a40b43caaae9ecdf8677809a7e762a2a65fcc0d4a2872", + "scene_physical.usda": "9ae32ec169a2d74cd9aca9de8935fa19ecd6372f7062eb65fb5579b09360d208", + "collision_profile.usda": "343706e3d648ed39bfcea9bf0b77f2a7960138f08c61036be6439eb2847fb891", + "controls.npz": "1c776c29760f2ecfbfa417a5d20a890757b4a78e2881d39b5376fab40f5ba781", + "controls_item_01.npz": "1c776c29760f2ecfbfa417a5d20a890757b4a78e2881d39b5376fab40f5ba781", + "controls_item_02.npz": "fed685e48a4444ba8ca2bde173c84853868529fa8c9a3c926354dd35871647e8", + "controls_item_03.npz": "77651bb5ad3b0d2593189b0eed82e7ce4e3d1aa0bf4cfdef21060d16451f2875", + "controls_item_04.npz": "968dbaab21f3d74c8178dd7afd15b9b98e7c3940739f08a5e85fd790e7e2e947", + "INPUT_QUALIFICATION.json": "46d4f5d0ae1d10dfe2349390ce5649a2700d292b3672a6c6902705f11e987508" + }, + "placement_seed": { + "item_index": 1, + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM01_LIVE_PLACE_PROPOSAL.json", + "proposal_sha256": "b94e6f44948d2174ddf971f058b930ad6f14c1ee1771603b75a06fc09964e43e", + "seed_controls_sha256": "fed685e48a4444ba8ca2bde173c84853868529fa8c9a3c926354dd35871647e8" + }, + "requirements": { + "head_policy": "BODY2_COMPENSATED_V3_QUALIFIED", + "release_sweep_required": true, + "precision_return_turn_floor_rad_s": 0.001, + "empty_tray_initial": true, + "fresh_live_full_world_replan": true, + "head_policy_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f", + "head_qualification": "RETURN_HEAD_OFFLINE_QUALIFICATION.json", + "head_qualification_sha256": "7b8f8471e56e2c4733680ed04cd88d09b553c8d929826ceac5b5b81e46c4ea89", + "run_episode_sha256": "ae1d866559e1f41fbeadb8e3a63abea70df9b9d6666356289888d7a459fefe2f", + "release_sweep_sha256": "7013d7dad44cd733a618bb6ef6eceeb0e95b886bcb8c8edad1a91c1d42964806", + "placement_sha256": "1896d3aea77c58846489de94725386301b3e317ca3ff52830cf9d6dcd6b79746" + }, + "launch_authorized": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREROLL_EVIDENCE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREROLL_EVIDENCE.json new file mode 100644 index 0000000000000000000000000000000000000000..f17ee95082dc6d01f545490879522db676175b56 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/PREROLL_EVIDENCE.json @@ -0,0 +1,350 @@ +{ + "status": "PASSED", + "physics_hz": 240, + "sample_hz": 60, + "steps": 152, + "duration_s": 0.6333333333333333, + "stability_window_s": 0.5, + "thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "final_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_finger_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "exact_initial_command_sha256": "4bc81e1bea239f04e4574d4e0d6b7468c3cd9baea2fc3fb6e7c0535e99a9c638", + "recorded_rows": 0, + "contact_capture_started": false, + "camera_capture_started": false, + "no_pose_writes_or_resets": true, + "initial_snapshot_semantics": "Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.", + "initial_prop_pose_before_preroll_sha256": "18e6f9c4948a1d70bef7b9822843e31ba70aee5347129c8e36470e40be3eb088", + "camera_warmup_physics_samples": 3, + "discarded_render_reads": 3 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json new file mode 100644 index 0000000000000000000000000000000000000000..96996dabd5e031d51dc6bb214d9cb667ff248414 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json @@ -0,0 +1,15 @@ +{ + "policy": "preserve_original_nonphysical_floor_dressing", + "paths": [ + "/World/Assets/LivingRoomRug/Surface", + "/World/Assets/LivingRoomRug/OuterBorder/West", + "/World/Assets/LivingRoomRug/OuterBorder/East", + "/World/Assets/LivingRoomRug/OuterBorder/South", + "/World/Assets/LivingRoomRug/OuterBorder/North", + "/World/Assets/LivingRoomRug/InnerBorder/West", + "/World/Assets/LivingRoomRug/InnerBorder/East", + "/World/Assets/LivingRoomRug/InnerBorder/South", + "/World/Assets/LivingRoomRug/InnerBorder/North" + ], + "real_floor_collision_retained": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb69140e3e7f791420eba5398fc21431a62c43a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json @@ -0,0 +1,43 @@ +{ + "stage": "REQUIRES_FOLLOWUP", + "layout": 3, + "item": 3, + "started_from": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "input_sha256": { + "job.json": "b1fff0782664c4d2baca82be7908d1f1abd12c9a1f2ddef8471a78ac1eafd4ae", + "rollout/checkpoint_60hz.npz": "4f43ae69a994c8c6aceb3e8a633bab6ce737ecd2bdda04be2f08d8b2f51f677a" + }, + "updated": 1791310107.0911875, + "error": "CalledProcessError(1, ['/mnt/agent-bench-data/lingjun/envs/mesh311/bin/python', '/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/probe_polar_endpoint_generic.py', '3', '3'])" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json new file mode 100644 index 0000000000000000000000000000000000000000..5456e12f377c8c4664ed20dc3fae9e451c9fdc81 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json @@ -0,0 +1,43 @@ +{ + "stage": "REQUIRES_FOLLOWUP", + "layout": 3, + "item": 3, + "started_from": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "input_sha256": { + "job.json": "b1fff0782664c4d2baca82be7908d1f1abd12c9a1f2ddef8471a78ac1eafd4ae", + "rollout/checkpoint_60hz.npz": "4f43ae69a994c8c6aceb3e8a633bab6ce737ecd2bdda04be2f08d8b2f51f677a" + }, + "updated": 1791311884.682144, + "error": "CalledProcessError(2, ['/mnt/agent-bench-data/lingjun/envs/mesh311/bin/python', '/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/probe_polar_full_generic.py', '3', '3'])" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..4ebcc94f2fa36d216ec717b5736e01674fe912e7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json @@ -0,0 +1,133 @@ +{ + "schema": "ziche.repair_evidence.v1", + "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03", + "files": [ + { + "source_case_relative": "repairs/__pycache__/repair_case03_fine_tick40402_8eda348647da.cpython-311.pyc", + "exported_file": "repairs/__pycache__/repair_case03_fine_tick40402_8eda348647da.cpython-311.pyc", + "sha256": "a710f8a56028424fbe953f8e519c3ba4e2573a580d003b2914441d319b687d17", + "bytes": 31109 + }, + { + "source_case_relative": "repairs/__pycache__/repair_place_station_item02_tick26330_8824b20c0297.cpython-311.pyc", + "exported_file": "repairs/__pycache__/repair_place_station_item02_tick26330_8824b20c0297.cpython-311.pyc", + "sha256": "fb2923f274c7f38d52415e62a43b270355498bf16820f9cc6c8992ab0801893f", + "bytes": 13843 + }, + { + "source_case_relative": "repairs/__pycache__/repair_return_head_list_normalization_d65c8d7413b3.cpython-311.pyc", + "exported_file": "repairs/__pycache__/repair_return_head_list_normalization_d65c8d7413b3.cpython-311.pyc", + "sha256": "8eb5224793b8bdbf456231446fa86c6687c2059135459895bbd46136d4df4481", + "bytes": 14413 + }, + { + "source_case_relative": "repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "exported_file": "repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "sha256": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "bytes": 8975 + }, + { + "source_case_relative": "repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "exported_file": "repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "sha256": "381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406", + "bytes": 527 + }, + { + "source_case_relative": "repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "exported_file": "repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "sha256": "3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75", + "bytes": 4030 + }, + { + "source_case_relative": "repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "exported_file": "repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "sha256": "872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063", + "bytes": 11220 + }, + { + "source_case_relative": "repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "exported_file": "repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "bytes": 16377 + }, + { + "source_case_relative": "repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "exported_file": "repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "sha256": "d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623", + "bytes": 7792 + }, + { + "source_case_relative": "repairs/item_00_return.json", + "exported_file": "repairs/item_00_return.json", + "sha256": "381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406", + "bytes": 527 + }, + { + "source_case_relative": "repairs/item_02_place.json", + "exported_file": "repairs/item_02_place.json", + "sha256": "872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063", + "bytes": 11220 + }, + { + "source_case_relative": "repairs/item_03_place.json", + "exported_file": "repairs/item_03_place.json", + "sha256": "3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75", + "bytes": 4030 + }, + { + "source_case_relative": "repairs/item_03_place.reviewable.json", + "exported_file": "repairs/item_03_place.reviewable.json", + "sha256": "3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75", + "bytes": 4030 + }, + { + "source_case_relative": "repairs/repair_case03_fine_tick40402_8eda348647da.py", + "exported_file": "repairs/repair_case03_fine_tick40402_8eda348647da.py", + "sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "bytes": 16377 + }, + { + "source_case_relative": "repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "exported_file": "repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "sha256": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "bytes": 8975 + }, + { + "source_case_relative": "repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "exported_file": "repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "sha256": "d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623", + "bytes": 7792 + } + ], + "planning_wait_references": [ + { + "item_index": 0, + "kind": "return", + "tick": 6107, + "native_repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_00_return.json", + "native_repair_sha256": "381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406", + "exported_file": "repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "portable_match": true + }, + { + "item_index": 2, + "kind": "place", + "tick": 26330, + "native_repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_02_place.json", + "native_repair_sha256": "872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063", + "exported_file": "repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "portable_match": true + }, + { + "item_index": 3, + "kind": "place", + "tick": 40402, + "native_repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json", + "native_repair_sha256": "3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75", + "exported_file": "repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "portable_match": true + } + ], + "native_planning_waits_preserved": true, + "all_referenced_repairs_portable": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json new file mode 100644 index 0000000000000000000000000000000000000000..d2edce0fcd496702f3cc095ef79dc20d5b93f53a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json @@ -0,0 +1,231 @@ +{ + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": 2, + "boundary": "place", + "tick_start": 26330, + "source_proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "source_proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38", + "nominal_base_before": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "actual_base_before": [ + [ + -0.0120649042139509, + 0.9999272163944269, + -3.0442140861004895e-08, + -1.4036145210266113 + ], + [ + -0.9999272163944269, + -0.012064904213950012, + 3.081166495862989e-08, + 0.8052606582641602 + ], + [ + 3.0442140861004895e-08, + 3.081166495862989e-08, + 0.9999999999999991, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "proposed_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "authored_proposed_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": [ + 0.7843981385231018, + 0.4184330105781555 + ], + "pose_writes_or_resets": false, + "pre_motion_geometry": { + "carry_report": { + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.25, + "route_search": { + "expanded": 1, + "seconds": 0.21751448279246688 + }, + "failures": [], + "planning_seconds": 14.402789416722953, + "preflight_only": true, + "full_native_audit_required": true + }, + "primitive_count": 4, + "compact_to_place_initial_clear": true, + "destination_check_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "all_live_props_checked": true + }, + "mode": "screened_carried_reposition_and_bridge", + "motion_executed": true, + "tick_end": 29102, + "actual_base_after": [ + [ + -0.3082901973860392, + 0.9512923600006485, + -2.7111755146712244e-07, + -1.2777875661849976 + ], + [ + -0.9512923600006852, + -0.3082901973860441, + 2.44635623843097e-08, + 0.8335440754890442 + ], + [ + -6.031088346202707e-08, + 2.6545393184899066e-07, + 0.9999999999999629, + 0.0013674180954694748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nominal_actual_xy_error_m": 0.0014459247847923285, + "held_transform_drift_m": 3.7759689510564674e-05, + "gripper_commands_after": [ + 0.7843981385231018, + 0.4184330105781555 + ], + "arrival_geometry": { + "posture_bridge_clear": true, + "all_live_props_rechecked": true, + "actual_arrival_base": [ + [ + -0.3082901306944611, + 0.9512923816137339, + -2.5006089610073236e-07, + -1.2777875661849976 + ], + [ + -0.9512923816137658, + -0.3082901306944611, + 3.984638422659933e-08, + 0.8335440754890442 + ], + [ + -3.918574459085121e-08, + 2.501652724010581e-07, + 0.9999999999999681, + 0.0013675466179847717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fce8fdb4e7cafee42e09fbf367543087244dd8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json @@ -0,0 +1,231 @@ +{ + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": 3, + "boundary": "place", + "tick_start": 40402, + "source_proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "source_proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca", + "nominal_base_before": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "actual_base_before": [ + [ + 0.028517195596340084, + 0.999593302075939, + -4.901407642097962e-07, + -1.7252613306045532 + ], + [ + -0.9995933020760462, + 0.028517195596415024, + 1.4648690030555736e-07, + 0.9023039937019348 + ], + [ + 1.6040476443004805e-07, + 4.85764029390232e-07, + 0.999999999999869, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "proposed_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "authored_proposed_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": [ + 0.2280111312866211, + 0.7843981385231018 + ], + "pose_writes_or_resets": false, + "pre_motion_geometry": { + "carry_report": { + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.25, + "route_search": { + "expanded": 1, + "seconds": 0.23243716405704618 + }, + "failures": [], + "planning_seconds": 21.97785267001018, + "preflight_only": true, + "full_native_audit_required": true + }, + "primitive_count": 4, + "compact_to_place_initial_clear": true, + "destination_check_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "all_live_props_checked": true + }, + "mode": "screened_carried_reposition_and_bridge", + "motion_executed": true, + "tick_end": 42994, + "actual_base_after": [ + [ + 0.053323078436685656, + 0.9985773126333068, + -2.7932776509500543e-07, + -1.7931987047195435 + ], + [ + -0.9985773126333279, + 0.05332307843673573, + 1.749776367356778e-07, + 0.8926874399185181 + ], + [ + 1.8962331459015917e-07, + 2.696000227641216e-07, + 0.9999999999999458, + 0.0013677272945642471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nominal_actual_xy_error_m": 0.0013378996447945878, + "held_transform_drift_m": 6.366873793500043e-05, + "gripper_commands_after": [ + 0.2280111312866211, + 0.7843981385231018 + ], + "arrival_geometry": { + "posture_bridge_clear": true, + "all_live_props_rechecked": true, + "actual_arrival_base": [ + [ + 0.05332316482550237, + 0.9985773080202199, + -2.8891997563940525e-07, + -1.7931987047195435 + ], + [ + -0.9985773080202408, + 0.05332316482555821, + 1.8920454643389292e-07, + 0.8926874995231628 + ], + [ + 2.0434149412555973e-07, + 2.784199462920419e-07, + 0.9999999999999405, + 0.0013678371906280518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RESULT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RESULT.json new file mode 100644 index 0000000000000000000000000000000000000000..52c3193148a0608962cb7b2136e00da4d1df3ed5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RESULT.json @@ -0,0 +1,21 @@ +{ + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "accepted": false, + "error": null, + "control_ticks": 44221, + "rendered": true, + "requested_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_count": 4, + "requires": "independent collision, task, drive, continuity and export validation" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json new file mode 100644 index 0000000000000000000000000000000000000000..39812ea502d296f0bad9ad9863416cd3dead91a5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json @@ -0,0 +1,43 @@ +{ + "stage": "REQUIRES_FOLLOWUP", + "layout": 3, + "item": 3, + "started_from": { + "status": "WAITING_FOR_PLANNING_REPAIR", + "phase": "item_03_place_planning", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t" + ], + "control_ticks": 40402, + "updated": 1791290509.0472937, + "base_pose": [ + -1.7252613306045532, + 0.9023039937019348, + 0.0013679619878530502, + -1.1827796697616577e-07, + 2.2679159883409739e-07, + 0.6969515681266785, + -0.7171183228492737 + ], + "target_pose": [ + -1.6143718957901, + 0.28918173909187317, + 0.7139596939086914, + 0.030810680240392685, + 0.0015024717431515455, + -0.9960005879402161, + 0.08385374397039413 + ], + "planning_error": "RuntimeError(\"All supported tray candidates unreachable: [{'candidate': 0, 'stage': 'landing', 'error': [0.011639810084741142, 0.05497383434331949]}, {'candidate': 1, 'stage': 'landing', 'error': [0.013459997941003403, 0.06382175854281942]}, {'candidate': 2, 'stage': 'landing', 'error': [0.014425532902870202, 0.06780691558628235]}, {'candidate': 263, 'stage': 'landing', 'error': [0.2997849819562826, 1.341956410254095]}, {'candidate': 264, 'stage': 'landing', 'error': [0.2785416088281178, 1.226614122018342]}, {'candidate': 265, 'stage': 'landing', 'error': [0.2789622951372944, 1.2672266439510376]}]\")", + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_03_place.json" + }, + "input_sha256": { + "job.json": "b1fff0782664c4d2baca82be7908d1f1abd12c9a1f2ddef8471a78ac1eafd4ae", + "rollout/checkpoint_60hz.npz": "4f43ae69a994c8c6aceb3e8a633bab6ce737ecd2bdda04be2f08d8b2f51f677a" + }, + "updated": 1791326761.6288598, + "error": "CalledProcessError(2, ['/mnt/agent-bench-data/lingjun/envs/mesh311/bin/python', '/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/probe_polar_retreat_variant.py', '3', '3'])" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..5840462867140fe332ff16627bd8dfea1028197b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json @@ -0,0 +1,80 @@ +{ + "next_item_index": 1, + "next_target": "/World/Assets/Tier2Items/chomps_r", + "live_base": [ + [ + 0.06661113995103662, + -0.9977790116225145, + -1.454027237196449e-07, + -2.3692541122436523 + ], + [ + 0.9977790116225249, + 0.06661113995103785, + -3.3882759929087317e-09, + 1.3332074880599976 + ], + [ + 1.306619185026014e-08, + -1.44854089033854e-07, + 0.9999999999999891, + 0.0013673324137926102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "requested_pick_base": [ + [ + 0.06669947329758606, + -0.9977731106127409, + 0.0, + -2.369496315844963 + ], + [ + 0.9977731106127409, + 0.06669947329758606, + 0.0, + 1.3334197562341454 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "translation_error_m": 0.0003220564581620363, + "yaw_error_rad": 8.854852158513005e-05, + "translation_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ba46043df200bb9b8fb2c4ef27d3041864de2a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json @@ -0,0 +1,80 @@ +{ + "next_item_index": 2, + "next_target": "/World/Assets/ShelfItems/gatorade_t", + "live_base": [ + [ + -0.021981202223707696, + -0.999758384185299, + 1.9477662033538378e-08, + -2.36354398727417 + ], + [ + 0.9997583841852993, + -0.021981202223707696, + 3.92892380668925e-09, + 1.2993667125701904 + ], + [ + -3.499832088558558e-09, + 1.9559318391074052e-08, + 0.9999999999999998, + 0.0013671871274709702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "requested_pick_base": [ + [ + -0.02189116047029017, + -0.9997603598329273, + 0.0, + -2.363803077808022 + ], + [ + 0.9997603598329273, + -0.02189116047029017, + 0.0, + 1.2995607260347384 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "translation_error_m": 0.00032368059743784016, + "yaw_error_rad": 9.004265524636956e-05, + "translation_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..a2caacc1c8d02246eacf9c639ee00d21408665cc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json @@ -0,0 +1,80 @@ +{ + "next_item_index": 3, + "next_target": "/World/Assets/Tier2Items/zbar_t", + "live_base": [ + [ + 0.00864347847243968, + -0.9999626444421648, + -3.5902964009080185e-07, + -2.384896993637085 + ], + [ + 0.9999626444422252, + 0.008643478472406929, + 9.257055697457246e-08, + 1.3760091066360474 + ], + [ + -8.946383398469673e-08, + -3.598163599547301e-07, + 0.9999999999999312, + 0.001367662101984024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "requested_pick_base": [ + [ + 0.008722194795467365, + -0.9999619609354898, + 0.0, + -2.3850847215495956 + ], + [ + 0.9999619609354898, + 0.008722194795467365, + 0.0, + 1.3762080635665004 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "translation_error_m": 0.00027354273763142365, + "yaw_error_rad": 7.872193650215742e-05, + "translation_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..7ebe1e5c82a329f6d6975675cfc868acba5dc22d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_AUDIT.json @@ -0,0 +1,245 @@ +{ + "schema": "ziche.multi10.return_forward_head_audit.v3", + "passed": true, + "case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03", + "policy": "empty_return_forward_head_v3", + "policy_installed_at_control_tick": 0, + "classification": "FULL_FRESH_EPISODE_COMPLIANT", + "fresh_episode_required": true, + "installed_before_recording": true, + "full_trace_compliant": true, + "postinstall_trace_compliant": true, + "fixed_expected_metadata": { + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "pitch_clip_deg": [ + -19.5, + 29.500000000000004 + ], + "command_formula": "head_yaw=0; head_pitch=clip(-commanded_body2,-19.5deg,+29.5deg)", + "actual_formula": "expected_head_pitch=clip(-measured_body2,-19.5deg,+29.5deg); actual joint tracking error <=0.1deg", + "predicted_optical_pitch_formula": "-(body2+head_pitch)", + "correction": "v2 incorrectly treated camera pitch as a fixed head-only target. v3 accounts for idx02_body_joint2 at every recorded row; historical v2 evidence is retained but is not valid for fresh acceptance." + }, + "thresholds": { + "base_moving_abs_gt": 1e-08, + "head_command_target_error_rad_max": 1e-10, + "head_actual_target_error_rad_max": 0.0017453292519943296, + "head_actual_target_error_deg_max": 0.1 + }, + "counts": { + "control_rows": 44221, + "empty_return_rows": 13949, + "moving_empty_return_rows": 8425, + "transition_rows": 720, + "preinstall_empty_return_rows": 0 + }, + "expected_nonfinal_item_indices": [ + 0, + 1, + 2 + ], + "return_item_indices": [ + 0, + 1, + 2 + ], + "moving_return_item_indices": [ + 0, + 1, + 2 + ], + "moving_return_max_command_error_rad": 5.551115123125783e-17, + "moving_return_max_actual_error_rad": 7.467514910236561e-05, + "moving_return_max_actual_error_deg": 0.0042785708780756875, + "moving_return_optical_pitch_command_deg_range": [ + -10.50049943863547, + -0.0 + ], + "moving_return_optical_pitch_actual_deg_range": [ + -10.504513339683205, + 0.0001799218068194046 + ], + "bad_moving_command_rows": [], + "bad_moving_actual_rows": [], + "transition_motion_rows": [], + "transitions": [ + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json", + "sha256": "14dd581f8f17e4d144e329e2f5d30d9aee98daa28d42fccc36f4cbd5b4d62207", + "kind": "raise_before_walking", + "start_tick": 6107, + "end_tick": 6227, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json", + "sha256": "b7afd53dfeb8ccffe044130667c6706680cd14aa68febcd0689dec8de9cd25c2", + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 10261, + "end_tick": 10381, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json", + "sha256": "575b087be47656568cdc2a810e34af66612aa69c97cef46ad827679200257d30", + "kind": "raise_before_walking", + "start_tick": 16642, + "end_tick": 16762, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json", + "sha256": "e220def9c9e9587967986d6b3d42ed31df9747129743d119a7e99a4b8227acae", + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 21082, + "end_tick": 21202, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json", + "sha256": "624cab144511084bbedf58c12af4f6c51fd5f35d6cccdd446e994203044af170", + "kind": "raise_before_walking", + "start_tick": 30291, + "end_tick": 30411, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json", + "sha256": "7d034fb42c17c131d53330d798cb8bdc06c7fbab6d26ac7ea70b9bfbdb796fd3", + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 35286, + "end_tick": 35406, + "checks": { + "schema": true, + "policy": true, + "kind": true, + "range": true, + "after_install": true, + "base_stopped": true, + "empty_return_phase": true, + "item_alignment": true, + "before_or_after_all_item_base_motion": true, + "raise_targets_level_or_restore_has_two_targets": true, + "raise_body_pitch_constant": true, + "head_joint_scope": true, + "target_shape": true, + "screened": true, + "no_pose_writes": true, + "source_hash": true + }, + "failures": [] + } + ], + "basic_checks": { + "aligned_arrays": true, + "finite": true, + "tick_sequence": true, + "policy_name": true, + "head_joint_scope": true, + "compensated_body_joint": true, + "pitch_clip": true, + "restore_stopped": true + }, + "policy_implementation_check": true, + "recording_sha256": "064271e9ba50b1eab5a9b45234b8ca6b231b24e137373bbf7e0c360dc2ec9955", + "policy_receipt_sha256": "64eb448387e3269bbb9b52281a0ee600059d5c2568622a9c4612f08c9a2a78e4", + "failures": [] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json new file mode 100644 index 0000000000000000000000000000000000000000..e857a70e93a99d50a863045c42f710f2aa141a58 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json @@ -0,0 +1,21 @@ +{ + "schema": "multi_item.return_head_list_normalization_repair.v1", + "item_index": 0, + "tick": 6107, + "old_wrapper_replaced": true, + "no_physics_steps": true, + "no_pose_writes": true, + "fixed_policy": "empty_return_forward_head_v3", + "repair_record": { + "item_index": 0, + "kind": "return", + "error": "TypeError('list indices must be integers or slices, not tuple')", + "tick": 6107, + "repair_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/item_00_return.json", + "time": 1791277974.7760224, + "repair_archive": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "repair_sha256": "381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406", + "overrides": {} + }, + "time": 1791277975.5268002 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_POLICY.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_POLICY.json new file mode 100644 index 0000000000000000000000000000000000000000..91111ff8fa9d900678bb3238dcdeed80f491ab90 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_POLICY.json @@ -0,0 +1,17 @@ +{ + "policy": "empty_return_forward_head_v3", + "installed_at_control_tick": 0, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "transition_seconds": 2.0, + "restore_only_while_stopped_at_shelf": true, + "implementation_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "implementation_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json new file mode 100644 index 0000000000000000000000000000000000000000..e29f14a5a3d0471f7c7fe082413c8c65ee975892 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 0, + "kind": "raise_before_walking", + "start_tick": 6107, + "end_tick": 6227, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + 2.2530714431923116e-06, + 0.4363669455051422 + ], + "target_rad": [ + 0.0, + -0.34033920413889424 + ], + "measured_error_rad": [ + 1.1152492818133908e-10, + 0.00012602455057636464 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json new file mode 100644 index 0000000000000000000000000000000000000000..381c99b241897d098dc6d32700d0738d4eda1e13 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 0, + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 10261, + "end_tick": 10381, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + 0.0, + 0.0 + ], + "target_rad": [ + 0.0, + 0.4363323152065277 + ], + "measured_error_rad": [ + 8.475935231455622e-11, + 7.078051567077637e-05 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json new file mode 100644 index 0000000000000000000000000000000000000000..64f019fcdae74f979ec3343a2355292b7bce4b76 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 1, + "kind": "raise_before_walking", + "start_tick": 16642, + "end_tick": 16762, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + -1.6222483623096196e-07, + 0.4363465905189514 + ], + "target_rad": [ + 0.0, + -0.34033920413889424 + ], + "measured_error_rad": [ + 1.2977044328010834e-08, + 0.00012605435289875233 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json new file mode 100644 index 0000000000000000000000000000000000000000..089f98293fbabe469b9f2bf07e16cc347b1d147f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 1, + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 21082, + "end_tick": 21202, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + 0.0, + 0.0 + ], + "target_rad": [ + 0.0, + 0.4363323152065277 + ], + "measured_error_rad": [ + 6.458945045473286e-10, + 7.081031799316406e-05 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json new file mode 100644 index 0000000000000000000000000000000000000000..c495d0dbc2aaa4e0087b840fa78f0a1682f2315b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 2, + "kind": "raise_before_walking", + "start_tick": 30291, + "end_tick": 30411, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + -3.7841073208255693e-06, + 0.4363648593425751 + ], + "target_rad": [ + 0.0, + -0.34033920413889424 + ], + "measured_error_rad": [ + 8.168438148103974e-10, + 0.00012611395754352772 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json new file mode 100644 index 0000000000000000000000000000000000000000..a2dbf980d4bedcf3975e9ba130b5010ab85bcbe9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 2, + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 35286, + "end_tick": 35406, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + 0.0, + 0.0 + ], + "target_rad": [ + 0.0, + 0.4363323152065277 + ], + "measured_error_rad": [ + 1.3594957382068174e-09, + 7.078051567077637e-05 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/return_head_policy.py", + "source_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3e9b0dbb575fe75e28e8097bc90d60c60cc60f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_00.json @@ -0,0 +1,140 @@ +{ + "policy": "empty_hand_full_body_return_v1", + "table_retreat_m": 0.45, + "shelf_standoff_m": 0.4, + "standoff_base": [ + [ + 0.06669947329758606, + -0.9977731106127409, + 0.0, + -2.396176105163997 + ], + [ + 0.9977731106127409, + 0.06669947329758606, + 0.0, + 0.9343105119890491 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "posture": { + "original_arm_pose": true + }, + "route_search": { + "expanded": 1, + "seconds": 0.3206804492510855 + }, + "failures": [ + { + "stage": "compact", + "distance": 0.45, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.15 + }, + "detail": { + "kind": "self_or_wrist", + "detail": { + "a": "/World/Robot/body_link2", + "b": "/World/Robot/gripper_r_inner_link4" + } + } + }, + { + "stage": "compact", + "distance": 0.45, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": 0.15 + }, + "detail": { + "kind": "self_or_wrist", + "detail": { + "a": "/World/Robot/arm_l_link2", + "b": "/World/Robot/gripper_l_inner_link4" + } + } + }, + { + "stage": "compact", + "distance": 0.45, + "posture": { + "hand_forward_m": 0.25, + "hand_height_change_m": 0.2 + }, + "detail": { + "kind": "self_or_wrist", + "detail": { + "a": "/World/Robot/arm_l_link2", + "b": "/World/Robot/gripper_l_inner_link4" + } + } + }, + { + "stage": "compact", + "distance": 0.45, + "posture": { + "hand_forward_m": 0.35, + "hand_height_change_m": 0 + }, + "detail": { + "kind": "self_or_wrist", + "detail": { + "a": "/World/Robot/body_link2", + "b": "/World/Robot/gripper_r_inner_link4" + } + } + } + ], + "planning_seconds": 20.003024495206773, + "all_live_props_checked": true, + "no_attached_object": true, + "head_policy": { + "policy": "empty_return_forward_head_v3", + "joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "transition_seconds": 2.0, + "lift_before_table_retreat": true, + "includes_shelf_approach": true, + "restore_source_gaze_only_after_stopped_arrival": true, + "both_head_transitions_full_body_and_all_props_screened": true + }, + "execution_controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..0ff749b331a1b93543d622ed9c3fea350cd65477 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_01.json @@ -0,0 +1,80 @@ +{ + "policy": "empty_hand_full_body_return_v1", + "table_retreat_m": 0.45, + "shelf_standoff_m": 0.4, + "standoff_base": [ + [ + -0.02189116047029017, + -0.9997603598329273, + 0.0, + -2.355046613619906 + ], + [ + 0.9997603598329273, + -0.02189116047029017, + 0.0, + 0.8996565821015674 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.15 + }, + "route_search": { + "expanded": 1, + "seconds": 0.293894721660763 + }, + "failures": [], + "planning_seconds": 16.99892070516944, + "all_live_props_checked": true, + "no_attached_object": true, + "head_policy": { + "policy": "empty_return_forward_head_v3", + "joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "transition_seconds": 2.0, + "lift_before_table_retreat": true, + "includes_shelf_approach": true, + "restore_source_gaze_only_after_stopped_arrival": true, + "both_head_transitions_full_body_and_all_props_screened": true + }, + "execution_controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..299c3a065d7498202f637740ea6bcefbee3b50b1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/RETURN_PLAN.item_02.json @@ -0,0 +1,80 @@ +{ + "policy": "empty_hand_full_body_return_v1", + "table_retreat_m": 0.45, + "shelf_standoff_m": 0.4, + "standoff_base": [ + [ + 0.008722194795467365, + -0.9999619609354898, + 0.0, + -2.3885735994677826 + ], + [ + 0.9999619609354898, + 0.008722194795467365, + 0.0, + 0.9762232791923044 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.15 + }, + "route_search": { + "expanded": 8, + "seconds": 0.7834768500179052 + }, + "failures": [], + "planning_seconds": 14.55784940207377, + "all_live_props_checked": true, + "no_attached_object": true, + "head_policy": { + "policy": "empty_return_forward_head_v3", + "joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "transition_seconds": 2.0, + "lift_before_table_retreat": true, + "includes_shelf_approach": true, + "restore_source_gaze_only_after_stopped_arrival": true, + "both_head_transitions_full_body_and_all_props_screened": true + }, + "execution_controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.001, + "turn_min_speed_basis": "native_static_friction_microturn_repairs_0p001_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json new file mode 100644 index 0000000000000000000000000000000000000000..91fa2048b38de85048e286abb430db496e585774 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json @@ -0,0 +1,183 @@ +{ + "schema": "real2sim.full_robot_collision_profile.v4", + "robot_path": "/World/Robot", + "official_robot_asset_id": "g1_official_41_plus_4_camera_mesh_colliders", + "expected_collision_geometry_count": 45, + "required_camera_collision_paths": [ + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "/World/Robot/gripper_r_base_link/Cam/Cam/cam" + ], + "camera_collision_approximation": "convexDecomposition", + "self_collision_enabled": true, + "collision_enabled_paths": [ + "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "/World/Robot/base_link/collisions/mesh_0/box", + "/World/Robot/base_link/collisions/mesh_1/box", + "/World/Robot/body_link1/collisions/mesh_0/box", + "/World/Robot/body_link1/collisions/mesh_1/box", + "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "/World/Robot/body_link2/collisions/mesh_1/box", + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "/World/Robot/head_link2/collisions/mesh_0/sphere" + ], + "filtered_body_pairs": [ + [ + "/World/Robot/arm_l_base_link", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_l_base_link", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/arm_l_link1", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_l_link1", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/arm_l_link2", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_l_link2", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/arm_r_base_link", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_r_base_link", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/arm_r_link1", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_r_link1", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/arm_r_link2", + "/World/Robot/base_link" + ], + [ + "/World/Robot/arm_r_link2", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/base_link", + "/World/Robot/body_link2" + ], + [ + "/World/Robot/base_link", + "/World/Robot/head_link2" + ], + [ + "/World/Robot/body_link2", + "/World/Robot/head_link2" + ], + [ + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_inner_link2" + ], + [ + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_inner_link3" + ], + [ + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_outer_link2" + ], + [ + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_l_outer_link3" + ], + [ + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_inner_link2" + ], + [ + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_inner_link3" + ], + [ + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_outer_link2" + ], + [ + "/World/Robot/gripper_r_outer_link2", + "/World/Robot/gripper_r_outer_link3" + ] + ], + "robot_world_filtered_pairs": [], + "required_regions": [ + "base_and_torso", + "head", + "left_arm", + "right_arm", + "left_gripper", + "right_gripper", + "left_camera_housing", + "right_camera_housing" + ], + "region_counts": { + "base_and_torso": 6, + "head": 1, + "left_arm": 8, + "right_arm": 8, + "left_gripper": 9, + "right_gripper": 9, + "left_camera_housing": 2, + "right_camera_housing": 2 + }, + "unclassified_count": 0, + "missing_regions": [], + "collision_enabled_path_count": 45, + "filtered_body_pair_count": 23, + "robot_world_filtered_pair_count": 0, + "complete": true, + "profile_id": "real2sim.full_robot_collision_profile.v4" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json new file mode 100644 index 0000000000000000000000000000000000000000..847aa742f686ef3f9633a0ea282cd3c917b88c6f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json @@ -0,0 +1,196 @@ +{ + "fields_units_timing_match_reference": true, + "authored_robot_parameters_preserved_except_requested_gripper_effort": true, + "runtime_gripper_effort_Nm": { + "left": 80, + "right": 80 + }, + "joint_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1" + ], + "actual_joint_limits": [ + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + 0.0, + 0.550000011920929 + ], + [ + 0.0, + 1.5707963267948966 + ], + [ + -1.5707963267948966, + 1.5707963267948966 + ], + [ + -0.3490658171093523, + 0.5235987755982988 + ], + [ + 0.0, + 0.7853981633974483 + ], + [ + 0.0, + 0.7853981633974483 + ] + ], + "reference_joint_limits": [ + [ + -3.139847, + 3.139847 + ], + [ + -2.089159, + 1.480039 + ], + [ + -3.099705, + 3.099705 + ], + [ + -1.480039, + 1.480039 + ], + [ + -3.099705, + 3.099705 + ], + [ + -1.740093, + 1.740093 + ], + [ + -3.099705, + 3.099705 + ], + [ + -3.139847, + 3.139847 + ], + [ + -1.480039, + 2.089159 + ], + [ + -3.099705, + 3.099705 + ], + [ + -1.480039, + 1.480039 + ], + [ + -3.099705, + 3.099705 + ], + [ + -1.740093, + 1.740093 + ], + [ + -3.099705, + 3.099705 + ], + [ + 0.0, + 0.55 + ], + [ + 0.0, + 1.5707963267948966 + ], + [ + -1.5707963267948966, + 1.5707963267948966 + ], + [ + -0.349066, + 0.523599 + ], + [ + 0.0, + 0.7853981633974483 + ], + [ + 0.0, + 0.7853981633974483 + ] + ], + "joint_limits_match_reference": false, + "note": "The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ff2223762eef11e1225f679d0944bf71a61306 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json @@ -0,0 +1,58 @@ +{ + "schema": "ziche.multi10_stable_start_provenance.v1", + "passed": true, + "image_generation_mode": "native_live_three_view", + "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03", + "continuous_native_episode": true, + "actual_physics_hz": 240, + "all_original_command_rows_retained": true, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "physical_gate_verification": { + "passed": false, + "status": "NOT_AUTOMATICALLY_CERTIFIED", + "acceptance_basis": "native_task_checks_pending_user_review", + "native_task_checks_passed": true, + "accepted": false + }, + "evidence_sha256": { + "PHYSICS_CLOCK.json": "7e4f3214b1ca9454ff16fa1f3aa985ca1a48894d84a8c11525e7b6edce6aa9db", + "PREROLL_EVIDENCE.json": "9ef6da542f8ca45088fbd15c48575193e4091e305f386c9f9ac185b828c33681", + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "PASSIVE_FINGER_PROJECTION.json": "7d2ed82b7478bf65da7d11e8c736e4a0c54d5d954b7fd39285df118d34bc707a", + "CAMERA_WARMUP.json": "456be35189c553f1a60b72e93df507c6775d9187d3f056e26d5d2aef40549bc2", + "camera_extrinsics_20hz.npz": "fac6379551e1fcceb39c69f547ea556a9da92757c189aa1882a6714eb837e765", + "VIDEO_DECODE_AUDIT.json": "7ded60e38f63ab24c2b4666bc85c91b55fcf0bf7428720bfc45788869e2321cf", + "TASK_SCHEMA_AUDIT.json": "99f2a2f051111d49032c5bb0a57321a0f5a74d71b817298210ad964a9f589705", + "NON_TARGET_PROP_STABILITY_AUDIT.json": "7944261b0ba621b6e4a709be06c2564ff0a6bd577f2a3fa872f11d62b996fc56", + "STARTUP_STABILITY_AUDIT.json": "a07fb996e62d8b26374a6cf6568d07eb5e2a2c118428e7f4f343bb22aa6e8e06", + "CAMERA_WARMUP_AUDIT.json": "372c04f64b4d35fc502dfb16e3e22ee0c8401151789cdb5da2e9b49c6bb5834d", + "CAMERA_EXTRINSICS_AUDIT.json": "b31f9f90ede8bce9fcc5bcf542e1bd3d3c53158f154d1a9f0ce5da9d5d0b51b7" + }, + "video_sha256": { + "top_head": "adc1a3e9557f57d56b4ce7def32b59e61e6d1bc5c46a34f11e182a24ea9f71a1", + "hand_left": "1fbafc98aa8fa3df247f6876f451bcc5e78bcaace76a7314fa895ad071b3ffe2", + "hand_right": "15117849fa199c4484edb83e6c550c5daeed0f2544729cce8e1e52c37faf8209" + }, + "parquet_sha256": "5a7f46c0d43a38af397e8fecd6fa2bbfe66e7fa2f415d097024485c2b375ce77", + "validation_code_sha256": { + "validate_case.py": "7ef7c16cf98f5418a20fc89e27adeb56bf1e9985a520a2b3dd7c8d8b59c59605", + "validate_export.py": "c4ad1e981c11ffa0bdbb8a1bed680ef9f7249c45c911fafb812d8037be9b0514", + "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff", + "audit_views.py": "c1c3f2f741373dbef81d61b71612cb02dcdef5bec10931a3c34c786f90685085", + "grasp_stability.py": "e80b37002499f98ab80b3cda6a1555352f8c02cb9e2cdda51a19b16a6d71bc69", + "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4", + "task_collision_scope.py": "cc9f3e5498ebcdf5185af62dc72e87bdbdd85c65143d854fc3d735c6420caec8", + "multi_validation.py": "bf0e7036ae5f3a3fe73d605f19b3c59ed3ff512b125f765b586b7a1a99fec210", + "startup_validation.py": "5a48a134fc52d6056efe763b47fb1012d16751c19bdda9f8e56ffaf2563fdf40", + "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b", + "official_lerobot_reader_qa.py": "8d529dc19bd1587f76d93e63b014bd9fee597a50ffddf2e54d03ad89a3608c2a", + "record_manual_review.py": "46e2c6c4372824648189e1af0300e714350c2ae28f3390028847c94ad068f401", + "validate_staged.py": "ca8cecba4e155d1e711943bdeb653dc68e0a04f52a3157795c1290c2291b25c7" + }, + "visual_acceptance_pending": true, + "official_reader_pending": false, + "accepted": false, + "acceptance_basis": "native_task_checks_pending_user_review", + "automatic_physical_checks_all_passed": false, + "official_reader_qa": "OFFICIAL_LEROBOT_READER_QA.json" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..868856ab73bd035d14fc3f25c09a7d7e500fdc2d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json @@ -0,0 +1,1817 @@ +{ + "schema": "multi_startup_stability_audit_v1", + "passed": true, + "failures": [], + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "driven_robot_translation_m": 5e-05, + "driven_robot_rotation_rad": 0.00034906585039886593, + "passive_finger_projected_motion_px": 0.25 + }, + "retained_first_30_control_rows": { + "checks": { + "rows": true, + "prop_translation": true, + "prop_rotation": true, + "camera_translation": true, + "camera_rotation": true, + "driven_translation": true, + "driven_rotation": true, + "passive_projection": true + }, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195448, + "camera_translation_span_m": 3.371747880871523e-07, + "camera_rotation_span_rad": 7.426700469480267e-07, + "driven_translation_span_m": 5.960464477539062e-07, + "driven_rotation_span_rad": 8.724499445143082e-07, + "metric_error": null + }, + "preroll_checks": { + "status": true, + "rates": true, + "unrecorded": true, + "no_pose_writes": true, + "duration": true, + "thresholds": true, + "final_prop": true, + "final_camera": true, + "final_driven": true, + "exact_initial_command": true, + "first_retained_30_exact_initial_hold": true, + "projection": true + }, + "preroll_evidence": { + "status": "PASSED", + "physics_hz": 240, + "sample_hz": 60, + "steps": 152, + "duration_s": 0.6333333333333333, + "stability_window_s": 0.5, + "thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "final_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_finger_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "exact_initial_command_sha256": "4bc81e1bea239f04e4574d4e0d6b7468c3cd9baea2fc3fb6e7c0535e99a9c638", + "recorded_rows": 0, + "contact_capture_started": false, + "camera_capture_started": false, + "no_pose_writes_or_resets": true, + "initial_snapshot_semantics": "Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.", + "initial_prop_pose_before_preroll_sha256": "18e6f9c4948a1d70bef7b9822843e31ba70aee5347129c8e36470e40be3eb088", + "camera_warmup_physics_samples": 3, + "discarded_render_reads": 3 + }, + "projection_audit": { + "passed": true, + "checks": { + "status": true, + "threshold": true, + "scope": true, + "windows": true, + "bodies": true, + "cameras": true, + "implementation_hash": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "passed": true, + "threshold_px": 0.25, + "only_passive_distal_fingers": true, + "passive_path_pattern": "/gripper_[lr]_(inner|outer)_link[234]$", + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "windows": [ + { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 2.8159646537346162e-06, + "robot_link_rotation_span_rad": 0.000176313848961596, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195446, + "camera_link_translation_span_m": 3.371747880871523e-07, + "camera_link_rotation_span_rad": 7.426700469480266e-07, + "driven_robot_link_translation_span_m": 5.960464477539062e-07, + "driven_robot_link_rotation_span_rad": 8.724499445143082e-07 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.025116797315576277, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0046986385182442485, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.008270966452913829, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002091724384971257, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.008270966452913829 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013933034884051926, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01783726681549923, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005265864983350325, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.01783726681549923 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004346896213376365, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.00735876934778579, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0015751488665913611, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.00735876934778579 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005276400581082378, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015273085934574193, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0025689889924535086, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015273085934574193 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009598396920741869, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.023663685135828873, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004334387717791847, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.023663685135828873 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004516487995344821, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.013011951767111181, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.00120375635939961, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.013011951767111181 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007819686311560547, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002906341425282057, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01322017010223088, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.01322017010223088 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.017969898454899165, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007116758692570047, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.021320117611274305, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.021320117611274305 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007878053352483962, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002157452638531639, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011129469479166671, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.011129469479166671 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00482991543093169, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002100150366210102, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01128504620197779, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.01128504620197779 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.011252434735235113, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004873988785355162, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.025116797315576277, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.025116797315576277 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + ], + "evaluated_passive_paths": [ + "/World/Robot/gripper_l_inner_link3", + "/World/Robot/gripper_l_inner_link4", + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_outer_link3", + "/World/Robot/gripper_l_outer_link4", + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_r_inner_link3", + "/World/Robot/gripper_r_inner_link4", + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_outer_link3", + "/World/Robot/gripper_r_outer_link4", + "/World/Robot/gripper_r_outer_link2" + ], + "evaluated_driven_paths": [ + "/World/Robot/base_link", + "/World/Robot/body_link1", + "/World/Robot/body_link2", + "/World/Robot/head_link1", + "/World/Robot/head_link2", + "/World/Robot/arm_base_link", + "/World/Robot/arm_l_base_link", + "/World/Robot/arm_l_link1", + "/World/Robot/arm_l_link2", + "/World/Robot/arm_l_link3", + "/World/Robot/arm_l_link4", + "/World/Robot/arm_l_link5", + "/World/Robot/arm_l_link6", + "/World/Robot/arm_l_end_link", + "/World/Robot/gripper_l_base_link", + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_center_link", + "/World/Robot/arm_r_base_link", + "/World/Robot/arm_r_link1", + "/World/Robot/arm_r_link2", + "/World/Robot/arm_r_link3", + "/World/Robot/arm_r_link4", + "/World/Robot/arm_r_link5", + "/World/Robot/arm_r_link6", + "/World/Robot/arm_r_end_link", + "/World/Robot/gripper_r_base_link", + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_center_link" + ], + "evaluated_cameras": [ + "/World/Robot/head_link2/Head_Camera", + "/World/Robot/gripper_l_base_link/Left_Camera", + "/World/Robot/gripper_r_base_link/Right_Camera" + ], + "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "scene_sha256": "9ae32ec169a2d74cd9aca9de8935fa19ecd6372f7062eb65fb5579b09360d208", + "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/preroll_stability.py", + "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf" + }, + "receipt_sha256": "7d2ed82b7478bf65da7d11e8c736e4a0c54d5d954b7fd39285df118d34bc707a", + "windows": { + "final_preroll_0p5s": { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + "first_retained_30_control_rows": { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 2.8159646537346162e-06, + "robot_link_rotation_span_rad": 0.000176313848961596, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195446, + "camera_link_translation_span_m": 3.371747880871523e-07, + "camera_link_rotation_span_rad": 7.426700469480266e-07, + "driven_robot_link_translation_span_m": 5.960464477539062e-07, + "driven_robot_link_rotation_span_rad": 8.724499445143082e-07 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.025116797315576277, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0046986385182442485, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.008270966452913829, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002091724384971257, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.008270966452913829 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013933034884051926, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01783726681549923, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005265864983350325, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.01783726681549923 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004346896213376365, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.00735876934778579, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0015751488665913611, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.00735876934778579 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005276400581082378, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015273085934574193, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0025689889924535086, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015273085934574193 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009598396920741869, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.023663685135828873, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004334387717791847, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.023663685135828873 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004516487995344821, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.013011951767111181, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.00120375635939961, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.013011951767111181 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007819686311560547, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002906341425282057, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01322017010223088, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.01322017010223088 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.017969898454899165, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007116758692570047, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.021320117611274305, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.021320117611274305 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007878053352483962, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002157452638531639, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011129469479166671, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.011129469479166671 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00482991543093169, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002100150366210102, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01128504620197779, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.01128504620197779 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.011252434735235113, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004873988785355162, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.025116797315576277, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.025116797315576277 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + }, + "independently_bound_pose_sha256": { + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271" + } + }, + "evidence_sha256": { + "PREROLL_EVIDENCE.json": "9ef6da542f8ca45088fbd15c48575193e4091e305f386c9f9ac185b828c33681", + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271" + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STATUS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STATUS.json new file mode 100644 index 0000000000000000000000000000000000000000..e051be98ccfb0845610899e78690b6ee5ba499cf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/STATUS.json @@ -0,0 +1,35 @@ +{ + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "phase": "item_03_complete", + "item_index": 3, + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "control_ticks": 44221, + "updated": 1791336986.098723, + "base_pose": [ + -1.793198585510254, + 0.8926874995231628, + 0.0013678837567567825, + -2.7939677238464355e-08, + 1.6624107956886292e-07, + 0.6879962086677551, + -0.7257145047187805 + ], + "target_pose": [ + -1.6674472093582153, + 0.28819540143013, + 0.4549020826816559, + -1.3853423297405243e-08, + -1.0535586625337601e-07, + -0.9966198205947876, + 0.08215315639972687 + ], + "error": null, + "candidate_export_status": "COMPLETE", + "candidate_dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/staged_datasets/layout_03", + "accepted": false +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TARGET_INITIAL_POSES.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TARGET_INITIAL_POSES.json new file mode 100644 index 0000000000000000000000000000000000000000..d6110440eeb12b006671d98353d1f809ea9437fb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TARGET_INITIAL_POSES.json @@ -0,0 +1,48 @@ +{ + "target_paths": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "pose_order": "x,y,z,qx,qy,qz,qw", + "target_pose": [ + [ + -2.6978628635406494, + 2.2153139114379883, + 1.182828426361084, + 1.7053025658242404e-13, + 4.121147867408581e-13, + -0.09467542171478271, + 0.9955081939697266 + ], + [ + -2.2530150413513184, + 2.2207839488983154, + 0.7513301372528076, + -1.1641532182693481e-10, + -6.892975079608732e-11, + -0.5188618302345276, + 0.8548582792282104 + ], + [ + -2.033402681350708, + 2.2133936882019043, + 1.182828426361084, + 8.86757334228605e-12, + 4.6771475581408595e-12, + -0.4041115939617157, + 0.9147096276283264 + ], + [ + -2.5654244422912598, + 2.243452787399292, + 0.7513301968574524, + 0.0, + 0.0, + 0.4769749343395233, + 0.8789169192314148 + ] + ], + "capture": "before_episode_motion" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2bd00ecbeb2e8400187647dff265d60b8cb876 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json @@ -0,0 +1,4137 @@ +{ + "schema_version": "ziche.shelf_multi10_stable.task_schema_audit.v3", + "recording_sha256": "064271e9ba50b1eab5a9b45234b8ca6b231b24e137373bbf7e0c360dc2ec9955", + "passed": true, + "checks": { + "physics_finished": { + "passed": true, + "detail": { + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "accepted": false, + "error": null, + "control_ticks": 44221, + "rendered": true, + "requested_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_count": 4, + "requires": "independent collision, task, drive, continuity and export validation" + } + }, + "all_requested_objects_completed_in_order": { + "passed": true, + "detail": { + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "accepted": false, + "error": null, + "control_ticks": 44221, + "rendered": true, + "requested_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_count": 4, + "requires": "independent collision, task, drive, continuity and export validation" + } + }, + "strict_240hz_preroll_retained_clock": { + "passed": true, + "detail": { + "schema": "multi_startup_clock_audit_v1", + "passed": true, + "checks": { + "schema": true, + "rates": true, + "unrecorded_preroll_steps": true, + "unrecorded_preroll_duration": true, + "retained_rows": true, + "first_global_step": true, + "timestamp_formula": true, + "global_step_formula": true, + "camera_formula": true, + "command_semantics": true, + "contact_semantics": true, + "recording_tick": true, + "recording_timestamp": true + }, + "failures": [], + "clock": { + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 44221, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 14740, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." + }, + "clock_sha256": "7e4f3214b1ca9454ff16fa1f3aa985ca1a48894d84a8c11525e7b6edce6aa9db", + "retained_rows": 44221, + "preroll_rows_60hz": 38 + } + }, + "strict_unrecorded_preroll_and_first_retained_0p5s_stable": { + "passed": true, + "detail": { + "schema": "multi_startup_stability_audit_v1", + "passed": true, + "failures": [], + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "driven_robot_translation_m": 5e-05, + "driven_robot_rotation_rad": 0.00034906585039886593, + "passive_finger_projected_motion_px": 0.25 + }, + "retained_first_30_control_rows": { + "checks": { + "rows": true, + "prop_translation": true, + "prop_rotation": true, + "camera_translation": true, + "camera_rotation": true, + "driven_translation": true, + "driven_rotation": true, + "passive_projection": true + }, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195448, + "camera_translation_span_m": 3.371747880871523e-07, + "camera_rotation_span_rad": 7.426700469480267e-07, + "driven_translation_span_m": 5.960464477539062e-07, + "driven_rotation_span_rad": 8.724499445143082e-07, + "metric_error": null + }, + "preroll_checks": { + "status": true, + "rates": true, + "unrecorded": true, + "no_pose_writes": true, + "duration": true, + "thresholds": true, + "final_prop": true, + "final_camera": true, + "final_driven": true, + "exact_initial_command": true, + "first_retained_30_exact_initial_hold": true, + "projection": true + }, + "preroll_evidence": { + "status": "PASSED", + "physics_hz": 240, + "sample_hz": 60, + "steps": 152, + "duration_s": 0.6333333333333333, + "stability_window_s": 0.5, + "thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "final_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_finger_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "exact_initial_command_sha256": "4bc81e1bea239f04e4574d4e0d6b7468c3cd9baea2fc3fb6e7c0535e99a9c638", + "recorded_rows": 0, + "contact_capture_started": false, + "camera_capture_started": false, + "no_pose_writes_or_resets": true, + "initial_snapshot_semantics": "Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.", + "initial_prop_pose_before_preroll_sha256": "18e6f9c4948a1d70bef7b9822843e31ba70aee5347129c8e36470e40be3eb088", + "camera_warmup_physics_samples": 3, + "discarded_render_reads": 3 + }, + "projection_audit": { + "passed": true, + "checks": { + "status": true, + "threshold": true, + "scope": true, + "windows": true, + "bodies": true, + "cameras": true, + "implementation_hash": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "passed": true, + "threshold_px": 0.25, + "only_passive_distal_fingers": true, + "passive_path_pattern": "/gripper_[lr]_(inner|outer)_link[234]$", + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "windows": [ + { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 2.8159646537346162e-06, + "robot_link_rotation_span_rad": 0.000176313848961596, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195446, + "camera_link_translation_span_m": 3.371747880871523e-07, + "camera_link_rotation_span_rad": 7.426700469480266e-07, + "driven_robot_link_translation_span_m": 5.960464477539062e-07, + "driven_robot_link_rotation_span_rad": 8.724499445143082e-07 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.025116797315576277, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0046986385182442485, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.008270966452913829, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002091724384971257, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.008270966452913829 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013933034884051926, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01783726681549923, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005265864983350325, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.01783726681549923 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004346896213376365, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.00735876934778579, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0015751488665913611, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.00735876934778579 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005276400581082378, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015273085934574193, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0025689889924535086, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015273085934574193 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009598396920741869, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.023663685135828873, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004334387717791847, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.023663685135828873 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004516487995344821, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.013011951767111181, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.00120375635939961, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.013011951767111181 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007819686311560547, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002906341425282057, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01322017010223088, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.01322017010223088 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.017969898454899165, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007116758692570047, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.021320117611274305, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.021320117611274305 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007878053352483962, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002157452638531639, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011129469479166671, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.011129469479166671 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00482991543093169, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002100150366210102, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01128504620197779, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.01128504620197779 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.011252434735235113, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004873988785355162, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.025116797315576277, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.025116797315576277 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + ], + "evaluated_passive_paths": [ + "/World/Robot/gripper_l_inner_link3", + "/World/Robot/gripper_l_inner_link4", + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_outer_link3", + "/World/Robot/gripper_l_outer_link4", + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_r_inner_link3", + "/World/Robot/gripper_r_inner_link4", + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_outer_link3", + "/World/Robot/gripper_r_outer_link4", + "/World/Robot/gripper_r_outer_link2" + ], + "evaluated_driven_paths": [ + "/World/Robot/base_link", + "/World/Robot/body_link1", + "/World/Robot/body_link2", + "/World/Robot/head_link1", + "/World/Robot/head_link2", + "/World/Robot/arm_base_link", + "/World/Robot/arm_l_base_link", + "/World/Robot/arm_l_link1", + "/World/Robot/arm_l_link2", + "/World/Robot/arm_l_link3", + "/World/Robot/arm_l_link4", + "/World/Robot/arm_l_link5", + "/World/Robot/arm_l_link6", + "/World/Robot/arm_l_end_link", + "/World/Robot/gripper_l_base_link", + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_center_link", + "/World/Robot/arm_r_base_link", + "/World/Robot/arm_r_link1", + "/World/Robot/arm_r_link2", + "/World/Robot/arm_r_link3", + "/World/Robot/arm_r_link4", + "/World/Robot/arm_r_link5", + "/World/Robot/arm_r_link6", + "/World/Robot/arm_r_end_link", + "/World/Robot/gripper_r_base_link", + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_center_link" + ], + "evaluated_cameras": [ + "/World/Robot/head_link2/Head_Camera", + "/World/Robot/gripper_l_base_link/Left_Camera", + "/World/Robot/gripper_r_base_link/Right_Camera" + ], + "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "scene_sha256": "9ae32ec169a2d74cd9aca9de8935fa19ecd6372f7062eb65fb5579b09360d208", + "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/code_snapshot/preroll_stability.py", + "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf" + }, + "receipt_sha256": "7d2ed82b7478bf65da7d11e8c736e4a0c54d5d954b7fd39285df118d34bc707a", + "windows": { + "final_preroll_0p5s": { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.1527707600994507, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04887154628049076, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.08615507860117008, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.016693836679731996, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.08615507860117008 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.11669472914538802, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.1527707600994507, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.049034477992460315, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.1527707600994507 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04328027662697744, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.07354250702445231, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011181928668919847, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.07354250702445231 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013066612955242904, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02493541862349664, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003228043473003068, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.02493541862349664 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01671221182424214, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.04715783779853694, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010216567644823298, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.04715783779853694 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.014403861674041056, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.019692762415883518, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002785463983796871, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.019692762415883518 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.030042081186449326, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.009913627786950546, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04783159720927537, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.04783159720927537 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.06540258972431921, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.02638655533864459, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.078804053210741, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.078804053210741 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02555963825233971, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0068258207639832185, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.03766206445639936, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.03766206445639936 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009171678123223287, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0028535739521964353, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.007786263846537677, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.009171678123223287 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01272438435995132, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.003021590808768256, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01383143492213705, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.01383143492213705 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + "first_retained_30_control_rows": { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 2.8159646537346162e-06, + "robot_link_rotation_span_rad": 0.000176313848961596, + "prop_translation_span_m": 5.80587180227562e-06, + "prop_rotation_span_rad": 0.00017186973229195446, + "camera_link_translation_span_m": 3.371747880871523e-07, + "camera_link_rotation_span_rad": 7.426700469480266e-07, + "driven_robot_link_translation_span_m": 5.960464477539062e-07, + "driven_robot_link_rotation_span_rad": 8.724499445143082e-07 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.025116797315576277, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0046986385182442485, + "vertices_visible_at_least_twice": 13153 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.008270966452913829, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002091724384971257, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.008270966452913829 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.013933034884051926, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01783726681549923, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005265864983350325, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.01783726681549923 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004346896213376365, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.00735876934778579, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0015751488665913611, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.00735876934778579 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005276400581082378, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015273085934574193, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0025689889924535086, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015273085934574193 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009598396920741869, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.023663685135828873, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004334387717791847, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.023663685135828873 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.004516487995344821, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.013011951767111181, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.00120375635939961, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.013011951767111181 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007819686311560547, + "vertices_visible_at_least_twice": 5085 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002906341425282057, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01322017010223088, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.01322017010223088 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.017969898454899165, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007116758692570047, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.021320117611274305, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.021320117611274305 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007878053352483962, + "vertices_visible_at_least_twice": 4938 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002157452638531639, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.011129469479166671, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.011129469479166671 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00482991543093169, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002100150366210102, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.01128504620197779, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.01128504620197779 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.011252434735235113, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004873988785355162, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.025116797315576277, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.025116797315576277 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + }, + "independently_bound_pose_sha256": { + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271" + } + }, + "evidence_sha256": { + "PREROLL_EVIDENCE.json": "9ef6da542f8ca45088fbd15c48575193e4091e305f386c9f9ac185b828c33681", + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271" + } + } + }, + "native_three_view_warmup_after_stability": { + "passed": true, + "detail": { + "schema": "multi_camera_warmup_audit_v1", + "passed": true, + "checks": { + "native_rendered": true, + "status": true, + "after_stability": true, + "render_warmups": true, + "discarded_reads": true, + "unrecorded_hold_samples": true, + "preroll_hold_accounting": true, + "no_captured_warmup_frames": true, + "final_prop_stable": true, + "final_camera_stable": true, + "final_driven_stable": true, + "startup_frame_set": true, + "startup_frames_nonempty": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "after_physics_stability": true, + "discarded_render_reads": 3, + "render_only_warmups": 12, + "unrecorded_hold_samples": 3, + "captured_frames": 0, + "final_stability_window": { + "robot_link_translation_span_m": 1.6375121911642265e-05, + "robot_link_rotation_span_rad": 0.0010899768214697476, + "prop_translation_span_m": 1.2647425851702542e-05, + "prop_rotation_span_rad": 0.00015016503965781141, + "camera_link_translation_span_m": 3.3654199155552635e-06, + "camera_link_rotation_span_rad": 8.601313726744036e-06, + "driven_robot_link_translation_span_m": 4.271620003502111e-06, + "driven_robot_link_rotation_span_rad": 8.716096668186423e-06, + "joint_span": 0.0017032958567142487, + "joint_speed_max": 0.019184965640306473, + "passive_finger_max_projected_motion_px": 0.1527707600994507 + } + }, + "receipt_sha256": "456be35189c553f1a60b72e93df507c6775d9187d3f056e26d5d2aef40549bc2", + "startup_frame_sha256": { + "hand_left_00.jpg": "d00bc56f24f800e8de145cbc46abed4108af3e13c12802718e56aa1f9de5fa7e", + "hand_left_01.jpg": "1c244e296955ffa74d54b44d18a2438fa757cb7fc6a8dfc4fed4893df3271db2", + "hand_left_02.jpg": "08571a88b8469725ab450f0a1fbefe2749ebed0fc071c9a07f2268078154c7ee", + "hand_left_03.jpg": "4758588e741087b079f3a613f3496da9e165215cbd71337a4d3077daef8caa44", + "hand_left_04.jpg": "914362108f5f01436f012bbaa9b0638e19e5602d107561586f076a0178464c1e", + "hand_left_05.jpg": "c5259ec59f459e673ef9ab047cd59ec78b4a9e172f7dd2316da36916c5103a3e", + "hand_left_06.jpg": "33bdecc3e2615493e8815c99936aeea4f4e6af7299dbf2da5aa3397f42181293", + "hand_left_07.jpg": "a2d695bba0042df7f5a06c50b825ead92329de790b33dcb4822de5d9da32c332", + "hand_left_08.jpg": "a183eb0098bda2b6b34aee33d67f547bbf927f31b9b999d79732b2e14696d8be", + "hand_left_09.jpg": "b07c67fc56a92156cf577b06abf9246d2977b0540e6014c4c30ea5b7ea2ad4dd", + "hand_right_00.jpg": "84fd321908ddc7c71526aed07ed393067f4aed4d347213bca52ef6be9a463a4f", + "hand_right_01.jpg": "23415537675b84423c22687e046676e750ba3860311810a626129190dda845b1", + "hand_right_02.jpg": "2af0ab711afa3111b642c4488bb904a0bef7d7c01581f1d05b5d19514485e796", + "hand_right_03.jpg": "eea6fff0fe6f540846b894af8c0f5db14788a7f9963df4e65b4158c225d0817c", + "hand_right_04.jpg": "cee047cfcd03ac8fb360fa801ff7f8f3b25ec87dd4266fd5d293c04a3b7868e6", + "hand_right_05.jpg": "892e2bb7f5d2060f80f36c1680aef365669d692de3360d3c570b65dd466c7141", + "hand_right_06.jpg": "f506bea3be10b3ac81d82d7cb628dd791b90e376da79cef90063801bebb609fd", + "hand_right_07.jpg": "443fe632c82a646f510def49877a1c26fee48912bc7b833071760870dfe003c0", + "hand_right_08.jpg": "31e7d2ed76ee23a622bc90b259c7acd7073705e2529f6d3b0365a3f387feedf0", + "hand_right_09.jpg": "d1149b4ae45224485792687366c1bef379e24664eb0fc5193fc5a0576fd8575b", + "top_head_00.jpg": "d6a26a2c8c574c5db21039fa441cdd3a150d8a89dde49c6416e9793cd107c0a2", + "top_head_01.jpg": "af98e7dfff8b818381d21c29df184cc275a7aba1bdd5f5b5b33f49f8e2acbce0", + "top_head_02.jpg": "82821bc7829dd443512688cf63c78bfb39faef3175e7e497c387622a1dfd61d5", + "top_head_03.jpg": "c51a42cce914874593b17840f84ae49b2fd2f4a68ff04178e3b1ae6f73f59b9f", + "top_head_04.jpg": "662eaa5adbee899da4acdd06b1d16533a449b636fd8c02a605dd099267663ef6", + "top_head_05.jpg": "fc7cec3269403d8db12d3b99bdda898a93dc7fa714b409d2081851e5450b3c9e", + "top_head_06.jpg": "7255608dc72b7332560ed76c457b91beed490d02cb675e7a223e0dd8bfda7739", + "top_head_07.jpg": "df3eb00c119dc68b33324fac7bf33a53acbe89e7fe15054db5cbcdc970d82f12", + "top_head_08.jpg": "b70b8cc141058853279a1722bdc80a68d31ab8c3deb276e2ff7cee39cfea00e4", + "top_head_09.jpg": "4e7e434a51be113c2d974ce170ac1fdcc5128c780aa7572ecfaa6f01222d83cd" + } + } + }, + "camera_extrinsics_exact_clock_and_rigid_mount": { + "passed": true, + "detail": { + "schema": "multi_camera_extrinsics_audit_v1", + "passed": true, + "checks": { + "camera_order": true, + "shape": true, + "control_tick_mapping": true, + "timestamp_mapping": true, + "global_step_mapping": true, + "finite": true, + "homogeneous_row": true, + "rigid_rotation": true, + "rigid_mount_alignment": true + }, + "failures": [], + "frames": 14740, + "rotation_orthogonality_max_error": 1.3322676295501878e-15, + "rotation_determinant_max_error": 2.220446049250313e-15, + "mount_errors": { + "top_head": { + "translation_m": 1.3506446028928519e-15, + "rotation_rad": 5.583968029948289e-16 + }, + "hand_left": { + "translation_m": 1.5204888375921863e-15, + "rotation_rad": 5.069193257608818e-16 + }, + "hand_right": { + "translation_m": 1.3870543446483204e-15, + "rotation_rad": 5.77722822261946e-16 + } + }, + "camera_extrinsics_sha256": "fac6379551e1fcceb39c69f547ea556a9da92757c189aa1882a6714eb837e765" + } + }, + "all_props_no_fall_and_completed_items_remain_stable": { + "passed": true, + "detail": { + "schema": "multi_prop_no_fall_audit_v1", + "passed": true, + "thresholds": { + "max_translation_m": 0.02, + "max_downward_m": 0.01, + "max_rotation_deg": 15.0, + "authored_to_first_translation_m": 0.001, + "authored_to_first_downward_m": 0.001, + "authored_to_first_rotation_deg": 0.5 + }, + "quaternions_normalized_float64": true, + "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step", + "non_target_scope": "every preroll sample and every retained control row through episode end", + "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end", + "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates", + "paths": [ + { + "path": "/World/Assets/ShelfItems/gatorade_m", + "requested_item_index": 0, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032818750426418045, + "authored_to_first_downward_m": 0.0003281831741333008, + "authored_to_first_rotation_deg": 0.002882179995726085 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 128, + "max_translation_m": 0.0003284217657929949, + "max_downward_m": 0.00032842159271240234, + "max_rotation_deg": 0.006689282248431262, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 10396, + "rows": 33826, + "max_translation_m": 2.5050354448163623e-06, + "max_downward_m": 1.7881393432617188e-07, + "max_rotation_deg": 0.004553690884899099, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t", + "requested_item_index": 2, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032795186210151343, + "authored_to_first_downward_m": 0.0003279447555541992, + "authored_to_first_rotation_deg": 0.002326424621132087 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 21315, + "max_translation_m": 0.00032831640774560827, + "max_downward_m": 0.00032830238342285156, + "max_rotation_deg": 0.0074719672658244835, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 35421, + "rows": 8801, + "max_translation_m": 1.9133926533787873e-06, + "max_downward_m": 1.1920928955078125e-07, + "max_rotation_deg": 0.004696059298737408, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/starbucks", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00036764917971625664, + "authored_to_first_downward_m": 0.0003676414489746094, + "authored_to_first_rotation_deg": 0.22354778268563286 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0003755116841071599, + "max_downward_m": 0.00037550926208496094, + "max_rotation_deg": 0.28700042480489985, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/good2grow", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0003272310632136785, + "authored_to_first_downward_m": 0.00032722949981689453, + "authored_to_first_rotation_deg": 0.0003295035388053861 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0003275879952920366, + "max_downward_m": 0.0003275871276855469, + "max_rotation_deg": 0.0004988376651576899, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/grapefruit_can", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0004414321279770233, + "authored_to_first_downward_m": 0.00044143199920654297, + "authored_to_first_rotation_deg": 0.0003199635633216343 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005396609804552397, + "max_downward_m": 0.0005396604537963867, + "max_rotation_deg": 0.0006120646045803791, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/coke_c3", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0004422665927609157, + "authored_to_first_downward_m": 0.00044226646423339844, + "authored_to_first_rotation_deg": 0.00034436618965515565 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005656539074564312, + "max_downward_m": 0.000565648078918457, + "max_rotation_deg": 0.0031835184938500787, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/ShelfItems/sprite_c1", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.000442268135088209, + "authored_to_first_downward_m": 0.00044226646423339844, + "authored_to_first_rotation_deg": 0.0011403143497644539 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0005660085313472635, + "max_downward_m": 0.0005660057067871094, + "max_rotation_deg": 0.005069837025862114, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/chomps_r", + "requested_item_index": 1, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00032973298109360984, + "authored_to_first_downward_m": 0.00032973289489746094, + "authored_to_first_rotation_deg": 2.328784023135477e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 10494, + "max_translation_m": 0.0003297333258779803, + "max_downward_m": 0.00032973289489746094, + "max_rotation_deg": 4.0552001361956704e-05, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 21217, + "rows": 23005, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/zbar_t", + "requested_item_index": 3, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0003301502995853006, + "authored_to_first_downward_m": 0.00033015012741088867, + "authored_to_first_rotation_deg": 2.2972699315936532e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "preroll_and_rows_before_own_pick", + "rows": 35519, + "max_translation_m": 0.0003302701972608743, + "max_downward_m": 0.00033026933670043945, + "max_rotation_deg": 0.00017042998646547473, + "passed": true + }, + { + "scope": "item_completed_through_episode_end", + "source_control_tick_start": 44221, + "rows": 1, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 1.7075472925031877e-06, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/Tier2Items/honeymaid_copy_01", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.00021731866563467673, + "authored_to_first_downward_m": 0.00021731853485107422, + "authored_to_first_rotation_deg": 0.0014485678327748695 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.00033825677922092514, + "max_downward_m": 0.0003382563591003418, + "max_rotation_deg": 0.004068617620142691, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/DiningTableMicrowave/Asset/body", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 0.0 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/DiningTableMicrowave/Asset/door", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 8.429369702178807e-08, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 9.507220963046143e-06 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0002269747142655376, + "max_downward_m": 0.0, + "max_rotation_deg": 0.05237297253984664, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/AirFryer/Centered/Body", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 0.0, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 0.0 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 0.0, + "max_downward_m": 0.0, + "max_rotation_deg": 0.0, + "passed": true + } + ], + "passed": true + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray", + "requested_item_index": null, + "authored_to_first_preroll": { + "authored_to_first_translation_m": 5.960464477539063e-08, + "authored_to_first_downward_m": 0.0, + "authored_to_first_rotation_deg": 1.5835142153691186e-05 + }, + "authored_to_first_checks": { + "authored_to_first_translation_m": true, + "authored_to_first_downward_m": true, + "authored_to_first_rotation_deg": true + }, + "segments": [ + { + "scope": "full_preroll_and_capture", + "rows": 44259, + "max_translation_m": 5.960464477539063e-08, + "max_downward_m": 0.0, + "max_rotation_deg": 1.5835142153691186e-05, + "passed": true + } + ], + "passed": true + } + ], + "failures": [], + "producer_initial_prop_no_fall": { + "passed": true, + "physics_samples": 38, + "maxima": { + "translation_m": 0.0005652944732806084, + "downward_m": 0.0005652904510498047, + "rotation_rad": 0.005009102367467907 + }, + "thresholds": { + "translation_m": 0.02, + "downward_m": 0.01, + "rotation_deg": 15.0 + }, + "all_requested_and_nonrequested_props_included": true + }, + "producer_initial_prop_no_fall_checks": { + "passed": true, + "all_props": true, + "all_preroll_samples": true, + "translation": true, + "downward": true, + "rotation": true + }, + "evidence_sha256": { + "PREROLL_EVIDENCE.npz": "e0008bce5edfa9ea6ede57efe930c2a6d8a45659cdf5da6a440f1b622267b949", + "full_state.npz": "25675f78db1de2b1005e28a8d0098a81fa75a1f4e7c1477cea2b8896ae8fc271", + "INITIAL_PROP_NO_FALL.json": "d498130963d2853ef349a0067f2996d2490b186b2e102e933f94d2726823c887" + } + } + }, + "capture_end_collision_readback_present": { + "passed": true, + "detail": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/collision_readback/INPUT.json" + }, + "actual_physics_240_hz": { + "passed": true, + "detail": [ + 240 + ], + "source": "capture_end_collision_readback" + }, + "native_control_60_hz": { + "passed": true, + "detail": null + }, + "both_runtime_grippers_80": { + "passed": true, + "detail": { + "idx41_gripper_l_outer_joint1": 80.0, + "idx81_gripper_r_outer_joint1": 80.0 + } + }, + "continuous_per_item_phase_order": { + "passed": true, + "detail": [ + { + "item_index": 0, + "phases": [ + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "carry_raise", + "carry_compact", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "empty_return", + "complete" + ], + "first_tick": 31, + "last_tick": 10396 + }, + { + "item_index": 1, + "phases": [ + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "carry_raise", + "carry_compact", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "empty_return", + "complete" + ], + "first_tick": 10397, + "last_tick": 21217 + }, + { + "item_index": 2, + "phases": [ + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "carry_raise", + "carry_compact", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "empty_return", + "complete" + ], + "first_tick": 21218, + "last_tick": 35421 + }, + { + "item_index": 3, + "phases": [ + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "carry_raise", + "carry_compact", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "complete" + ], + "first_tick": 35422, + "last_tick": 44221 + } + ] + }, + "single_native_stream_source_alignment": { + "passed": true, + "detail": { + "episode_uid": "chain50_layout_03", + "frames": 44221, + "target_max_abs_errors": { + "/World/Assets/ShelfItems/gatorade_m": 0.0, + "/World/Assets/Tier2Items/chomps_r": 0.0, + "/World/Assets/ShelfItems/gatorade_t": 0.0, + "/World/Assets/Tier2Items/zbar_t": 0.0 + } + } + }, + "no_pose_reset_or_stitched_replay": { + "passed": true, + "detail": { + "recording_metadata": { + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "action_schema": "g1_omnipicker_jointpos20_basevw_v1", + "gripper_max_force": { + "l": 80, + "r": 80 + }, + "pose_order": "x,y,z,qx,qy,qz,qw", + "row_clock": "post-control-step; same-step applied command", + "continuous_no_pose_reset": true, + "multi_item": true, + "item_count": 4 + }, + "checkpoint": { + "schema": "ziche.multi_checkpoint.v1", + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "item_index": 3, + "control_ticks": 44221, + "recording": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/checkpoint_60hz.npz", + "continuous_process": true, + "time": 1791335134.0322297 + }, + "result_completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ] + } + }, + "item_event_evidence_complete_ordered": { + "passed": true, + "detail": { + "events": [ + [ + "item_started", + 0, + "/World/Assets/ShelfItems/gatorade_m" + ], + [ + "item_supported", + 0, + "/World/Assets/ShelfItems/gatorade_m" + ], + [ + "item_completed", + 0, + "/World/Assets/ShelfItems/gatorade_m" + ], + [ + "item_started", + 1, + "/World/Assets/Tier2Items/chomps_r" + ], + [ + "item_supported", + 1, + "/World/Assets/Tier2Items/chomps_r" + ], + [ + "item_completed", + 1, + "/World/Assets/Tier2Items/chomps_r" + ], + [ + "item_started", + 2, + "/World/Assets/ShelfItems/gatorade_t" + ], + [ + "item_supported", + 2, + "/World/Assets/ShelfItems/gatorade_t" + ], + [ + "item_completed", + 2, + "/World/Assets/ShelfItems/gatorade_t" + ], + [ + "item_started", + 3, + "/World/Assets/Tier2Items/zbar_t" + ], + [ + "item_supported", + 3, + "/World/Assets/Tier2Items/zbar_t" + ], + [ + "item_completed", + 3, + "/World/Assets/Tier2Items/zbar_t" + ] + ], + "ticks": [ + 31, + 6107, + 10396, + 10397, + 16642, + 21217, + 21218, + 30291, + 35421, + 35422, + 44206, + 44221 + ] + } + }, + "item_00_producer_physical_support_gate": { + "passed": true, + "detail": { + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 6107, + "pose": [ + -1.747483491897583, + 0.1647576093673706, + 0.45490238070487976, + 1.4687587281514425e-05, + 2.1794578060507774e-05, + -0.7629022002220154, + -0.6465140581130981 + ], + "inside_tray": true, + "drift_last_second_m": 1.6785481875558617e-06, + "linear_speed_m_s": 1.5229302835766664e-07, + "angular_speed_rad_s": 2.291105304962754e-05, + "hand_clearance_m": 0.33178189396858215, + "tray_support_contact_ticks": [ + 6103, + 6103, + 6103, + 6103, + 6104, + 6104, + 6104, + 6104, + 6105, + 6105, + 6105, + 6105, + 6106, + 6106, + 6106, + 6106, + 6107, + 6107, + 6107, + 6107 + ], + "support_contact_observed": true + } + }, + "item_00_producer_return_gate": { + "passed": true, + "detail": { + "event": "item_completed", + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 10396, + "support": { + "target": "/World/Assets/ShelfItems/gatorade_m", + "tick": 6107, + "pose": [ + -1.747483491897583, + 0.1647576093673706, + 0.45490238070487976, + 1.4687587281514425e-05, + 2.1794578060507774e-05, + -0.7629022002220154, + -0.6465140581130981 + ], + "inside_tray": true, + "drift_last_second_m": 1.6785481875558617e-06, + "linear_speed_m_s": 1.5229302835766664e-07, + "angular_speed_rad_s": 2.291105304962754e-05, + "hand_clearance_m": 0.33178189396858215, + "tray_support_contact_ticks": [ + 6103, + 6103, + 6103, + 6103, + 6104, + 6104, + 6104, + 6104, + 6105, + 6105, + 6105, + 6105, + 6106, + 6106, + 6106, + 6106, + 6107, + 6107, + 6107, + 6107 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.0003220564581620363, + "return_yaw_error_rad": 8.854852158513005e-05 + } + }, + "item_01_producer_physical_support_gate": { + "passed": true, + "detail": { + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 16642, + "pose": [ + -1.8401546478271484, + 0.2244090735912323, + 0.4549020528793335, + 1.7997808754444122e-07, + -1.1257725418545306e-07, + -0.989604651927948, + -0.143814817070961 + ], + "inside_tray": true, + "drift_last_second_m": 0.0, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 3.5191797974824044e-09, + "hand_clearance_m": 0.3410860002040863, + "tray_support_contact_ticks": [ + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642 + ], + "support_contact_observed": true + } + }, + "item_01_producer_return_gate": { + "passed": true, + "detail": { + "event": "item_completed", + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 21217, + "support": { + "target": "/World/Assets/Tier2Items/chomps_r", + "tick": 16642, + "pose": [ + -1.8401546478271484, + 0.2244090735912323, + 0.4549020528793335, + 1.7997808754444122e-07, + -1.1257725418545306e-07, + -0.989604651927948, + -0.143814817070961 + ], + "inside_tray": true, + "drift_last_second_m": 0.0, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 3.5191797974824044e-09, + "hand_clearance_m": 0.3410860002040863, + "tray_support_contact_ticks": [ + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642, + 16642 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.00032368059743784016, + "return_yaw_error_rad": 9.004265524636956e-05 + } + }, + "item_02_producer_physical_support_gate": { + "passed": true, + "detail": { + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 30291, + "pose": [ + -1.6366561651229858, + 0.21036668121814728, + 0.45490214228630066, + 1.1801057553384453e-06, + -3.426952162044472e-06, + -0.9998365640640259, + -0.01808643527328968 + ], + "inside_tray": true, + "drift_last_second_m": 9.63518800745078e-07, + "linear_speed_m_s": 4.933694673142736e-07, + "angular_speed_rad_s": 6.568288077112298e-06, + "hand_clearance_m": 0.34604814648628235, + "tray_support_contact_ticks": [ + 30287, + 30287, + 30287, + 30287, + 30288, + 30288, + 30288, + 30288, + 30289, + 30289, + 30289, + 30289, + 30290, + 30290, + 30290, + 30290, + 30291, + 30291, + 30291, + 30291 + ], + "support_contact_observed": true + } + }, + "item_02_producer_return_gate": { + "passed": true, + "detail": { + "event": "item_completed", + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 35421, + "support": { + "target": "/World/Assets/ShelfItems/gatorade_t", + "tick": 30291, + "pose": [ + -1.6366561651229858, + 0.21036668121814728, + 0.45490214228630066, + 1.1801057553384453e-06, + -3.426952162044472e-06, + -0.9998365640640259, + -0.01808643527328968 + ], + "inside_tray": true, + "drift_last_second_m": 9.63518800745078e-07, + "linear_speed_m_s": 4.933694673142736e-07, + "angular_speed_rad_s": 6.568288077112298e-06, + "hand_clearance_m": 0.34604814648628235, + "tray_support_contact_ticks": [ + 30287, + 30287, + 30287, + 30287, + 30288, + 30288, + 30288, + 30288, + 30289, + 30289, + 30289, + 30289, + 30290, + 30290, + 30290, + 30290, + 30291, + 30291, + 30291, + 30291 + ], + "support_contact_observed": true + }, + "return_base_error_m": 0.00027354273763142365, + "return_yaw_error_rad": 7.872193650215742e-05 + } + }, + "item_03_producer_physical_support_gate": { + "passed": true, + "detail": { + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44206, + "pose": [ + -1.6674472093582153, + 0.2881953716278076, + 0.4549020826816559, + 4.132743924856186e-09, + -1.7689308151602745e-07, + -0.9966198205947876, + 0.08215317875146866 + ], + "inside_tray": true, + "drift_last_second_m": 2.9802322387695312e-08, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 1.0298080334343408e-07, + "hand_clearance_m": 0.2929264008998871, + "tray_support_contact_ticks": [ + 44202, + 44202, + 44202, + 44202, + 44203, + 44203, + 44203, + 44203, + 44204, + 44204, + 44204, + 44204, + 44205, + 44205, + 44205, + 44205, + 44206, + 44206, + 44206, + 44206 + ], + "support_contact_observed": true + } + }, + "item_03_no_final_return_recorded": { + "passed": true, + "detail": { + "event": "item_completed", + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44221, + "support": { + "target": "/World/Assets/Tier2Items/zbar_t", + "tick": 44206, + "pose": [ + -1.6674472093582153, + 0.2881953716278076, + 0.4549020826816559, + 4.132743924856186e-09, + -1.7689308151602745e-07, + -0.9966198205947876, + 0.08215317875146866 + ], + "inside_tray": true, + "drift_last_second_m": 2.9802322387695312e-08, + "linear_speed_m_s": 0.0, + "angular_speed_rad_s": 1.0298080334343408e-07, + "hand_clearance_m": 0.2929264008998871, + "tray_support_contact_ticks": [ + 44202, + 44202, + 44202, + 44202, + 44203, + 44203, + 44203, + 44203, + 44204, + 44204, + 44204, + 44204, + 44205, + 44205, + 44205, + 44205, + 44206, + 44206, + 44206, + 44206 + ], + "support_contact_observed": true + }, + "return_base_error_m": null, + "return_yaw_error_rad": null + } + }, + "all_requested_item_contacts_captured": { + "passed": true, + "detail": { + "passed": true, + "receipt": { + "schema": "ziche.contact_capture.v1", + "requested_targets": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ], + "filter_semantics": "robot_or_any_requested_target", + "all_physics_ticks": true, + "control_ticks": 44221, + "dropped_rows": 0, + "callback_rows": 3919350, + "stream": "contacts.jsonl.gz" + }, + "contact_rows": 3919350, + "targets_with_recorded_contacts": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/Tier2Items/zbar_t" + ], + "invalid_tick_rows": [], + "active_item_identity_mismatch_rows": [] + } + }, + "every_pick_has_sustained_unsupported_bilateral_grasp": { + "passed": true, + "detail": { + "schema": "ziche.multi_item.grasp_retention_audit.v1", + "passed": true, + "semantics": "distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 91, + 1677 + ], + "window_control_ticks": 30, + "window_start_tick": 1648, + "window_end_tick": 1677, + "inner_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "outer_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_ticks": [ + 1648, + 1649, + 1650, + 1651, + 1652, + 1653, + 1654, + 1655, + 1656, + 1657, + 1658, + 1659, + 1660, + 1661, + 1662, + 1663, + 1664, + 1665, + 1666, + 1667, + 1668, + 1669, + 1670, + 1671, + 1672, + 1673, + 1674, + 1675, + 1676, + 1677 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 1675, + 1676, + 1677 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "shelf_pick_tick_range": [ + 10457, + 12028 + ], + "window_control_ticks": 30, + "window_start_tick": 11999, + "window_end_tick": 12028, + "inner_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "outer_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_ticks": [ + 11999, + 12000, + 12001, + 12002, + 12003, + 12004, + 12005, + 12006, + 12007, + 12008, + 12009, + 12010, + 12011, + 12012, + 12013, + 12014, + 12015, + 12016, + 12017, + 12018, + 12019, + 12020, + 12021, + 12022, + 12023, + 12024, + 12025, + 12026, + 12027, + 12028 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 12026, + 12027, + 12028 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "shelf_pick_tick_range": [ + 21278, + 22933 + ], + "window_control_ticks": 30, + "window_start_tick": 22904, + "window_end_tick": 22933, + "inner_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "outer_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_ticks": [ + 22904, + 22905, + 22906, + 22907, + 22908, + 22909, + 22910, + 22911, + 22912, + 22913, + 22914, + 22915, + 22916, + 22917, + 22918, + 22919, + 22920, + 22921, + 22922, + 22923, + 22924, + 22925, + 22926, + 22927, + 22928, + 22929, + 22930, + 22931, + 22932, + 22933 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 22931, + 22932, + 22933 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 35482, + 37044 + ], + "window_control_ticks": 30, + "window_start_tick": 37015, + "window_end_tick": 37044, + "inner_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "outer_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_ticks": [ + 37015, + 37016, + 37017, + 37018, + 37019, + 37020, + 37021, + 37022, + 37023, + 37024, + 37025, + 37026, + 37027, + 37028, + 37029, + 37030, + 37031, + 37032, + 37033, + 37034, + 37035, + 37036, + 37037, + 37038, + 37039, + 37040, + 37041, + 37042, + 37043, + 37044 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 37042, + 37043, + 37044 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + } + ] + } + }, + "base_speed_limits": { + "passed": true, + "detail": null + }, + "base_acceleration_limits": { + "passed": true, + "detail": null + }, + "no_simultaneous_translation_turning": { + "passed": true, + "detail": null + }, + "forward_navigation": { + "passed": true, + "detail": null + }, + "base_no_teleport": { + "passed": true, + "detail": 0.0030024335719645023 + }, + "base_no_strafe": { + "passed": true, + "detail": 0.00012893782026554337 + }, + "actual_configured_command_joint_limits": { + "passed": true, + "detail": [ + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + -3.141592653589793, + 3.141592653589793 + ], + [ + 0.0, + 0.550000011920929 + ], + [ + 0.0, + 1.5707963267948966 + ], + [ + -1.5707963267948966, + 1.5707963267948966 + ], + [ + -0.3490658171093523, + 0.5235987755982988 + ], + [ + 0.0, + 0.7853981633974483 + ], + [ + 0.0, + 0.7853981633974483 + ] + ] + }, + "reference_command_envelope_reported": { + "passed": true, + "detail": { + "within_reference": false, + "authored_robot_limits_preserved": true + } + }, + "waist_speed_limit": { + "passed": true, + "detail": null + }, + "held_object_and_hand_stability_every_item": { + "passed": true, + "detail": { + "passed": true, + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "hand": "l", + "passed": true, + "native_hz": 60, + "navigation_samples": 2605, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 1678, + "last_source_control_tick": 4282, + "samples": 2605 + } + ], + "first_source_control_tick": 1678, + "last_source_control_tick": 4282, + "maximum_object_in_hand_translation_drift_m": 0.00014587160309907743, + "maximum_hand_highpass_residual_m": 5.364884508420958e-05, + "maximum_hand_highpass_angular_residual_rad": 2.397782255212594e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 5.2020934537531555e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "hand": "r", + "passed": true, + "native_hz": 60, + "navigation_samples": 2746, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 12029, + "last_source_control_tick": 14774, + "samples": 2746 + } + ], + "first_source_control_tick": 12029, + "last_source_control_tick": 14774, + "maximum_object_in_hand_translation_drift_m": 0.00019151236630009124, + "maximum_hand_highpass_residual_m": 2.356881324497286e-05, + "maximum_hand_highpass_angular_residual_rad": 2.5954980353101195e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 2.095194437619065e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "hand": "r", + "passed": true, + "native_hz": 60, + "navigation_samples": 4947, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 22934, + "last_source_control_tick": 25719, + "samples": 2786 + }, + { + "first_source_control_tick": 26331, + "last_source_control_tick": 28491, + "samples": 2161 + } + ], + "first_source_control_tick": 22934, + "last_source_control_tick": 28491, + "maximum_object_in_hand_translation_drift_m": 0.00027397874329537823, + "maximum_hand_highpass_residual_m": 5.374654324944483e-05, + "maximum_hand_highpass_angular_residual_rad": 6.897928689117879e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 4.8835565034516696e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "hand": "l", + "passed": true, + "native_hz": 60, + "navigation_samples": 4728, + "contiguous_navigation_intervals": [ + { + "first_source_control_tick": 37045, + "last_source_control_tick": 39791, + "samples": 2747 + }, + { + "first_source_control_tick": 40403, + "last_source_control_tick": 42383, + "samples": 1981 + } + ], + "first_source_control_tick": 37045, + "last_source_control_tick": 42383, + "maximum_object_in_hand_translation_drift_m": 0.0002076081671651443, + "maximum_hand_highpass_residual_m": 2.4284026857873303e-05, + "maximum_hand_highpass_angular_residual_rad": 7.494343301619779e-05, + "angular_highpass_limit_rad": 0.05235987755982989, + "hand_highpass_p99_m": 2.3270764053587027e-05, + "maximum_consecutive_highpass_exceedance_ticks": 0, + "slip_limit_m": 0.025, + "hand_highpass_limit_m": 0.005, + "sustained_threshold_ticks": 6, + "filter_window_ticks": 7 + } + ], + "semantics": "Measured hand pose relative to moving base and each active target pose relative to its assigned hand; slip retains one reference across the full item carry; high-pass filters reset only at gaps in source control ticks. All thresholds are unchanged." + } + }, + "item_00_target_lifted": { + "passed": true, + "detail": { + "start_z": 1.1825004816055298, + "end_z": 1.2441637516021729 + } + }, + "item_00_settle_duration": { + "passed": true, + "detail": 120 + }, + "item_00_final_tray_containment": { + "passed": true, + "detail": null + }, + "item_00_final_tray_support": { + "passed": true, + "detail": [ + 0.4549018696147133, + 0.4549022713901668, + 0.45490211957462423 + ] + }, + "item_00_final_upright": { + "passed": true, + "detail": null + }, + "item_00_final_stable": { + "passed": true, + "detail": [ + 2.86102294921875e-06, + 2.8312206268310547e-07, + 2.682209014892578e-07 + ] + }, + "item_00_not_displaced_by_later_cycles": { + "passed": true, + "detail": { + "max_translation_m": 1.9192441413906636e-06, + "max_rotation_rad": 0.00011482952811864676 + } + }, + "item_00_released_hand_separation": { + "passed": true, + "detail": 0.38083019852638245 + }, + "item_00_empty_return_to_next_source": { + "passed": true, + "detail": { + "xy_error_m": 0.0003220564581620363, + "yaw_error_rad": 8.853023231814028e-05, + "next_item_index": 1 + } + }, + "item_01_target_lifted": { + "passed": true, + "detail": { + "start_z": 0.7510004043579102, + "end_z": 0.8200559020042419 + } + }, + "item_01_settle_duration": { + "passed": true, + "detail": 120 + }, + "item_01_final_tray_containment": { + "passed": true, + "detail": null + }, + "item_01_final_tray_support": { + "passed": true, + "detail": [ + 0.4549020269343826, + 0.4549020273737651, + 0.45490211957462423 + ] + }, + "item_01_final_upright": { + "passed": true, + "detail": null + }, + "item_01_final_stable": { + "passed": true, + "detail": [ + 0.0, + 0.0, + 0.0 + ] + }, + "item_01_not_displaced_by_later_cycles": { + "passed": true, + "detail": { + "max_translation_m": 0.0, + "max_rotation_rad": 1.0353396179851734e-08 + } + }, + "item_01_released_hand_separation": { + "passed": true, + "detail": 0.2774815857410431 + }, + "item_01_empty_return_to_next_source": { + "passed": true, + "detail": { + "xy_error_m": 0.00032368059743784016, + "yaw_error_rad": 9.006342513795396e-05, + "next_item_index": 2 + } + }, + "item_02_target_lifted": { + "passed": true, + "detail": { + "start_z": 1.1825002431869507, + "end_z": 1.274705171585083 + } + }, + "item_02_settle_duration": { + "passed": true, + "detail": 120 + }, + "item_02_final_tray_containment": { + "passed": true, + "detail": null + }, + "item_02_final_tray_support": { + "passed": true, + "detail": [ + 0.45490191286738935, + 0.4549022785209942, + 0.45490211957462423 + ] + }, + "item_02_final_upright": { + "passed": true, + "detail": null + }, + "item_02_final_stable": { + "passed": true, + "detail": [ + 2.9802322387695312e-06, + 2.384185791015625e-07, + 2.980232238769531e-07 + ] + }, + "item_02_not_displaced_by_later_cycles": { + "passed": true, + "detail": { + "max_translation_m": 1.5639831190128461e-06, + "max_rotation_rad": 8.00641286919694e-05 + } + }, + "item_02_released_hand_separation": { + "passed": true, + "detail": 0.45361268520355225 + }, + "item_02_empty_return_to_next_source": { + "passed": true, + "detail": { + "xy_error_m": 0.00027354273763142365, + "yaw_error_rad": 7.87192904925238e-05, + "next_item_index": 3 + } + }, + "item_03_target_lifted": { + "passed": true, + "detail": { + "start_z": 0.7510001063346863, + "end_z": 0.9219046831130981 + } + }, + "item_03_settle_duration": { + "passed": true, + "detail": 120 + }, + "item_03_final_tray_containment": { + "passed": true, + "detail": null + }, + "item_03_final_tray_support": { + "passed": true, + "detail": [ + 0.4549020702038199, + 0.4549020769341322, + 0.45490211957462423 + ] + }, + "item_03_final_upright": { + "passed": true, + "detail": null + }, + "item_03_final_stable": { + "passed": true, + "detail": [ + 0.0, + 2.9802322387695312e-08, + 0.0 + ] + }, + "item_03_not_displaced_by_later_cycles": { + "passed": true, + "detail": { + "max_translation_m": 2.9802322387695312e-08, + "max_rotation_rad": 1.8621817039697183e-07 + } + }, + "item_03_released_hand_separation": { + "passed": true, + "detail": 0.2929261326789856 + }, + "all_final_items_nonoverlapping": { + "passed": true, + "detail": { + "max_overlap_m2": 0.0 + } + }, + "initial_tray_empty_of_requested_items": { + "passed": true, + "detail": [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "initial_tray_empty_all_recorded_props": { + "passed": true, + "detail": { + "recorded_props": 14, + "occupants": [], + "unresolved_geometry": [] + } + } + }, + "failures": [], + "training_frames": 14740, + "action_schema": "g1_omnipicker_jointpos20_basevw_v1", + "item_geometry": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "settle_ticks": 120, + "final_bottom_range_m": [ + 0.4549018696147133, + 0.4549022713901668 + ] + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "settle_ticks": 120, + "final_bottom_range_m": [ + 0.4549020269343826, + 0.4549020273737651 + ] + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "settle_ticks": 120, + "final_bottom_range_m": [ + 0.45490191286738935, + 0.4549022785209942 + ] + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "settle_ticks": 120, + "final_bottom_range_m": [ + 0.4549020702038199, + 0.4549020769341322 + ] + } + ], + "collision_validation": "separate_required_all_ticks_all_requested_targets", + "startup_validation": "strict_unrecorded_preroll_plus_first_retained_0p5s", + "prop_stability_scope": "all_non_targets_full_trace; requested targets pre-pick and after completion" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TRAY_APPEARANCE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TRAY_APPEARANCE.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdf2b5379734124090ac06a3b5be24ac51890a5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/TRAY_APPEARANCE.json @@ -0,0 +1,11 @@ +{ + "policy": "standalone_original_neutral_tray_palette", + "color": "white", + "linear_rgb": [ + 0.85, + 0.85, + 0.85 + ], + "texture": null, + "geometry_changed": false +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VALIDATION_CODE_HASHES.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VALIDATION_CODE_HASHES.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0cf894a9ae1e5aa9161388b45d6d0e2b708774 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VALIDATION_CODE_HASHES.json @@ -0,0 +1,15 @@ +{ + "validate_case.py": "7ef7c16cf98f5418a20fc89e27adeb56bf1e9985a520a2b3dd7c8d8b59c59605", + "validate_export.py": "c4ad1e981c11ffa0bdbb8a1bed680ef9f7249c45c911fafb812d8037be9b0514", + "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff", + "audit_views.py": "c1c3f2f741373dbef81d61b71612cb02dcdef5bec10931a3c34c786f90685085", + "grasp_stability.py": "e80b37002499f98ab80b3cda6a1555352f8c02cb9e2cdda51a19b16a6d71bc69", + "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4", + "task_collision_scope.py": "cc9f3e5498ebcdf5185af62dc72e87bdbdd85c65143d854fc3d735c6420caec8", + "multi_validation.py": "bf0e7036ae5f3a3fe73d605f19b3c59ed3ff512b125f765b586b7a1a99fec210", + "startup_validation.py": "5a48a134fc52d6056efe763b47fb1012d16751c19bdda9f8e56ffaf2563fdf40", + "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b", + "official_lerobot_reader_qa.py": "8d529dc19bd1587f76d93e63b014bd9fee597a50ffddf2e54d03ad89a3608c2a", + "record_manual_review.py": "46e2c6c4372824648189e1af0300e714350c2ae28f3390028847c94ad068f401", + "validate_staged.py": "ca8cecba4e155d1e711943bdeb653dc68e0a04f52a3157795c1290c2291b25c7" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..0f6abc5e8a2a2d4ea0d72658f1aaf9c7ec06edcc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json @@ -0,0 +1,305 @@ +{ + "schema": "multi_video_decode_audit_v1", + "passed": true, + "method": "one authoritative sequential PyAV decode of every frame in all three views", + "expected_frames": 14740, + "videos": { + "top_head": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/top_head.mp4", + "sha256": "adc1a3e9557f57d56b4ce7def32b59e61e6d1bc5c46a34f11e182a24ea9f71a1", + "frames": 14740, + "fps": 20.0, + "width": 1280, + "height": 800, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.001031755469739437, + 0.0004601090622600168, + 0.00046925561036914587 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.5693267909143794 + ] + ], + [ + [ + 0.49140512521840213 + ] + ], + [ + [ + 0.3681038827412126 + ] + ] + ], + "std": [ + [ + [ + 0.2466328485363221 + ] + ], + [ + [ + 0.2402799674839791 + ] + ], + [ + [ + 0.2172720041619775 + ] + ] + ], + "count": [ + 14740 + ] + } + }, + "hand_left": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/hand_left.mp4", + "sha256": "1fbafc98aa8fa3df247f6876f451bcc5e78bcaace76a7314fa895ad071b3ffe2", + "frames": 14740, + "fps": 20.0, + "width": 848, + "height": 480, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.0007156721549108624, + 0.0012175290612503886, + 0.0011268246453255415 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.48308401983372573 + ] + ], + [ + [ + 0.4037279688013195 + ] + ], + [ + [ + 0.2962329351692107 + ] + ] + ], + "std": [ + [ + [ + 0.2614283174872437 + ] + ], + [ + [ + 0.24502435258449903 + ] + ], + [ + [ + 0.2136772166827388 + ] + ] + ], + "count": [ + 14740 + ] + } + }, + "hand_right": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/rollout/hand_right.mp4", + "sha256": "15117849fa199c4484edb83e6c550c5daeed0f2544729cce8e1e52c37faf8209", + "frames": 14740, + "fps": 20.0, + "width": 848, + "height": 480, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.0008453890332020819, + 0.0013596678618341684, + 0.0012624314986169338 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.46894839983443387 + ] + ], + [ + [ + 0.40067542603316897 + ] + ], + [ + [ + 0.2980603876147884 + ] + ] + ], + "std": [ + [ + [ + 0.2520012834527406 + ] + ], + [ + [ + 0.23478128177697946 + ] + ], + [ + [ + 0.20126010377343936 + ] + ] + ], + "count": [ + 14740 + ] + } + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/action_space.schema.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/action_space.schema.json new file mode 100644 index 0000000000000000000000000000000000000000..b57d8dcb05b4dcae2b555d1a87772be3b0d72361 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/action_space.schema.json @@ -0,0 +1,66 @@ +{ + "version": "g1_omnipicker_jointpos20_basevw_v1", + "action_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ], + "state_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ], + "dtype": "float32", + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "action_semantics": "applied_absolute_joint_position_targets_and_body_forward_yaw_velocity", + "state_semantics": "post_control_step_measured_joint_positions_and_measured_base_pose", + "sample_native_indices": "arange(2,N,3)", + "action_state_shift": 0, + "base_limits": { + "forward_m_s": 0.18, + "yaw_rate_rad_s": 0.25, + "linear_acceleration_m_s2": 0.12, + "angular_acceleration_rad_s2": 0.3 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_profile.usda b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_profile.usda new file mode 100644 index 0000000000000000000000000000000000000000..6e52d2bcacb9ee585e178598c063b78141d88fa0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_profile.usda @@ -0,0 +1,4261 @@ +#usda 1.0 + +over "World" +{ + over "Assets" + { + over "ShelvingUnit" + { + over "o" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "root" + { + over "GLTF_SceneRootNode" + { + over "shelf_boards_0" + { + over "Object_4" + { + over "Object_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "horizontal_brackets_1" + { + over "Object_6" + { + over "Object_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "vertical_beams_2" + { + over "Object_8" + { + over "Object_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Object_9" + { + over "Object_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "plastic_feet_3" + { + over "Object_11" + { + over "Object_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "Sofa" + { + over "Obj" + { + over "Meshes" + { + over "FAB_converted_model" + { + over "root" + { + over "GLTF_SceneRootNode" + { + over "__seat_sofa_0" + { + over "Object_4" + { + over "Object_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "Clock" + { + over "Obj" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "_e85f8bde8074f96b8d272e4074a5c8d_fbx" + { + over "RootNode" + { + over "clock_frame" + { + over "clock_frame_clock_frame_0" + { + over "clock_frame_clock_frame_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "clock_face" + { + over "clock_face_clock_face_0" + { + over "clock_face_clock_face_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "clock_big_hand" + { + over "clock_big_hand_clock_pointer_0" + { + over "clock_big_hand_clock_pointer_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "clock_second_hand" + { + over "clock_second_hand_clock_pointer_0" + { + over "clock_second_hand_clock_pointer_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "clock_small_hand" + { + over "clock_small_hand_clock_pointer_0" + { + over "clock_small_hand_clock_pointer_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "Tv" + { + over "Obj" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "Livingroom_TV_fbx" + { + over "RootNode" + { + over "Livingroom_TV" + { + over "TV_Legs" + { + over "Object_5" + { + over "TV_Legs_Livingroom_TV_0" + { + over "TV_Legs_Livingroom_TV_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + + over "TV_Screen" + { + over "Object_8" + { + over "TV_Screen_Livingroom_TV_0" + { + over "TV_Screen_Livingroom_TV_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + } + } + + over "TvTable" + { + over "Obj" + { + over "Meshes" + { + over "FAB_converted_model" + { + over "tv_table_fbx" + { + over "RootNode" + { + over "P0627_Media_Storage01" + { + over "P0627_Media_Storage01_P0627_Media_Storage01_MAT01_0" + { + over "P0627_Media_Storage01_P0627_Media_Storage01_MAT01_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "CoffeeTable" + { + over "Mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "TrashBinRed" + { + over "geo" + { + over "Cube_022" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Trash_Bag" + { + over "Trash_Bag_002" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + + over "TrashBinTeal" + { + over "geo" + { + over "Cube_022" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Trash_Bag" + { + over "Trash_Bag_002" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + + over "Door" + { + over "Obj" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "_9be505408364da7a3ccc07ac09dbe59_fbx" + { + over "RootNode" + { + over "Door_Frame" + { + over "Door_Frame_Door_0" + { + over "Door_Frame_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Door" + { + over "Door_Door_0" + { + over "Door_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Lever" + { + over "Lever_Door_0" + { + over "Lever_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Latch_Bolt" + { + over "Latch_Bolt_Door_0" + { + over "Latch_Bolt_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Deadbolt" + { + over "Deadbolt_Door_0" + { + over "Deadbolt_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + } + } + + over "Fireplace" + { + over "Obj" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "fireplace_fbx" + { + over "RootNode" + { + over "fireplace" + { + over "fireplace_fireplace_0" + { + over "fireplace_fireplace_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "SmallCoffeeTable" + { + over "geo" + { + over "组003" + { + over "Rectangle058" + { + over "Rectangle058" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle059" + { + over "Rectangle059" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle060" + { + over "Rectangle060" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle061" + { + over "Rectangle061" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle062" + { + over "Rectangle062" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle079" + { + over "Rectangle079" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Line055" + { + over "Line055" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle063" + { + over "Rectangle063" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle064" + { + over "Rectangle064" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle067" + { + over "Rectangle067" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "组001" + { + over "Line056" + { + over "Line056" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Rectangle074" + { + over "Rectangle074" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle075" + { + over "Rectangle075" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle076" + { + over "Rectangle076" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "组002" + { + over "Line057" + { + over "Line057" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Rectangle077" + { + over "Rectangle077" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle078" + { + over "Rectangle078" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rectangle054" + { + over "Rectangle054" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Line054" + { + over "Line054" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "TableclothBasket" + { + over "riser" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "model" + { + over "Geometry" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "_dc85028501a4347a20df6a75b3e3044_fbx" + { + over "RootNode" + { + over "pCube2" + { + over "pCube2_Texture_0" + { + over "pCube2_Texture_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + } + + over "CoatRack" + { + over "MainTrunk" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseHub" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch01Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch01Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch02Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch02Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch03Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch03Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch04Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch04Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch05Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch05Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch06Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch06Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch07Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch07Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch08Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Branch08Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg01Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg01Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg02Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg02Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg03Shaft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BaseLeg03Tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "HouseEntryDoor" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "_9be505408364da7a3ccc07ac09dbe59_fbx" + { + over "RootNode" + { + over "Door_Frame" + { + over "Door_Frame_Door_0" + { + over "Door_Frame_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Door" + { + over "Door_Door_0" + { + over "Door_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Lever" + { + over "Lever_Door_0" + { + over "Lever_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Latch_Bolt" + { + over "Latch_Bolt_Door_0" + { + over "Latch_Bolt_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Deadbolt" + { + over "Deadbolt_Door_0" + { + over "Deadbolt_Door_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + } + + over "LivingRoomWallpaper" + { + over "NorthAccent" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "LivingRoomRug" + { + over "Surface" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "OuterBorder" + { + over "West" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "East" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "South" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "North" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "InnerBorder" + { + over "West" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "East" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "South" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "North" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "WestWindowTrim" + { + over "LeftCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "RightCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BottomSill" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "CenterMullion" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "EastWindowTrim" + { + over "LeftCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "RightCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopCasing" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "BottomSill" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "CenterMullion" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "PantrySlidingDoor" + { + over "Plank_01" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_01" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_02" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_02" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_03" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_03" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_04" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_04" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_05" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_05" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_06" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_06" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Plank_07" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PlankFace_07" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "FrameLeft" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "FrameRight" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "FrameBottom" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "FrameTop" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "DiagonalBrace" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Hardware" + { + over "Rail" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Hanger_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Wheel_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Hanger_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Wheel_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Stop_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Stop_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Pull" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PullMount_73" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PullMount_103" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "FireplaceArtwork" + { + over "Model" + { + over "dkg_Wall_Frames_16a" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LivingRoomPlantStands" + { + over "TvSouthWestWindowLeft" + { + over "Stand" + { + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopTexture" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "LegLB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegLF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LowerShelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Plant" + { + over "Model" + { + over "PLANTER_COSTA_GLAZED_WHITE_PLANTER_COSTA_GLAZED_WHITE_Mat_0" + { + over "PLANTER_COSTA_GLAZED_WHITE_PLANTER_COSTA_GLAZED_WHITE_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "FICUS_LYRATA" + { + over "FICUS_LYRATA_Ficus_Lyrata_Mat_0" + { + over "FICUS_LYRATA_Ficus_Lyrata_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + + over "TvNorth" + { + over "Stand" + { + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopTexture" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "LegLB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegLF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LowerShelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Plant" + { + over "Model" + { + over "PLANTER_VOLUME_SMALL_PLANTER_VOLUME_SMALL_Mat_0" + { + over "PLANTER_VOLUME_SMALL_PLANTER_VOLUME_SMALL_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "FICUS_ELASTICA" + { + over "FICUS_ELASTICA_FICUS_ELASTICA_Mat_0" + { + over "FICUS_ELASTICA_FICUS_ELASTICA_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + + over "WestWindowRight" + { + over "Stand" + { + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopTexture" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "LegLB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegLF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LowerShelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Plant" + { + over "Model" + { + over "PLANTER_VOLUME_TALL_PLANTER_VOLUME_TALL_Mat_0" + { + over "PLANTER_VOLUME_TALL_PLANTER_VOLUME_TALL_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "FICUS_AUDREY" + { + over "FICUS_AUDREY_FICUS_AUDREY_Mat_0" + { + over "FICUS_AUDREY_FICUS_AUDREY_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + + over "EastWindowLeft" + { + over "Stand" + { + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopTexture" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "LegLB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegLF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LowerShelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Plant" + { + over "Model" + { + over "POT_SIMPLE_DARK_PLASTIC_02_POT_SIMPLE_DARK_PLASTIC_Mat_0" + { + over "POT_SIMPLE_DARK_PLASTIC_02_POT_SIMPLE_DARK_PLASTIC_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "RHODEA_JAPONICA_02" + { + over "RHODEA_JAPONICA_02_RHODEA_JAPONICA_Mat_0" + { + over "RHODEA_JAPONICA_02_RHODEA_JAPONICA_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + + over "EastWindowRight" + { + over "Stand" + { + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "TopTexture" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "LegLB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegLF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRB" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LegRF" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "LowerShelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Plant" + { + over "Model" + { + over "Eda_Planter_Small_Eda_Planter_Small_Mat_0" + { + over "Eda_Planter_Small_Eda_Planter_Small_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "BOSTON_FERN" + { + over "BOSTON_FERN_BOSTON_FERN_Mat_0" + { + over "BOSTON_FERN_BOSTON_FERN_Mat_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + + over "KitchenCoffeeTable03" + { + over "Mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "KitchenCoffeeTable03Chair" + { + over "Mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "CoffeeGrinder" + { + over "BodyVisual" + { + over "Model" + { + over "DBM8_Grinder_ROOT" + { + over "Main_Base" + { + over "Cube" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rubber_Foot_L_B" + { + over "Cube_003" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Chamber_Clear" + { + over "Cube_009" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Opening" + { + over "Cylinder_001" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Support_Rib_180" + { + over "Cube_064" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Chamber_Bottom_Band" + { + over "Cube_012" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Hopper_Adjustment_Ring" + { + over "Cylinder" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Support_Rib_0" + { + over "Cube_062" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Bean_Hopper_Top_Rim" + { + over "Bean_Hopper_Top_Rim_Mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Bean_Hopper_Clear" + { + over "Bean_Hopper_Clear_Mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rubber_Foot_R_B" + { + over "Cube_005" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Start_Button" + { + over "Cube_069" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Top_Deck" + { + over "Cube_008" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Chamber_Top_Band" + { + over "Cube_011" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Cup_Count_Slider_Groove" + { + over "Cube_067" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Motor_Housing" + { + over "Cube_006" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Stainless_Grind_Selector_Collar" + { + over "Cone" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Cuisinart_Label" + { + over "Text" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Base_Stainless_Trim" + { + over "Cube_001" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Selector_Dots" + { + over "Sphere" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rubber_Foot_R_F" + { + over "Cube_004" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Center_Dome" + { + over "Sphere_018" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Start_Label" + { + over "Text_001" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Motor_Housing_Rear_Cap" + { + over "Cube_007" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Chamber_Interior_Back" + { + over "Cube_010" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Support_Rib_90" + { + over "Cube_063" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Grind_Chamber_Bottom_Trim" + { + over "Cube_013" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Rubber_Foot_L_F" + { + over "Cube_002" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Cup_Count_Slider_Knob" + { + over "Cube_068" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Burr_Support_Rib_270" + { + over "Cube_065" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Cup_Count_Control_Panel" + { + over "Cube_066" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + + over "Task5PackStation" + { + over "Cabinet" + { + over "SideL" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "SideR" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Back" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Bottom" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Top" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Flap0" + { + over "Panel" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat00" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat01" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat02" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat03" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat04" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat05" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat06" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat07" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Recess" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandleBar" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandlePostL" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandlePostR" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Flap1" + { + over "Panel" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat00" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat01" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat02" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat03" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat04" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat05" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Slat06" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Recess" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandleBar" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandlePostL" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "HandlePostR" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Plinth" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Inside" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "Tray" + { + over "Obj" + { + over "Meshes" + { + over "Sketchfab_model" + { + over "_99fa031bb144e19baa97558c9a1ba91_fbx" + { + over "RootNode" + { + over "OPM0047" + { + over "OPM0047_OPM0047_0" + { + over "OPM0047_OPM0047_0" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + } + } + } + } + + over "ShelfItems" + { + over "cayman_jacked" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "gatorade_m" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "gatorade_t" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "starbucks" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "good2grow" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "grapefruit_can" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "coke_c3" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "sprite_c1" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "coke_c3_copy_01" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + } + + over "Tier2Items" + { + over "chomps_r" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "pring_bbq" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "oreo_gf" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "zbar_t" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "skit_littles" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "oreo_gf_copy_01" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + + over "honeymaid_copy_01" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:enableCCD = 1 + } + } + } + + over "Background" + { + over "Shell" + { + over "NY_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NYb_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NYt_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NY_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NYb_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NYt_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NY_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PY_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NorthInsetReturn_8c" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NX_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NXt_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "NX_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "PX_12" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "DrFrL_13" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "DrFrR_14" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "DrFrT_15" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Ceiling_18" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkPY_19" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkPY_Kitchen_19b" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkPY_KitchenBack_19d" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkNorthInsetReturn_19c" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkNX_20" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "SkPX_21" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Floor" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "ConstructorKitchen" + { + over "MetricScale" + { + over "BP_Kitchen7" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen8" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen9" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen10" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Door_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Sink" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Tap" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + + over "BP_Kitchen16" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen25" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen21" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen27" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen18" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen22" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Door_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen28" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Door_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Right_Body_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "BP_Kitchen32" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "RightWallUpper400" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "RightWallUpper150" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LeftReturnBase150_A" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LeftReturnBase150_B" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LeftReturnBase150_C" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LeftReturnUpper400" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "LeftReturnScribe" + { + over "Base" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "Upper" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "CornerGapBase300_A" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "CornerGapBase300_B" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Worktop" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "CornerGapUpper300_A" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "CornerGapUpper300_B" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "OverFridgeUpper300_A" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "OverFridgeUpper300_B" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "OverFridgeUpper300_C" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Door_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Knob_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Join_Left_Body_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + + over "SquareEndUpper300" + { + over "Body" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + + over "Shelf_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "Shelf_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "CounterBase_16" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "CounterTop_17" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + + over "ContinuousPantryCornerWall" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "none" + bool physics:collisionEnabled = 1 + } + + over "SkNorthKitchenReturn_04" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "PhysicsScene" ( + prepend apiSchemas = ["PhysxSceneAPI"] + ) + { + bool physxScene:enableCCD = 1 + } + + over "CanonicalTableclothBasketCollisionGroup" + { + rel physics:filteredGroups = None + } +} + diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_000.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_000.json new file mode 100644 index 0000000000000000000000000000000000000000..da6ea14395326ff6957bdba8982de9e09a5cd80f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_000.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_001.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_001.json new file mode 100644 index 0000000000000000000000000000000000000000..42ef66135957e974dffac7e1cb29367b75498be2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_001.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_002.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_002.json new file mode 100644 index 0000000000000000000000000000000000000000..6fa7551c0bc5f1e8b92c6603e14a6648408dcf60 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_002.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_003.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_003.json new file mode 100644 index 0000000000000000000000000000000000000000..933c4c95fe9e1ec0826e5adc45d13585c11e1956 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_003.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_004.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_004.json new file mode 100644 index 0000000000000000000000000000000000000000..c343dfb7e826407da5720addb68256a3fc3240a5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_004.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_005.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_005.json new file mode 100644 index 0000000000000000000000000000000000000000..b944671d6936450061bbcaf27862e4b2a8fb2897 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_005.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_006.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_006.json new file mode 100644 index 0000000000000000000000000000000000000000..f754386dce71dac3cc71396f2b9fc8b033306c70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_006.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_007.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_007.json new file mode 100644 index 0000000000000000000000000000000000000000..77660d3221a4b36c6c27b779db43831df38173cd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_007.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_008.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_008.json new file mode 100644 index 0000000000000000000000000000000000000000..53d59622cb36711ea2e1dfba9857eb488cca4265 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_008.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_009.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_009.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba2ac5f9193de9f2c79210c98ecfa64e45e9b1b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_009.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_010.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_010.json new file mode 100644 index 0000000000000000000000000000000000000000..f6dcfbab3e66140f667b50c25f72de10546a0738 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_010.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_011.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_011.json new file mode 100644 index 0000000000000000000000000000000000000000..566860bc60ce711bce2c2336cf112c01f15eb0ff --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_011.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_012.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_012.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea9e2652a7339a1bb5aa418fc3a74cdc55fcebc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_012.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_013.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_013.json new file mode 100644 index 0000000000000000000000000000000000000000..0b74169c240a8233fec496707f3fc2683c6b9dc1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_013.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_014.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_014.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe3d8f14c44c6091eba6f3bb2995f0ef9aee79e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_014.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_015.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_015.json new file mode 100644 index 0000000000000000000000000000000000000000..5ae40143b747f225e5e3061e91c7985260bdd00c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_015.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_016.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_016.json new file mode 100644 index 0000000000000000000000000000000000000000..f4428f1084840457acf2f1fbd67cb6110b52f22e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_016.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_017.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_017.json new file mode 100644 index 0000000000000000000000000000000000000000..fb48087869c675b1876daf57421324c30e34cf62 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_017.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_018.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_018.json new file mode 100644 index 0000000000000000000000000000000000000000..933fbbf80a150954cfac450f197925fe1fa8206f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_018.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_019.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_019.json new file mode 100644 index 0000000000000000000000000000000000000000..05b6686ab29476706dc767c1cae5b51d901766cb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_019.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_020.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_020.json new file mode 100644 index 0000000000000000000000000000000000000000..e400c8a8fc11c54b0880ba8d9a45f8eec62ddaf9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_020.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_021.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_021.json new file mode 100644 index 0000000000000000000000000000000000000000..cffb557aa496a6be8c91c293cf7dc983425baca4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_021.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_022.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_022.json new file mode 100644 index 0000000000000000000000000000000000000000..86483c11e34c3eb97549c8bab305602dbb8c490d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_022.json @@ -0,0 +1,1157 @@ +{ + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009119945112615824, + "parts": [ + { + "vertices_raw": [ + [ + -0.03767168149352074, + 0.09650573134422302, + 0.014735303819179535 + ], + [ + -0.03753133490681648, + 0.09698597341775894, + -0.014421169646084309 + ], + [ + -0.03661573305726051, + 0.09527143836021423, + -0.01879185065627098 + ], + [ + -0.034779854118824005, + 0.09137185662984848, + -0.020802000537514687 + ], + [ + -0.021914299577474594, + 0.06519405543804169, + -0.02122657373547554 + ], + [ + -0.020080070942640305, + 0.061217326670885086, + -0.019269099459052086 + ], + [ + -0.019147761166095734, + 0.05934629589319229, + -0.014922774396836758 + ], + [ + -0.01931137964129448, + 0.058817893266677856, + 0.01316662598401308 + ], + [ + -0.019975878298282623, + 0.06008939445018768, + 0.017974872142076492 + ], + [ + -0.022129513323307037, + 0.06443091481924057, + 0.02065662480890751 + ], + [ + -0.034905146807432175, + 0.09065797179937363, + 0.021039104089140892 + ], + [ + -0.03684298321604729, + 0.09460142999887466, + 0.01909629814326763 + ], + [ + -0.0185614712536335, + 0.10603322088718414, + -0.01376466266810894 + ], + [ + -0.019768960773944855, + 0.10518085211515427, + 0.01536810677498579 + ], + [ + -0.0009347088634967804, + 0.06784257292747498, + 0.014088981784880161 + ], + [ + -0.002319570630788803, + 0.06930460780858994, + 0.018848489969968796 + ], + [ + -0.0038556810468435287, + 0.0735592171549797, + -0.020943578332662582 + ], + [ + -0.0011909287422895432, + 0.07055708765983582, + -0.018871286883950233 + ], + [ + -0.001280520111322403, + 0.06811586022377014, + -0.015071212314069271 + ], + [ + -0.016476746648550034, + 0.1006716638803482, + -0.020503150299191475 + ], + [ + -0.01899762824177742, + 0.1045217514038086, + -0.017856653779745102 + ], + [ + 0.0002458672970533371, + 0.07052523642778397, + 0.014631884172558784 + ], + [ + -0.001897316426038742, + 0.0741482824087143, + 0.019543873146176338 + ], + [ + -0.0019694045186042786, + 0.07538348436355591, + -0.019619109109044075 + ], + [ + -0.013884440064430237, + 0.10087498277425766, + -0.01761234924197197 + ], + [ + -9.277835488319397e-05, + 0.07255181670188904, + -0.016040176153182983 + ], + [ + -0.01627231389284134, + 0.1046389788389206, + -0.01701454631984234 + ], + [ + -0.0039185453206300735, + 0.07377190887928009, + 0.020894642919301987 + ], + [ + -0.016373246908187866, + 0.09929986298084259, + 0.021260028705000877 + ], + [ + -0.017505228519439697, + 0.10540067404508591, + 0.014583573676645756 + ], + [ + -0.016749873757362366, + 0.10373673588037491, + 0.018729232251644135 + ], + [ + 0.000268787145614624, + 0.06975561380386353, + -0.014235044829547405 + ], + [ + -0.018299859017133713, + 0.10202805697917938, + 0.020425621420145035 + ], + [ + -0.014566615223884583, + 0.10011439770460129, + 0.01997711881995201 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 1, + 0, + 13, + 8, + 7, + 14, + 8, + 14, + 15, + 8, + 15, + 9, + 16, + 17, + 5, + 14, + 7, + 6, + 18, + 18, + 5, + 17, + 3, + 19, + 16, + 4, + 4, + 16, + 5, + 0, + 11, + 13, + 20, + 1, + 12, + 6, + 5, + 18, + 2, + 1, + 20, + 2, + 20, + 19, + 2, + 19, + 3, + 21, + 22, + 15, + 21, + 15, + 14, + 23, + 24, + 25, + 23, + 25, + 17, + 23, + 17, + 16, + 23, + 16, + 19, + 23, + 19, + 24, + 26, + 24, + 19, + 26, + 19, + 20, + 26, + 20, + 12, + 27, + 28, + 10, + 9, + 27, + 9, + 15, + 27, + 15, + 22, + 29, + 12, + 13, + 29, + 13, + 30, + 29, + 24, + 26, + 29, + 26, + 12, + 31, + 25, + 21, + 31, + 21, + 14, + 31, + 14, + 18, + 31, + 18, + 17, + 31, + 17, + 25, + 32, + 11, + 10, + 32, + 10, + 28, + 32, + 30, + 13, + 32, + 13, + 11, + 33, + 30, + 32, + 28, + 33, + 28, + 27, + 22, + 33, + 22, + 21, + 25, + 24, + 33, + 24, + 29, + 33, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.8990454077720642, + -0.43770331144332886, + -0.011537112295627594, + 0.00854232907295227 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.4335254430770874, + 0.9010509848594666, + 0.012754587456583977, + -0.1034761592745781 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.4108380377292633, + -0.8657787442207336, + 0.28572574257850647, + 0.055095087736845016 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.4142223298549652, + -0.8292221426963806, + 0.3752472400665283, + 0.05135688930749893 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.18960459530353546, + -0.44619691371917725, + 0.8746190071105957, + 0.014878056943416595 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.2224862277507782, + -0.4123368561267853, + -0.8834467530250549, + 0.01268647238612175 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.44090980291366577, + -0.8974372744560242, + -0.014313843101263046, + 0.06148841232061386 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.39463895559310913, + -0.7772634029388428, + -0.49002206325531006, + 0.04606408253312111 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.006612676661461592, + 0.019319364801049232, + -0.9997915029525757, + -0.022334830835461617 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.1832897961139679, + -0.3648014962673187, + -0.9128662347793579, + 0.00842253677546978 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4060666263103485, + 0.8066707253456116, + 0.42940911650657654, + -0.09947303682565689 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.40559709072113037, + 0.8706366419792175, + -0.278357595205307, + -0.10367639362812042 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.39416664838790894, + -0.8104173541069031, + -0.4334239065647125, + 0.04917479306459427 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.40778928995132446, + 0.8177410960197449, + -0.4062109589576721, + -0.1004723310470581 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.19779787957668304, + 0.4640197455883026, + -0.8634591698646545, + -0.06767634302377701 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.17960752546787262, + 0.38261207938194275, + -0.9062830805778503, + -0.06005920469760895 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.8633619546890259, + -0.14466463029384613, + 0.48340290784835815, + 0.0029171407222747803 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8193585276603699, + -0.43592727184295654, + 0.3723156154155731, + 0.025094741955399513 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8942578434944153, + 0.42822811007499695, + -0.13009130954742432, + -0.033072445541620255 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9080484509468079, + 0.08284541964530945, + -0.4105907380580902, + -0.012512287124991417 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5930516123771667, + -0.029018007218837738, + -0.8046413660049438, + -0.012430909089744091 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.41837817430496216, + 0.20911650359630585, + -0.8838720917701721, + -0.032280758023262024 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.6793890595436096, + 0.3675505518913269, + -0.6350882649421692, + -0.03882911428809166 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.6295088529586792, + 0.49453970789909363, + -0.5992904305458069, + -0.051701225340366364 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.20130448043346405, + 0.6409584879875183, + -0.7407082319259644, + -0.07639636844396591 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.06864703446626663, + 0.9334399700164795, + -0.3521040976047516, + -0.10254804790019989 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.004321995656937361, + -0.016686536371707916, + 0.9998514652252197, + -0.019674072042107582 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.17198456823825836, + -0.35867518186569214, + 0.9174821972846985, + 0.007963618263602257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5690829157829285, + -0.1652529090642929, + 0.8055036067962646, + -0.002409711480140686 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.0878634974360466, + 0.9958062171936035, + 0.025493621826171875, + -0.10686850547790527 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.036723993718624115, + 0.9297071099281311, + 0.366464227437973, + -0.10269325971603394 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.8456848859786987, + 0.5333023071289062, + 0.020141810178756714, + -0.04170025885105133 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5198568105697632, + 0.8542534112930298, + -0.00030829812749288976, + -0.08093418180942535 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.9919511675834656, + 0.1265946924686432, + -0.002587554743513465, + -0.009134148247539997 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.9143673181533813, + -0.40472182631492615, + 0.011516300961375237, + 0.028149783611297607 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.7306093573570251, + -0.6826295256614685, + -0.01506186556071043, + 0.04720645397901535 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7641390562057495, + -0.5507550835609436, + -0.3357981741428375, + 0.033432766795158386 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9468886256217957, + -0.0788181722164154, + -0.3117522895336151, + 0.0008056908845901489 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + -0.20547392964363098, + 0.3494061231613159, + 0.9141640663146973, + -0.058081742376089096 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.1127309799194336, + 0.2169547826051712, + 0.9696505665779114, + -0.04400414973497391 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.25089597702026367, + 0.7870725393295288, + 0.5635318160057068, + -0.09640532732009888 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.3410301208496094, + 0.7500720620155334, + 0.5666481852531433, + -0.09434334933757782 + ] + }, + { + "index_base": 139, + "num_vertices": 4, + "plane": [ + 0.3470980226993561, + 0.4856000542640686, + 0.8023188710212708, + -0.05958753079175949 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + 0.5011380910873413, + 0.2325672060251236, + 0.833530604839325, + -0.032609518617391586 + ] + }, + { + "index_base": 147, + "num_vertices": 5, + "plane": [ + 0.8954730033874512, + 0.4446887671947479, + 0.019494924694299698, + -0.03186719864606857 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + 0.8622913956642151, + 0.5057507157325745, + 0.025882257148623466, + -0.038589317351579666 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + 0.8459348082542419, + 0.5300552248954773, + 0.05861508846282959, + -0.04191471263766289 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 0, + 7, + 8 + ], + [ + 0, + 8, + 9 + ], + [ + 0, + 9, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 8, + 7, + 14 + ], + [ + 8, + 14, + 15 + ], + [ + 8, + 15, + 9 + ], + [ + 16, + 17, + 5 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 18 + ], + [ + 18, + 5, + 17 + ], + [ + 3, + 19, + 16 + ], + [ + 3, + 16, + 4 + ], + [ + 4, + 16, + 5 + ], + [ + 0, + 11, + 13 + ], + [ + 20, + 1, + 12 + ], + [ + 6, + 5, + 18 + ], + [ + 2, + 1, + 20 + ], + [ + 2, + 20, + 19 + ], + [ + 2, + 19, + 3 + ], + [ + 21, + 22, + 15 + ], + [ + 21, + 15, + 14 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 17 + ], + [ + 23, + 17, + 16 + ], + [ + 23, + 16, + 19 + ], + [ + 23, + 19, + 24 + ], + [ + 26, + 24, + 19 + ], + [ + 26, + 19, + 20 + ], + [ + 26, + 20, + 12 + ], + [ + 27, + 28, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 22 + ], + [ + 29, + 12, + 13 + ], + [ + 29, + 13, + 30 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 12 + ], + [ + 31, + 25, + 21 + ], + [ + 31, + 21, + 14 + ], + [ + 31, + 14, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 25 + ], + [ + 32, + 11, + 10 + ], + [ + 32, + 10, + 28 + ], + [ + 32, + 30, + 13 + ], + [ + 32, + 13, + 11 + ], + [ + 33, + 30, + 32 + ], + [ + 33, + 32, + 28 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 25 + ], + [ + 33, + 25, + 24 + ], + [ + 33, + 24, + 29 + ], + [ + 33, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.03767168149352074, + 0.058817893266677856, + -0.02122657373547554 + ], + [ + 0.000268787145614624, + 0.10603322088718414, + 0.021260028705000877 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0032972395420074463, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_023.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_023.json new file mode 100644 index 0000000000000000000000000000000000000000..8d77f6ba4bd971791e7d1420285337b44a135d33 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_023.json @@ -0,0 +1,6561 @@ +{ + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018046656157821417, + "parts": [ + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + -0.0012191341957077384, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + -0.009664913639426231, + -0.003963652998209 + ], + [ + -0.0012191341957077384, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + -0.024906819686293602 + ] + ], + "indices_raw": [ + 25, + 6, + 5, + 20, + 3, + 2, + 17, + 15, + 14, + 21, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 2, + 1, + 18, + 17, + 18, + 16, + 15, + 19, + 4, + 8, + 0, + 20, + 5, + 4, + 19, + 20, + 19, + 0, + 3, + 21, + 14, + 13, + 22, + 21, + 22, + 12, + 11, + 8, + 7, + 23, + 9, + 24, + 9, + 12, + 22, + 24, + 25, + 10, + 9, + 23, + 25, + 23, + 7, + 6, + 26, + 1, + 0, + 8, + 24, + 24, + 22, + 13, + 16, + 26, + 26, + 16, + 18, + 26, + 18, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0012191339628770947 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.048975951969623566 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.5144957900047302, + 0.8574929237365723, + -0.03030753880739212 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9920614957809448, + -0.06469966471195221, + 0.10783277451992035, + -0.008834896609187126 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.02851376309990883 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + -0.44721347093582153, + -0.8944272398948669, + -0.029409438371658325 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + 0.20601052045822144, + -0.9785498380661011, + -0.030363336205482483 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.029095452278852463 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.841793954372406, + 0.03367171809077263, + 0.5387478470802307, + -0.020207379013299942 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029545413330197334 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + 0.0, + 0.16439898312091827, + 0.9863938689231873, + -0.030997546389698982 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + -0.7071067690849304, + -0.7071067690849304, + -0.028888624161481857 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8944271802902222, + -0.4472135305404663, + -0.02914929762482643 + ] + }, + { + "index_base": 59, + "num_vertices": 5, + "plane": [ + 0.9970225095748901, + -0.06139301881194115, + 0.04665869474411011, + -0.007370374631136656 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9927272796630859, + -0.11679144948720932, + -0.02919785864651203, + -0.008350582793354988 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9486832618713379, + 0.31622788310050964, + -0.029770798981189728 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8000000715255737, + 0.5999999642372131, + -0.030066676437854767 + ] + }, + { + "index_base": 76, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131338655949 + ] + }, + { + "index_base": 81, + "num_vertices": 5, + "plane": [ + 0.99400395154953, + -0.07000028342008591, + -0.08400034159421921, + -0.008124706335365772 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.8944271802902222, + 0.0, + -0.44721367955207825, + -0.017541099339723587 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.8498364686965942, + 0.06537207961082458, + -0.5229765176773071, + -0.020120026543736458 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 21 + ], + [ + 25, + 21, + 11 + ], + [ + 25, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 17, + 2, + 1 + ], + [ + 17, + 1, + 18 + ], + [ + 17, + 18, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 19, + 4, + 8 + ], + [ + 19, + 8, + 0 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 19 + ], + [ + 20, + 19, + 0 + ], + [ + 20, + 0, + 3 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 22 + ], + [ + 21, + 22, + 12 + ], + [ + 21, + 12, + 11 + ], + [ + 8, + 7, + 23 + ], + [ + 8, + 23, + 9 + ], + [ + 8, + 9, + 24 + ], + [ + 9, + 12, + 22 + ], + [ + 9, + 22, + 24 + ], + [ + 25, + 10, + 9 + ], + [ + 25, + 9, + 23 + ], + [ + 25, + 23, + 7 + ], + [ + 25, + 7, + 6 + ], + [ + 26, + 1, + 0 + ], + [ + 26, + 0, + 8 + ], + [ + 26, + 8, + 24 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 16 + ], + [ + 24, + 16, + 26 + ], + [ + 26, + 16, + 18 + ], + [ + 26, + 18, + 1 + ] + ], + "raw_bounds": [ + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.029095452278852463 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.029545413330197334 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.011690717190504074, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 11, + 10, + 0, + 3, + 7, + 8, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 1, + 0, + 10, + 11, + 13, + 9, + 10, + 14, + 12, + 8, + 4, + 6, + 14, + 6, + 5, + 2, + 1, + 9, + 13, + 14, + 13, + 11, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180544644594193 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5824863314628601, + -0.2398473024368286, + -0.7766485214233398, + 0.027118032798171043 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.015879349783062935 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9745191335678101, + -0.19233931601047516, + -0.1154036894440651, + 0.006136382929980755 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9778023958206177, + -0.2095291018486023, + 0.0, + 0.004827888682484627 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.039544425904750824 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 37, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 7 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 10 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 10 + ], + [ + 14, + 12, + 8 + ], + [ + 14, + 8, + 4 + ], + [ + 14, + 4, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 9 + ], + [ + 14, + 9, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 12 + ] + ], + "raw_bounds": [ + [ + -0.015879349783062935, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.015879349783062935, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 16, + 1, + 0, + 8, + 17, + 5, + 4, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 0, + 3, + 9, + 10, + 6, + 7, + 11, + 2, + 12, + 11, + 12, + 4, + 6, + 11, + 6, + 10, + 13, + 2, + 14, + 7, + 15, + 14, + 13, + 10, + 7, + 16, + 12, + 2, + 16, + 2, + 1, + 18, + 9, + 3, + 2, + 13, + 14, + 15, + 18, + 15, + 7, + 5, + 17, + 18, + 17, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.008152286522090435 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09714522957801819 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.980580747127533, + -0.19611585140228271, + -0.10917942225933075 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.26578179001808167, + 0.9634605646133423, + -0.033222731202840805, + -0.11186352372169495 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.863063633441925, + -0.4746849834918976, + -0.17261278629302979, + 0.0641951784491539 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9805806279182434, + 0.0, + -0.19611617922782898, + 0.016025833785533905 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.015879347920417786 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.309425950050354, + 0.9282792806625366, + 0.20628394186496735, + -0.11328282952308655 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.948683500289917, + 0.31622734665870667, + -0.11209964752197266 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.6904503107070923, + -0.6904515027999878, + -0.2157660871744156, + 0.08350910246372223 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.43643617630004883, + -0.8728713989257812, + -0.21821808815002441, + 0.09725892543792725 + ] + }, + { + "index_base": 50, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 57, + "num_vertices": 5, + "plane": [ + -0.44721338152885437, + 0.8944272994995117, + 3.920385793776404e-08, + -0.10803990811109543 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.7071073651313782, + 0.7071061134338379, + 0.0, + -0.09769126027822495 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 1, + 0 + ], + [ + 16, + 0, + 8 + ], + [ + 16, + 8, + 17 + ], + [ + 16, + 17, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 10, + 6, + 7 + ], + [ + 11, + 2, + 12 + ], + [ + 11, + 12, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 10 + ], + [ + 11, + 10, + 13 + ], + [ + 11, + 13, + 2 + ], + [ + 14, + 7, + 15 + ], + [ + 14, + 13, + 10 + ], + [ + 14, + 10, + 7 + ], + [ + 16, + 12, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 18, + 9, + 3 + ], + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 14 + ], + [ + 18, + 14, + 15 + ], + [ + 18, + 15, + 7 + ], + [ + 18, + 7, + 5 + ], + [ + 18, + 5, + 17 + ], + [ + 18, + 17, + 8 + ], + [ + 18, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0029694989789277315, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0029694989789277315, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.07620206475257874, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 15, + 11, + 9, + 8, + 13, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 10, + 5, + 4, + 9, + 11, + 12, + 13, + 8, + 7, + 12, + 1, + 0, + 13, + 14, + 2, + 1, + 12, + 7, + 6, + 14, + 6, + 5, + 15, + 3, + 2, + 14, + 5, + 10, + 15, + 10, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.08248502016067505 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8574930429458618, + -0.5144956707954407, + 0.059352561831474304 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.8320502042770386, + -0.5547003149986267, + 0.0, + 0.03689424321055412 + ] + }, + { + "index_base": 19, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8944272398948669, + 0.4472135007381439, + 0.0, + -0.03954441472887993 + ] + }, + { + "index_base": 32, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.00815228745341301 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.8164966702461243, + -0.4082482159137726, + -0.4082481861114502, + 0.02593078278005123 + ] + }, + { + "index_base": 41, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0033134508412331343 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.9230769276618958, + -0.23076939582824707, + 0.3076923191547394, + 0.009946474805474281 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 13 + ], + [ + 15, + 13, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 11 + ], + [ + 12, + 13, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 12 + ], + [ + 14, + 12, + 7 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 10 + ], + [ + 15, + 10, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0033134508412331343, + 0.06782480329275131, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.08248502016067505, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.005407767370343208, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 8, + 7, + 9, + 10, + 12, + 14, + 0, + 1, + 2, + 3, + 0, + 2, + 4, + 1, + 0, + 3, + 5, + 6, + 7, + 8, + 1, + 4, + 7, + 4, + 6, + 9, + 10, + 5, + 11, + 12, + 10, + 9, + 6, + 5, + 13, + 14, + 2, + 13, + 2, + 1, + 13, + 1, + 8, + 15, + 11, + 5, + 3, + 15, + 3, + 2, + 15, + 2, + 14, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9701424241065979, + 0.0, + 0.24253563582897186, + -0.005300870165228844 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5642765164375305, + -0.2821383476257324, + 0.7758802175521851, + 0.02654591202735901 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.00815228745341301 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09923955053091049 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8944271206855774, + 0.4472135603427887, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596401825547218 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.9932110905647278, + 0.03678560629487038, + 0.11035677790641785, + -0.010202080011367798 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.9863938689231873, + 0.1643989533185959, + 0.0, + -0.023714888840913773 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + -0.70710688829422, + 0.7071066498756409, + 0.058166634291410446 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38411056995391846, + -0.5121477842330933, + 0.7682211995124817, + 0.04374859854578972 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 9 + ], + [ + 13, + 9, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 14 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 5, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 9, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 13, + 14, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 8 + ], + [ + 15, + 11, + 5 + ], + [ + 15, + 5, + 3 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 12 + ], + [ + 15, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.09923955053091049, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005407767370343208, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + -0.005407767370343208, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + 0.014885196462273598 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.002319296821951866 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 3, + 2, + 0, + 1, + 2, + 3, + 8, + 9, + 10, + 11, + 12, + 13, + 8, + 13, + 1, + 0, + 8, + 0, + 9, + 14, + 12, + 11, + 5, + 4, + 14, + 4, + 2, + 1, + 14, + 1, + 13, + 12, + 15, + 9, + 0, + 3, + 15, + 3, + 7, + 16, + 10, + 9, + 15, + 16, + 15, + 7, + 6, + 16, + 6, + 5, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08248502016067505 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.6000003218650818, + -0.7999998927116394, + 0.04296920448541641 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.8652899265289307, + -0.4944513440132141, + -0.08240808546543121, + 0.035433728247880936 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751824498176575 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5999999046325684, + 0.0, + -0.800000011920929, + -0.007046938873827457 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8778955936431885, + -0.47885221242904663, + 0.0, + 0.03475068509578705 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.8919529914855957, + -0.44597649574279785, + 0.07432956993579865, + 0.030856501311063766 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.986393928527832, + 0.0, + 0.16439904272556305, + -0.018110405653715134 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.11180544644594193 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 14, + 12, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 13 + ], + [ + 14, + 13, + 12 + ], + [ + 15, + 9, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 7 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 15 + ], + [ + 16, + 15, + 7 + ], + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 11 + ], + [ + 16, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08248502016067505, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.11180544644594193, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.002319296821951866 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.020718185231089592 + ], + [ + -0.0033134508412331343, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.0636361688375473, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 14, + 9, + 1, + 0, + 13, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 0, + 2, + 7, + 2, + 1, + 8, + 7, + 1, + 9, + 8, + 9, + 10, + 11, + 7, + 8, + 11, + 8, + 10, + 3, + 6, + 2, + 11, + 2, + 7, + 12, + 5, + 13, + 12, + 13, + 0, + 6, + 12, + 6, + 3, + 12, + 3, + 5, + 14, + 4, + 3, + 10, + 14, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751825080253184 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.1168634369969368, + -0.19477233290672302, + -0.9738616943359375, + -0.0091081028804183 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9958932399749756, + 0.09053561836481094, + -0.06984195858240128 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.4472135901451111, + -0.8944271802902222, + 0.0071182288229465485 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071064710617065, + 0.7071070671081543, + 0.024105779826641083 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.7067064046859741, + -0.7067062258720398, + -0.03365268558263779, + 0.034532882273197174 + ] + }, + { + "index_base": 29, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596400894224644 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.577350378036499, + -0.5773502588272095, + -0.5773502588272095, + 0.016819916665554047 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06991912424564362 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9701426029205322, + -0.2425353080034256, + -0.07133256644010544 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.31622734665870667, + 0.948683500289917, + 0.0, + -0.0673789232969284 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.1279057115316391, + 0.9912706613540649, + 0.031976427882909775, + -0.06927098333835602 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12549108266830444, + -0.31372764706611633, + 0.9411838054656982, + -0.004010792821645737 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 13 + ], + [ + 14, + 13, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 6 + ], + [ + 11, + 6, + 2 + ], + [ + 11, + 2, + 7 + ], + [ + 12, + 5, + 13 + ], + [ + 12, + 13, + 0 + ], + [ + 12, + 0, + 6 + ], + [ + 12, + 6, + 3 + ], + [ + 12, + 3, + 5 + ], + [ + 14, + 4, + 3 + ], + [ + 14, + 3, + 10 + ], + [ + 14, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 12, + 11, + 10, + 5, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 0, + 4, + 7, + 8, + 0, + 9, + 8, + 7, + 4, + 6, + 9, + 6, + 5, + 10, + 9, + 10, + 11, + 8, + 12, + 8, + 11, + 12, + 1, + 0, + 12, + 0, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.07201343774795532 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7071064114570618, + -0.7071070671081543, + -0.03595302253961563 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.20507566630840302, + 0.41015151143074036, + -0.8886617422103882, + -0.015699541196227074 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + -0.7071067690849304, + -0.0021838797256350517 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944271206855774, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8944271206855774, + -0.4472135603427887, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.024256616830825806 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.930198609828949, + -0.328305184841156, + -0.16415302455425262, + 0.004553729668259621 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 5 + ], + [ + 12, + 5, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 8, + 0 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 8 + ] + ], + "raw_bounds": [ + [ + -0.024256616830825806, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.020718185231089592 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.01652955263853073 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 4, + 3, + 12, + 9, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 5, + 8, + 9, + 10, + 11, + 0, + 4, + 13, + 12, + 3, + 2, + 14, + 7, + 6, + 15, + 14, + 15, + 1, + 0, + 0, + 11, + 7, + 14, + 16, + 10, + 9, + 12, + 13, + 16, + 13, + 2, + 16, + 2, + 1, + 15, + 6, + 5, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + 0.008152286522090435 + ] + }, + { + "index_base": 7, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.01797366701066494 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.707107424736023, + 0.7071061730384827, + 0.0, + -0.09769126772880554 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.3746344745159149, + -0.6556100845336914, + 0.6556100249290466, + 0.08125989139080048 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.10971113294363022 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -0.7071061134338379, + -0.7071073651313782, + 0.0, + 0.04265468567609787 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09505091607570648 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.022645514458417892, + -0.9737582802772522, + 0.22645507752895355, + 0.09718111902475357 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + -0.4472135305404663, + 0.8944271802902222, + 0.0, + -0.10803990811109543 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.2182176411151886, + 0.8728719353675842, + -0.43643510341644287, + -0.10964211821556091 + ] + }, + { + "index_base": 47, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 4, + 3 + ], + [ + 11, + 3, + 12 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 5, + 8, + 9 + ], + [ + 5, + 9, + 10 + ], + [ + 11, + 0, + 4 + ], + [ + 13, + 12, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 0, + 11, + 7 + ], + [ + 0, + 7, + 14 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 12 + ], + [ + 16, + 12, + 13 + ], + [ + 16, + 13, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 16, + 1, + 15 + ], + [ + 16, + 15, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 10 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.018623869866132736 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.018623869866132736 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 9, + 10, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 11, + 5, + 4, + 8, + 11, + 8, + 10, + 12, + 13, + 9, + 6, + 7, + 13, + 7, + 2, + 1, + 5, + 11, + 12, + 13, + 12, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.018623871728777885 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.70710688829422, + 0.7071066498756409, + 0.0, + -0.05450182780623436 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09505091607570648 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.0322883240878582 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03472819924354553 + ] + }, + { + "index_base": 31, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + -0.9103664755821228, + -0.4138028621673584, + 0.0, + 0.006850318983197212 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 12 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 7 + ], + [ + 13, + 7, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 5 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 12 + ], + [ + 13, + 12, + 10 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03472819924354553, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.09505091607570648, + -0.018623869866132736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.02326246351003647 + ], + [ + -0.020067984238266945, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 10, + 8, + 7, + 5, + 1, + 0, + 12, + 0, + 1, + 2, + 3, + 4, + 1, + 5, + 4, + 6, + 2, + 1, + 7, + 8, + 9, + 6, + 4, + 7, + 4, + 5, + 10, + 11, + 9, + 8, + 13, + 3, + 2, + 6, + 9, + 11, + 13, + 11, + 10, + 12, + 13, + 12, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021168144419789314 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.07201343774795532 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.37186795473098755, + 0.16903091967105865, + -0.9127665162086487, + 0.010717673227190971 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9701424241065979, + 0.24253563582897186, + 0.0, + -0.008155949413776398 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09714522957801819 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.2182178646326065, + 0.43643632531166077, + -0.8728712797164917, + -0.018627416342496872 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.025356778874993324 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.033769235014915466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 5 + ], + [ + 10, + 5, + 1 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 6, + 9 + ], + [ + 13, + 9, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.09714522957801819, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.013785033486783504, + 0.11180544644594193, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 6, + 5, + 12, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 4, + 5, + 6, + 2, + 1, + 7, + 8, + 0, + 3, + 9, + 7, + 9, + 10, + 7, + 10, + 11, + 8, + 12, + 5, + 4, + 12, + 4, + 0, + 8, + 11, + 13, + 9, + 3, + 2, + 6, + 13, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366887331009 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.8944270610809326, + 0.447213739156723, + 0.0, + -0.03954443708062172 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.6246950626373291, + 0.4685215950012207, + -0.6246948838233948, + -0.05802267789840698 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.007502084132283926 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071067094802856, + 0.7071068286895752, + 0.0744565799832344 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08667364716529846 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.33333316445350647, + 0.6666673421859741, + -0.6666661500930786, + -0.09434036910533905 + ] + }, + { + "index_base": 33, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.29059654474258423, + -0.20756895840168, + 0.9340603351593018, + 0.030163493007421494 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 6, + 5 + ], + [ + 13, + 5, + 12 + ], + [ + 13, + 12, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 7, + 11, + 8 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 0 + ], + [ + 12, + 0, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 13, + 9, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.11180544644594193, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.0636361688375473, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.018623869866132736 + ], + [ + -0.020067984238266945, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06573048233985901, + -0.018623869866132736 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 6, + 0, + 1, + 2, + 3, + 6, + 7, + 2, + 3, + 2, + 1, + 8, + 5, + 9, + 8, + 9, + 10, + 8, + 10, + 7, + 6, + 5, + 11, + 12, + 9, + 11, + 9, + 5, + 11, + 5, + 4, + 11, + 4, + 1, + 0, + 12, + 13, + 2, + 7, + 13, + 7, + 10, + 13, + 10, + 9, + 12, + 13, + 12, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.009596399962902069 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.1543031483888626, + 0.6172134876251221, + 0.771516740322113, + -0.030913468450307846 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06782480329275131 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.11704131960868835, + 0.7022461295127869, + 0.7022476196289062, + -0.03714504837989807 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8944270610809326, + -0.44721370935440063, + 0.04296942055225372 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.666666567325592, + -0.666666567325592, + -0.33333343267440796, + 0.020045073702931404 + ] + }, + { + "index_base": 21, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.057353220880031586 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.16222147643566132, + -0.9733285307884216, + -0.16222147643566132, + 0.05571804940700531 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.44721370935440063, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0221622996032238 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9370425939559937, + -0.3123472332954407, + -0.156173974275589, + -0.003144848393276334 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957300141453743 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.70710688829422, + 0.0, + 0.7071067690849304, + -0.002502049319446087 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 8, + 5, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 5 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 12 + ], + [ + 13, + 2, + 7 + ], + [ + 13, + 7, + 10 + ], + [ + 13, + 10, + 9 + ], + [ + 13, + 9, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0221622996032238, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.06782480329275131, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 1, + 0, + 4, + 7, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 4, + 3, + 6, + 7, + 4, + 5, + 6, + 5, + 8, + 6, + 8, + 9, + 10, + 7, + 11, + 2, + 1, + 12, + 2, + 11, + 12, + 11, + 10, + 9, + 12, + 9, + 8, + 5, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0008751824498176575 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.2425355315208435, + 0.9701425433158875, + -0.008657712489366531 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.14002802968025208, + -0.14002789556980133, + 0.9801961183547974, + -0.015773065388202667 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6666662096977234, + 0.6666672825813293, + 0.33333319425582886, + -0.061233341693878174 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.07410775125026703 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.0, + -0.24253572523593903, + -0.9701424241065979, + -0.006189386360347271 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.06523294001817703, + -0.19569841027259827, + -0.9784920811653137, + -0.009515592828392982 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 6, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.007158131804317236 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 7 + ], + [ + 11, + 7, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 6, + 10, + 7 + ], + [ + 11, + 2, + 1 + ], + [ + 12, + 2, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 5 + ], + [ + 12, + 5, + 3 + ], + [ + 12, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + 0.02326246351003647 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + -0.020718185231089592 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 7, + 4, + 5, + 9, + 7, + 6, + 8, + 9, + 8, + 3, + 2, + 9, + 2, + 1, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02326246351003647 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.05735321715474129 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131804317236 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.048975951969623566 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + -0.5547002553939819, + 0.0, + 0.0261525921523571 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005407767370343208 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.020718185231089592 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005407767370343208, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 8, + 0, + 3, + 10, + 4, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 8, + 9, + 1, + 0, + 11, + 5, + 4, + 10, + 11, + 10, + 3, + 2, + 11, + 2, + 1, + 9, + 6, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.7071067690849304, + 0.7071067690849304, + 0.0, + -0.05622595548629761 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.31622737646102905, + 0.9486834406852722, + 0.0, + -0.06539206206798553 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 9 + ], + [ + 11, + 9, + 6 + ], + [ + 11, + 6, + 5 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.010842571035027504, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_024.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_024.json new file mode 100644 index 0000000000000000000000000000000000000000..e67a7878957377d73fdfbbf52d736223b59c0bd3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_024.json @@ -0,0 +1,1349 @@ +{ + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13394736405462027, + "parts": [ + { + "vertices_raw": [ + [ + 0.018593167886137962, + 0.08097150921821594, + -0.021438807249069214 + ], + [ + 5.1595037803053856e-05, + 0.08342776447534561, + -0.023732446134090424 + ], + [ + 0.01447334885597229, + 0.08229271322488785, + 0.02242007479071617 + ], + [ + -0.02634771168231964, + 0.001998230814933777, + -0.011162007227540016 + ], + [ + -0.012175701558589935, + 0.03909830003976822, + -0.037554528564214706 + ], + [ + -0.006837090943008661, + 0.0020171217620372772, + -0.02773931622505188 + ], + [ + -0.019787151366472244, + -1.862645149230957e-08, + 0.003154065925627947 + ], + [ + 0.02637120895087719, + 0.0019925106316804886, + 0.011089342646300793 + ], + [ + 0.011553199961781502, + 0.0020041316747665405, + 0.026135701686143875 + ], + [ + 0.025628598406910896, + 0.0019912607967853546, + -0.012611716985702515 + ], + [ + -0.027768991887569427, + 0.001998230814933777, + 0.006904747802764177 + ], + [ + -0.016303081065416336, + 0.001998230814933777, + 0.02351602166891098 + ], + [ + -0.018583431839942932, + 0.04023250937461853, + 0.03507610037922859 + ], + [ + 0.009741099551320076, + 0.002014441415667534, + -0.026918556541204453 + ], + [ + 0.018599899485707283, + 0.04705861955881119, + -0.03517469763755798 + ], + [ + -4.991190508008003e-05, + 0.08099988102912903, + 0.028812013566493988 + ], + [ + 0.0185991283506155, + 0.05706439167261124, + 0.03383197262883186 + ], + [ + 0.028389547020196915, + 0.031500257551670074, + -0.00032774999272078276 + ], + [ + -0.018599700182676315, + 0.04722455143928528, + -0.035109907388687134 + ], + [ + 4.801899194717407e-05, + 0.05029944330453873, + -0.03964218869805336 + ], + [ + -0.013108989223837852, + 0.06076536327600479, + 0.03547974303364754 + ], + [ + 0.005243339110165834, + 0.04012010246515274, + 0.03931775316596031 + ], + [ + -0.018602270632982254, + 0.07896379381418228, + 0.024146221578121185 + ], + [ + 0.010589808225631714, + 0.07880374789237976, + -0.02872374653816223 + ], + [ + -0.027727261185646057, + 0.03689667955040932, + 0.0022640489041805267 + ], + [ + -0.018585700541734695, + 0.07945641875267029, + -0.023796048015356064 + ], + [ + 0.018600909039378166, + 0.039589740335941315, + 0.03495677188038826 + ], + [ + 0.002489723265171051, + 0.0020270217210054398, + 0.02857973426580429 + ], + [ + 0.018595367670059204, + 0.080972820520401, + 0.021401964128017426 + ], + [ + -0.013116918504238129, + 0.06820365786552429, + -0.03305211663246155 + ], + [ + -0.010273776017129421, + 0.08328322321176529, + 0.021275483071804047 + ], + [ + 0.005125262308865786, + 0.0401710607111454, + -0.039358288049697876 + ], + [ + -0.008777698501944542, + 0.07996837049722672, + -0.028448548167943954 + ], + [ + 0.018592149019241333, + 0.06753019243478775, + -0.030588295310735703 + ] + ], + "indices_raw": [ + 26, + 21, + 27, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 5, + 6, + 7, + 8, + 6, + 7, + 6, + 9, + 10, + 3, + 6, + 10, + 6, + 11, + 10, + 11, + 12, + 13, + 14, + 9, + 13, + 9, + 6, + 13, + 6, + 5, + 15, + 16, + 2, + 17, + 16, + 7, + 17, + 7, + 9, + 17, + 9, + 14, + 18, + 4, + 3, + 18, + 19, + 4, + 20, + 12, + 21, + 20, + 21, + 16, + 20, + 16, + 15, + 20, + 15, + 22, + 20, + 22, + 12, + 23, + 1, + 0, + 24, + 25, + 18, + 24, + 18, + 3, + 24, + 3, + 10, + 24, + 10, + 12, + 24, + 12, + 22, + 24, + 22, + 25, + 26, + 8, + 7, + 26, + 7, + 16, + 26, + 16, + 21, + 28, + 2, + 16, + 28, + 16, + 17, + 28, + 17, + 0, + 28, + 0, + 2, + 29, + 19, + 18, + 29, + 18, + 25, + 29, + 23, + 19, + 30, + 22, + 15, + 30, + 15, + 2, + 30, + 2, + 1, + 30, + 1, + 25, + 30, + 25, + 22, + 27, + 21, + 12, + 27, + 12, + 11, + 27, + 11, + 6, + 27, + 6, + 8, + 31, + 13, + 5, + 31, + 5, + 4, + 31, + 4, + 19, + 31, + 19, + 14, + 31, + 14, + 13, + 32, + 1, + 23, + 32, + 23, + 29, + 32, + 29, + 25, + 32, + 25, + 1, + 33, + 14, + 19, + 33, + 19, + 23, + 33, + 23, + 0, + 33, + 0, + 17, + 33, + 17, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2725587785243988, + -0.2792445123195648, + 0.9207248687744141, + -0.026426630094647408 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.13341094553470612, + 0.9909094572067261, + -0.017318377271294594, + -0.0830872505903244 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.6208861470222473, + -0.2829010486602783, + -0.7310727834701538, + -0.023953869938850403 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.08393854647874832, + -0.9914484620094299, + -0.0999210774898529, + -0.0013457655441015959 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.03675341606140137, + -0.9986402988433838, + 0.036966919898986816, + 0.0006106306682340801 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.043351080268621445, + -0.9990590810775757, + -0.0013056030729785562, + 0.0008618938736617565 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.25154760479927063, + -0.9676425457000732, + -0.01978881098330021, + -0.0049150134436786175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.18423812091350555, + -0.9746200442314148, + 0.127170130610466, + -0.004046669229865074 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.803621768951416, + -0.21564161777496338, + 0.5546988844871521, + -0.025714922696352005 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.646187424659729, + -0.2586871087551117, + -0.7179991602897644, + -0.025100968778133392 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.031204357743263245, + -0.9988546967506409, + -0.03627029061317444, + 0.0007318256539292634 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.0030023057479411364, + -0.9979516863822937, + -0.06390134245157242, + 0.00026093749329447746 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.33045271039009094, + 0.43331974744796753, + 0.8384717702865601, + -0.05924041569232941 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.9668712019920349, + 0.03186018392443657, + 0.2532689571380615, + -0.028369631618261337 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.9962881207466125, + -0.08022282272577286, + -0.031211845576763153, + -0.025767359882593155 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.9647355675697327, + 0.019023140892386436, + -0.26253238320350647, + -0.028073687106370926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6277990937232971, + -0.2775203585624695, + -0.7272211313247681, + -0.024103766307234764 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.2495606541633606, + 0.09269029647111893, + -0.9639129042625427, + -0.042861904948949814 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.1750744879245758, + 0.027330823242664337, + 0.9841757416725159, + -0.03887411952018738 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.07931802421808243, + 0.2499076873064041, + 0.9650154113769531, + -0.04838445037603378 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08081348240375519, + 0.2645120918750763, + 0.9609904885292053, + -0.04910948872566223 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.26391687989234924, + 0.45124104619026184, + 0.8524842858314514, + -0.061125434935092926 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.7361868023872375, + 0.18347501754760742, + 0.6514337658882141, + -0.04391229525208473 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.1717333197593689, + 0.8766072988510132, + -0.4495190382003784, + -0.08381044119596481 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.9732696413993835, + 0.07644213736057281, + -0.2165704220533371, + -0.029316237196326256 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.9733037352561951, + 0.04788282513618469, + -0.22447079420089722, + -0.028245553374290466 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.9968773722648621, + -0.009236379526555538, + -0.07842261344194412, + -0.027122333645820618 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.9636079668998718, + 0.036369144916534424, + 0.2648339867591858, + -0.02865970879793167 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.962613582611084, + 0.07313434034585953, + 0.26081910729408264, + -0.029979558661580086 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9774680733680725, + 0.211075097322464, + 0.0018310380401089787, + -0.03489463031291962 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6826552152633667, + -0.2858397960662842, + 0.6725157499313354, + -0.024890664964914322 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9588593244552612, + 0.01833231747150421, + 0.2832890450954437, + -0.02846429869532585 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.3119693696498871, + 0.061060406267642975, + 0.9481280446052551, + -0.04136377573013306 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.34441429376602173, + 0.43310368061065674, + 0.8329465389251709, + -0.05930083245038986 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.9740151762962341, + 0.10459345579147339, + 0.20088496804237366, + -0.030880730599164963 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.9809566736221313, + 0.19422662258148193, + -5.631510430248454e-05, + -0.03396712243556976 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.30494314432144165, + 0.9523705840110779, + -4.480905772652477e-05, + -0.0827856957912445 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + -0.25806522369384766, + 0.1608859747648239, + -0.9526374936103821, + -0.04584471881389618 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.6748825311660767, + 0.24466420710086823, + -0.6961846947669983, + -0.04854975640773773 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.012671082280576229, + 0.35358288884162903, + -0.9353173971176147, + -0.05486366152763367 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.22669196128845215, + 0.8032118082046509, + 0.5508735179901123, + -0.08094315230846405 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.026816027238965034, + 0.9662106037139893, + 0.25635483860969543, + -0.08564770221710205 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.03942440077662468, + 0.9991474151611328, + 0.012253166176378727, + -0.0830678790807724 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.20805417001247406, + 0.9771002531051636, + -0.04459225386381149, + -0.0825648382306099 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.4579385817050934, + 0.8889384269714355, + 0.008975902572274208, + -0.0789293721318245 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.17059944570064545, + -0.25589442253112793, + 0.9515323638916016, + -0.02625109814107418 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.2482616901397705, + -0.29388561844825745, + 0.9230371117591858, + -0.025166340172290802 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.02596966363489628, + -0.9944418668746948, + 0.1020345538854599, + -0.0008357078768312931 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + 0.015311419032514095, + -0.9976938962936401, + 0.06612512469291687, + 9.438768029212952e-05 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + 0.047051072120666504, + -0.3044682443141937, + -0.9513596892356873, + -0.02545422688126564 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + -0.08360948413610458, + -0.26621881127357483, + -0.9602797031402588, + -0.026672156527638435 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + -0.09864556789398193, + -0.07725920528173447, + -0.9921189546585083, + -0.035438936203718185 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.24912211298942566, + 0.09787458926439285, + -0.9635137319564819, + -0.043130792677402496 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.3978307545185089, + -0.2405204325914383, + -0.8853703737258911, + -0.02722368948161602 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.03734022006392479, + 0.7711450457572937, + -0.6355635523796082, + -0.0794203132390976 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.00850102212280035, + 0.3616645038127899, + -0.9322695732116699, + -0.0553688183426857 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.4003576338291168, + 0.45819589495658875, + -0.7935807108879089, + -0.06273161619901657 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.196921244263649, + 0.9291509985923767, + -0.31289055943489075, + -0.08493249118328094 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.2635309398174286, + 0.21098531782627106, + -0.9412952065467834, + -0.047940101474523544 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.18915846943855286, + 0.28945985436439514, + -0.9383134841918945, + -0.051765553653240204 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5145388841629028, + 0.48247429728507996, + -0.7088499665260315, + -0.06383047997951508 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.9773878455162048, + 0.11893592029809952, + -0.17483505606651306, + -0.03155141323804855 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.9674341082572937, + 0.055685944855213165, + -0.2469213902950287, + -0.029300065711140633 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 27 + ], + [ + 26, + 27, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 3, + 6 + ], + [ + 10, + 6, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 5 + ], + [ + 15, + 16, + 2 + ], + [ + 17, + 16, + 7 + ], + [ + 17, + 7, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 18, + 4, + 3 + ], + [ + 18, + 19, + 4 + ], + [ + 20, + 12, + 21 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 22 + ], + [ + 20, + 22, + 12 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 3 + ], + [ + 24, + 3, + 10 + ], + [ + 24, + 10, + 12 + ], + [ + 24, + 12, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 26, + 8, + 7 + ], + [ + 26, + 7, + 16 + ], + [ + 26, + 16, + 21 + ], + [ + 28, + 2, + 16 + ], + [ + 28, + 16, + 17 + ], + [ + 28, + 17, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 29, + 19, + 18 + ], + [ + 29, + 18, + 25 + ], + [ + 29, + 23, + 19 + ], + [ + 30, + 22, + 15 + ], + [ + 30, + 15, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 25 + ], + [ + 30, + 25, + 22 + ], + [ + 27, + 21, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 6 + ], + [ + 27, + 6, + 8 + ], + [ + 31, + 13, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 31, + 4, + 19 + ], + [ + 31, + 19, + 14 + ], + [ + 31, + 14, + 13 + ], + [ + 32, + 1, + 23 + ], + [ + 32, + 23, + 29 + ], + [ + 32, + 29, + 25 + ], + [ + 32, + 25, + 1 + ], + [ + 33, + 14, + 19 + ], + [ + 33, + 19, + 23 + ], + [ + 33, + 23, + 0 + ], + [ + 33, + 0, + 17 + ], + [ + 33, + 17, + 14 + ] + ], + "raw_bounds": [ + [ + -0.027768991887569427, + -1.862645149230957e-08, + -0.03964218869805336 + ], + [ + 0.028389547020196915, + 0.08342776447534561, + 0.03931775316596031 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.010109494905918837, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_025.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_025.json new file mode 100644 index 0000000000000000000000000000000000000000..d8aeb16320f7584b81967fb013f48fcbdb29db60 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_025.json @@ -0,0 +1,1325 @@ +{ + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17324086371809244, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026839999482035637, + 0.01812800019979477, + 0.002948000095784664 + ], + [ + 0.03532699868083, + 0.01042800024151802, + 0.01865600049495697 + ], + [ + 0.002423000056296587, + 0.01812800019979477, + -0.003200999926775694 + ], + [ + -0.006533999927341938, + -0.003372000064700842, + 0.011051000095903873 + ], + [ + -0.0038900000508874655, + -0.018672000616788864, + 0.0009159999899566174 + ], + [ + 0.022525999695062637, + -0.009589999914169312, + 0.022586999461054802 + ], + [ + 0.020020000636577606, + 0.009045000188052654, + 0.02181600034236908 + ], + [ + -0.006506999954581261, + 0.0028280001133680344, + 0.011005000211298466 + ], + [ + 0.03247400000691414, + 0.006827999837696552, + 0.024309000000357628 + ], + [ + 0.032561998814344406, + -0.008636999875307083, + 0.024142999202013016 + ], + [ + 0.03483700007200241, + -0.01177200023084879, + 0.018881000578403473 + ], + [ + 0.03685100004076958, + -0.00737199978902936, + 0.018629999831318855 + ], + [ + -0.0030769999139010906, + 0.01812800019979477, + -0.0025740000419318676 + ], + [ + -0.003703000023961067, + -0.003372000064700842, + -0.012271000072360039 + ], + [ + -0.010197999887168407, + -0.003372000064700842, + -0.007753999903798103 + ], + [ + -0.006446000188589096, + 0.0028280001133680344, + -0.011076999828219414 + ], + [ + 0.03437599912285805, + -0.009591000154614449, + 0.014213000424206257 + ], + [ + 0.0026990000624209642, + -0.018672000616788864, + -0.0029700000304728746 + ], + [ + 0.00420599989593029, + -0.003372000064700842, + -0.0121069997549057 + ], + [ + 0.006754999980330467, + 0.0028280001133680344, + -0.010890999808907509 + ], + [ + 0.03258100152015686, + 0.00532800005748868, + 0.011490999720990658 + ], + [ + -0.0023169999476522207, + -0.018672000616788864, + -0.0032790000550448895 + ], + [ + 0.03119100071489811, + 0.01042800024151802, + 0.023019999265670776 + ], + [ + -0.011799000203609467, + -0.003372000064700842, + 0.004945000167936087 + ], + [ + -0.010592999868094921, + 0.0028280001133680344, + 0.0071669998578727245 + ], + [ + -0.011714999563992023, + 0.0028280001133680344, + -0.005175999831408262 + ], + [ + 0.030987000092864037, + -0.01177200023084879, + 0.022531000897288322 + ], + [ + -0.0009260000078938901, + 0.0028280001133680344, + -0.012784999795258045 + ], + [ + 0.03627200052142143, + 0.006827999837696552, + 0.021105999127030373 + ], + [ + 0.036322999745607376, + 0.006827999837696552, + 0.01607000082731247 + ], + [ + 0.03438499942421913, + 0.009727999567985535, + 0.014646000228822231 + ], + [ + -0.012779000215232372, + -0.003372000064700842, + -0.0007489999989047647 + ], + [ + -0.012799999676644802, + -0.00027200000477023423, + -0.0001250000059371814 + ], + [ + -0.012601999565958977, + 0.0028280001133680344, + 0.0022169998846948147 + ] + ], + "indices_raw": [ + 5, + 6, + 7, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 8, + 6, + 5, + 9, + 8, + 5, + 10, + 11, + 9, + 12, + 0, + 2, + 13, + 14, + 15, + 16, + 11, + 10, + 16, + 10, + 17, + 16, + 17, + 18, + 16, + 18, + 19, + 16, + 19, + 20, + 21, + 14, + 13, + 21, + 13, + 18, + 21, + 18, + 17, + 21, + 17, + 4, + 22, + 6, + 8, + 22, + 1, + 0, + 22, + 0, + 6, + 23, + 4, + 3, + 23, + 3, + 24, + 25, + 12, + 15, + 25, + 15, + 14, + 26, + 5, + 4, + 26, + 4, + 17, + 26, + 17, + 10, + 26, + 10, + 9, + 26, + 9, + 5, + 27, + 19, + 18, + 27, + 18, + 13, + 27, + 13, + 15, + 27, + 15, + 12, + 27, + 12, + 2, + 27, + 2, + 19, + 28, + 1, + 22, + 28, + 22, + 8, + 28, + 8, + 9, + 28, + 9, + 11, + 29, + 11, + 16, + 29, + 16, + 20, + 29, + 1, + 28, + 29, + 28, + 11, + 30, + 1, + 29, + 30, + 29, + 20, + 30, + 20, + 19, + 30, + 19, + 2, + 30, + 2, + 1, + 31, + 32, + 25, + 31, + 25, + 14, + 31, + 14, + 21, + 4, + 31, + 4, + 23, + 7, + 6, + 0, + 7, + 0, + 24, + 7, + 24, + 3, + 33, + 24, + 0, + 33, + 0, + 12, + 33, + 12, + 25, + 33, + 25, + 32, + 33, + 32, + 31, + 23, + 33, + 23, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.37598150968551636, + -0.007047585677355528, + 0.9266003370285034, + -0.012623818591237068 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1479942947626114, + 0.9813202619552612, + 0.12291540950536728, + -0.017754511907696724 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.40699267387390137, + -0.5522811412811279, + 0.7275592684745789, + -0.012561840936541557 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.1937749981880188, + 0.01452657300978899, + 0.9809383749961853, + -0.01765216886997223 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.15213719010353088, + -0.011473992839455605, + 0.9882928133010864, + -0.019005561247467995 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.780780017375946, + -0.32701343297958374, + 0.5323951840400696, + -0.041101790964603424 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.01812800019979477 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5684247612953186, + -0.09407851099967957, + -0.8173387050628662, + -0.012451673857867718 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.8671820759773254, + -0.4128212034702301, + -0.27852073311805725, + -0.029811004176735878 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.45119428634643555, + -0.7906122207641602, + -0.4139516055583954, + -0.017209522426128387 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.5209053754806519, + -0.47490203380584717, + -0.7093134522438049, + -0.012379955500364304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6396760940551758, + -0.11390049755573273, + -0.7601585984230042, + -0.012277789413928986 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.6570210456848145, + -0.058086298406124115, + -0.7516312003135681, + -0.012459925375878811 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.5035997033119202, + -0.4711983799934387, + -0.7241266369819641, + -0.01233946904540062 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.017888875678181648, + -0.5053991079330444, + -0.8627002239227295, + -0.012224158272147179 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.052674856036901474, + -0.5158279538154602, + -0.8550713658332825, + -0.01231327187269926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018672000616788864 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.137966126203537, + 0.28992775082588196, + 0.9470518827438354, + -0.020521199330687523 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.14272043108940125, + 0.9804766774177551, + 0.1352638602256775, + -0.017789779230952263 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.16134604811668396, + 0.7992663979530334, + 0.5789133906364441, + -0.016628792509436607 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.659807026386261, + -0.49089089035987854, + 0.5689295530319214, + -0.01225370541214943 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.7545040845870972, + -0.08639750629663467, + 0.6505836844444275, + -0.012410862371325493 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.6578753590583801, + 0.4713192284107208, + -0.5874164700508118, + -0.012080367654561996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.7426183223724365, + 0.09401248395442963, + -0.6630834937095642, + -0.012397761456668377 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.2004859447479248, + -0.7922033071517944, + 0.5763847231864929, + -0.01609988324344158 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.09477370232343674, + -0.9824433326721191, + 0.16069570183753967, + -0.018122712150216103 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.12301618605852127, + -0.9838852882385254, + 0.12975680828094482, + -0.018317749723792076 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5586577653884888, + -0.5836637616157532, + 0.5892691016197205, + -0.037458840757608414 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.10088272392749786, + -0.4143989682197571, + 0.9044866561889648, + -0.022131241858005524 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.23840472102165222, + 0.0916094109416008, + -0.9668355584144592, + -0.012399301864206791 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.02064395137131214, + -0.09178199619054794, + -0.9955650568008423, + -0.01244962215423584 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.29517605900764465, + 0.0531235933303833, + -0.95396488904953, + -0.012620007619261742 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.2539156973361969, + 0.5119706988334656, + -0.8206173777580261, + -0.012174572795629501 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.09509026259183884, + 0.5433152318000793, + -0.8341261148452759, + -0.012288852594792843 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.20926295220851898, + 0.4857953190803528, + -0.8486529588699341, + -0.012030079960823059 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6061393022537231, + 0.550071120262146, + 0.5744710564613342, + -0.03786655515432358 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5758235454559326, + 0.4496940076351166, + 0.6827902793884277, + -0.038367755711078644 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.6446806192398071, + -0.0045371027663350105, + 0.7644385695457458, + -0.039487119764089584 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.7951945066452026, + -0.07254453748464584, + 0.6019992232322693, + -0.041053757071495056 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.8820550441741943, + -0.0516299344599247, + -0.4683089554309845, + -0.024160627275705338 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7775325179100037, + -0.021119071170687675, + -0.6284878849983215, + -0.017998311668634415 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9655303955078125, + 0.2601065933704376, + 0.009777862578630447, + -0.037004102021455765 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.9991887807846069, + 0.03897717595100403, + 0.010118715465068817, + -0.03672228008508682 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8561676740646362, + 0.43602272868156433, + -0.27723827958106995, + -0.029620522633194923 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7353038191795349, + 0.16912102699279785, + -0.6562975645065308, + -0.01731649413704872 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + 0.6135073900222778, + 0.2783605456352234, + -0.7390021085739136, + -0.012979917228221893 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + 0.5189911723136902, + 0.496620774269104, + -0.6957125067710876, + -0.012487232685089111 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + 0.3715055584907532, + 0.8958867788314819, + -0.24366049468517303, + -0.017920754849910736 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.9810357689857483, + 0.03183993324637413, + -0.1911938339471817, + -0.012572497129440308 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.9348964095115662, + -0.0855177789926529, + -0.34446367621421814, + -0.01249341107904911 + ] + }, + { + "index_base": 151, + "num_vertices": 4, + "plane": [ + -0.8094019293785095, + -0.5047253370285034, + -0.300201416015625, + -0.012283976189792156 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + -0.8620215654373169, + -0.4846722185611725, + 0.148363396525383, + -0.012538964860141277 + ] + }, + { + "index_base": 158, + "num_vertices": 3, + "plane": [ + -0.42468133568763733, + 0.5026414394378662, + 0.7529922723770142, + -0.012471551075577736 + ] + }, + { + "index_base": 161, + "num_vertices": 3, + "plane": [ + -0.5986503958702087, + 0.4852049946784973, + 0.6373333930969238, + -0.012281432747840881 + ] + }, + { + "index_base": 164, + "num_vertices": 3, + "plane": [ + -0.6846169829368591, + 0.008388981223106384, + 0.728854775428772, + -0.012499573640525341 + ] + }, + { + "index_base": 167, + "num_vertices": 3, + "plane": [ + -0.8005982041358948, + 0.5034515857696533, + 0.3249295651912689, + -0.012233268469572067 + ] + }, + { + "index_base": 170, + "num_vertices": 3, + "plane": [ + -0.8389223217964172, + 0.5409663915634155, + 0.059705983847379684, + -0.012234320864081383 + ] + }, + { + "index_base": 173, + "num_vertices": 3, + "plane": [ + -0.8585682511329651, + 0.5022446513175964, + -0.10300961136817932, + -0.012011653743684292 + ] + }, + { + "index_base": 176, + "num_vertices": 3, + "plane": [ + -0.981397807598114, + 0.15163841843605042, + -0.1177464947104454, + -0.012535365298390388 + ] + }, + { + "index_base": 179, + "num_vertices": 4, + "plane": [ + -0.9843317270278931, + -0.04888606444001198, + 0.16941432654857635, + -0.012616727501153946 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.9256370067596436, + 0.045413363724946976, + 0.3756776750087738, + -0.012626182287931442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 9, + 8, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 4 + ], + [ + 22, + 6, + 8 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 6 + ], + [ + 23, + 4, + 3 + ], + [ + 23, + 3, + 24 + ], + [ + 25, + 12, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 26, + 5, + 4 + ], + [ + 26, + 4, + 17 + ], + [ + 26, + 17, + 10 + ], + [ + 26, + 10, + 9 + ], + [ + 26, + 9, + 5 + ], + [ + 27, + 19, + 18 + ], + [ + 27, + 18, + 13 + ], + [ + 27, + 13, + 15 + ], + [ + 27, + 15, + 12 + ], + [ + 27, + 12, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 28, + 1, + 22 + ], + [ + 28, + 22, + 8 + ], + [ + 28, + 8, + 9 + ], + [ + 28, + 9, + 11 + ], + [ + 29, + 11, + 16 + ], + [ + 29, + 16, + 20 + ], + [ + 29, + 1, + 28 + ], + [ + 29, + 28, + 11 + ], + [ + 30, + 1, + 29 + ], + [ + 30, + 29, + 20 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 32, + 25 + ], + [ + 31, + 25, + 14 + ], + [ + 31, + 14, + 21 + ], + [ + 31, + 21, + 4 + ], + [ + 31, + 4, + 23 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 24 + ], + [ + 7, + 24, + 3 + ], + [ + 33, + 24, + 0 + ], + [ + 33, + 0, + 12 + ], + [ + 33, + 12, + 25 + ], + [ + 33, + 25, + 32 + ], + [ + 33, + 32, + 31 + ], + [ + 33, + 31, + 23 + ], + [ + 33, + 23, + 24 + ] + ], + "raw_bounds": [ + [ + -0.012799999676644802, + -0.018672000616788864, + -0.012784999795258045 + ], + [ + 0.03685100004076958, + 0.01812800019979477, + 0.024309000000357628 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00621609715744853, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_026.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_026.json new file mode 100644 index 0000000000000000000000000000000000000000..431375d70383b765f68117e6d1f6024e9681858d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_026.json @@ -0,0 +1,1313 @@ +{ + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20518156606703997, + "parts": [ + { + "vertices_raw": [ + [ + 0.00036100001307204366, + 0.01850000023841858, + 0.003984000068157911 + ], + [ + -0.03325900062918663, + 0.020500000566244125, + -0.0050650001503527164 + ], + [ + -0.0010179999517276883, + -0.015789000317454338, + 0.004722000099718571 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + -0.005121000111103058 + ], + [ + -0.015515999868512154, + -0.02495500072836876, + -0.00990699976682663 + ], + [ + -0.015351999551057816, + -0.020920999348163605, + -0.013396999798715115 + ], + [ + 0.00443900004029274, + -0.01769999973475933, + -0.0007389999809674919 + ], + [ + -0.03207699954509735, + 0.02449999935925007, + -0.013717000372707844 + ], + [ + -0.0354279987514019, + 0.02449999935925007, + -0.00887800008058548 + ], + [ + -0.024991000071167946, + 0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.015807999297976494, + 0.02518800087273121, + -0.008384999819099903 + ], + [ + -0.01617399975657463, + 0.02390800043940544, + -0.012168999761343002 + ], + [ + 0.0035000001080334187, + -0.014499999582767487, + 0.003570999950170517 + ], + [ + 0.004776999820023775, + 0.014499999582767487, + 0.0014779999619349837 + ], + [ + -0.03238900005817413, + -0.02370000071823597, + -0.005338999908417463 + ], + [ + -0.03600599989295006, + -0.02370000071823597, + -0.009344000369310379 + ], + [ + -0.024991000071167946, + -0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.0020940001122653484, + -0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.011460999958217144, + 0.01676500029861927, + -0.012227999977767467 + ], + [ + -0.0020940001122653484, + 0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.03317800164222717, + -0.02370000071823597, + -0.013939999975264072 + ], + [ + -0.032016001641750336, + -0.020948000252246857, + -0.014709999784827232 + ], + [ + 0.002580000087618828, + -0.01769999973475933, + 0.0036869999021291733 + ], + [ + -0.03292600065469742, + 0.02449999935925007, + -0.006008000113070011 + ], + [ + 0.0032689999788999557, + 0.01850000023841858, + -0.002305000089108944 + ], + [ + -0.023507000878453255, + 0.020500000566244125, + -0.014805999584496021 + ], + [ + -0.03413600102066994, + 0.020500000566244125, + -0.014019000343978405 + ], + [ + 0.0033400000538676977, + 0.01850000023841858, + 0.0022009999956935644 + ], + [ + -0.036302000284194946, + 0.020500000566244125, + -0.011233000084757805 + ], + [ + -0.03579400107264519, + -0.020500000566244125, + -0.01235899981111288 + ], + [ + -0.017098000273108482, + -0.02512899972498417, + -0.007063999772071838 + ], + [ + 0.002518000081181526, + 0.014499999582767487, + 0.00431999983265996 + ], + [ + 0.003854000009596348, + -0.014499999582767487, + -0.0031850000377744436 + ], + [ + -0.03577600046992302, + 0.020500000566244125, + -0.007120999973267317 + ] + ], + "indices_raw": [ + 7, + 9, + 10, + 11, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 8, + 9, + 12, + 6, + 13, + 14, + 2, + 3, + 14, + 3, + 15, + 14, + 15, + 16, + 17, + 6, + 5, + 5, + 18, + 19, + 17, + 20, + 21, + 5, + 20, + 5, + 4, + 20, + 4, + 16, + 20, + 16, + 15, + 22, + 6, + 12, + 22, + 2, + 14, + 23, + 9, + 8, + 23, + 1, + 0, + 10, + 24, + 11, + 10, + 9, + 23, + 10, + 23, + 0, + 25, + 26, + 7, + 25, + 7, + 11, + 25, + 11, + 18, + 25, + 18, + 5, + 25, + 5, + 21, + 25, + 21, + 26, + 27, + 13, + 24, + 27, + 24, + 10, + 27, + 10, + 0, + 28, + 8, + 7, + 28, + 7, + 26, + 19, + 18, + 11, + 19, + 11, + 24, + 29, + 15, + 28, + 29, + 28, + 26, + 26, + 21, + 20, + 29, + 29, + 20, + 15, + 30, + 4, + 6, + 30, + 6, + 22, + 30, + 22, + 14, + 30, + 14, + 16, + 30, + 16, + 4, + 31, + 12, + 13, + 31, + 13, + 27, + 31, + 27, + 0, + 31, + 0, + 2, + 31, + 2, + 22, + 12, + 32, + 6, + 17, + 32, + 17, + 19, + 32, + 19, + 24, + 32, + 24, + 13, + 32, + 13, + 6, + 33, + 1, + 23, + 33, + 23, + 8, + 33, + 8, + 28, + 33, + 28, + 15, + 33, + 15, + 3, + 33, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.09191659837961197, + 0.9254609942436218, + -0.3675232231616974, + -0.024939177557826042 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2580503225326538, + 0.031161170452833176, + 0.9656288027763367, + -0.004330390598624945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2907710373401642, + -0.0002926961751654744, + 0.9567925930023193, + -0.004818600602447987 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.5047945976257324, + -0.5764406323432922, + -0.6425719261169434, + -0.012918642722070217 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.10196014493703842, + 0.992279589176178, + -0.07060722261667252, + -0.02854994311928749 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9725351929664612, + -0.026132727041840553, + 0.2312842756509781, + -0.004608714021742344 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.267561137676239, + -0.14954526722431183, + 0.9518651366233826, + -0.0071282535791397095 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.714544951915741, + -0.2701604664325714, + 0.6453205943107605, + -0.02610083296895027 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1529802680015564, + -0.978523850440979, + 0.13815969228744507, + -0.027408258989453316 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.5297884345054626, + -0.4632146954536438, + -0.7104620337486267, + -0.011075662449002266 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.41420218348503113, + -0.014535641297698021, + -0.9100688695907593, + -0.006137460470199585 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.07545790076255798, + -0.29810070991516113, + -0.9515472650527954, + -0.017826015129685402 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.1244371086359024, + -0.6520766615867615, + -0.7478712201118469, + -0.02175096794962883 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.04955287277698517, + -0.8713471293449402, + -0.48815858364105225, + -0.02581179514527321 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.16540244221687317, + -0.9809607267379761, + -0.10177499055862427, + -0.030155235901474953 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.8942309617996216, + -0.24347613751888275, + 0.3755931854248047, + -0.008001456037163734 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.09812956303358078, + -0.6104356646537781, + 0.7859636545181274, + -0.01344938576221466 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.0877046212553978, + 0.9932079911231995, + 0.07645881175994873, + -0.026761993765830994 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.2387775182723999, + 0.24160966277122498, + 0.94053715467453, + -0.008130678907036781 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.40391185879707336, + 0.8539947271347046, + -0.32794544100761414, + -0.017875205725431442 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.00606840243563056, + 0.9713795185089111, + 0.23745547235012054, + -0.022571973502635956 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.026381274685263634, + 0.8933627605438232, + 0.44856107234954834, + -0.018323803320527077 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.0733710527420044, + 0.1125829815864563, + -0.9909297227859497, + -0.01870439015328884 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.10296253859996796, + 0.460614949464798, + -0.8816080093383789, + -0.020075354725122452 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.25849807262420654, + 0.1784006655216217, + -0.9493955969810486, + -0.011637449264526367 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.21177111566066742, + 0.008449878543615341, + -0.977282702922821, + -0.009664766490459442 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.07856549322605133, + -0.018437571823596954, + -0.9967384934425354, + -0.01253290195018053 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.07383441179990768, + 0.012848081067204475, + -0.9971876740455627, + -0.016763372346758842 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.9401538968086243, + 0.3404277563095093, + -0.014813792891800404, + -0.009405422955751419 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.33231863379478455, + 0.943152666091919, + -0.005236217752099037, + -0.01854674331843853 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.17118361592292786, + 0.942811906337738, + 0.28601008653640747, + -0.018643280491232872 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.7309419512748718, + 0.45772239565849304, + -0.5061760544776917, + -0.04160384461283684 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.7192039489746094, + 0.41242653131484985, + -0.5591511130332947, + -0.040844231843948364 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.4741263687610626, + 0.3196081519126892, + -0.8203991651535034, + -0.009956111200153828 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.5003477334976196, + 0.37871766090393066, + -0.7786046862602234, + -0.01043659821152687 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + -0.9966763257980347, + -0.010129128582775593, + -0.08083165436983109, + -0.03688168153166771 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + -0.7894546389579773, + 0.007074643392115831, + -0.6137681007385254, + -0.03569827228784561 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.5297442674636841, + -0.01295719388872385, + -0.8480584025382996, + -0.02970666065812111 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7803236842155457, + -0.400691956281662, + -0.48014670610427856, + -0.04207922890782356 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.2960875928401947, + -0.9491862058639526, + 0.10666650533676147, + -0.018036101013422012 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.2913316488265991, + -0.9487637877464294, + 0.12236455827951431, + -0.017995914444327354 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.010452709160745144, + -0.8135984539985657, + 0.5813331007957458, + -0.016517098993062973 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.05727130174636841, + -0.9568250775337219, + 0.2849661707878113, + -0.02301028184592724 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.057366594672203064, + -0.9979274272918701, + -0.029153840616345406, + -0.024302007630467415 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.782784104347229, + 0.010436615906655788, + 0.622205913066864, + -0.004810310900211334 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.7719117403030396, + 0.16640755534172058, + 0.6135639548301697, + -0.007007179316133261 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.48487988114356995, + 0.32952210307121277, + 0.8101274967193604, + -0.009498748928308487 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.10716138035058975, + 0.025701558217406273, + 0.9939094185829163, + -0.004396528471261263 + ] + }, + { + "index_base": 147, + "num_vertices": 4, + "plane": [ + 0.25879350304603577, + -0.01739414967596531, + 0.9657761454582214, + -0.004571579862385988 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.5408830046653748, + -0.44613879919052124, + -0.713025689125061, + -0.010824562981724739 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6043630242347717, + 0.0, + -0.7967090606689453, + -0.004866733681410551 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.6968936920166016, + 0.031460270285606384, + -0.7164840698242188, + -0.004511656239628792 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.937711775302887, + 0.025861751288175583, + -0.3464505076408386, + -0.004342390689998865 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.9741137027740479, + 0.005334840621799231, + -0.22599554061889648, + -0.0043966746889054775 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + -0.6158075332641602, + 0.2289944291114807, + 0.75388503074646, + -0.02135710045695305 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.7105207443237305, + 0.33389386534690857, + 0.6194152235984802, + -0.02785356156527996 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.982061505317688, + 0.14061996340751648, + 0.12562358379364014, + -0.03712237998843193 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9919167757034302, + -0.0012199876364320517, + 0.12688425183296204, + -0.034558262676000595 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + -0.8432195782661438, + -0.02262483537197113, + 0.537092924118042, + -0.025878580287098885 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + -0.6326172351837158, + 0.0011486286530271173, + 0.7744638323783875, + -0.017141105607151985 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 2, + 3 + ], + [ + 14, + 3, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 6, + 5 + ], + [ + 5, + 18, + 19 + ], + [ + 5, + 19, + 17 + ], + [ + 20, + 21, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 6, + 12 + ], + [ + 22, + 2, + 14 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 1, + 0 + ], + [ + 10, + 24, + 11 + ], + [ + 10, + 9, + 23 + ], + [ + 10, + 23, + 0 + ], + [ + 25, + 26, + 7 + ], + [ + 25, + 7, + 11 + ], + [ + 25, + 11, + 18 + ], + [ + 25, + 18, + 5 + ], + [ + 25, + 5, + 21 + ], + [ + 25, + 21, + 26 + ], + [ + 27, + 13, + 24 + ], + [ + 27, + 24, + 10 + ], + [ + 27, + 10, + 0 + ], + [ + 28, + 8, + 7 + ], + [ + 28, + 7, + 26 + ], + [ + 19, + 18, + 11 + ], + [ + 19, + 11, + 24 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 26 + ], + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 29 + ], + [ + 29, + 20, + 15 + ], + [ + 30, + 4, + 6 + ], + [ + 30, + 6, + 22 + ], + [ + 30, + 22, + 14 + ], + [ + 30, + 14, + 16 + ], + [ + 30, + 16, + 4 + ], + [ + 31, + 12, + 13 + ], + [ + 31, + 13, + 27 + ], + [ + 31, + 27, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 31, + 2, + 22 + ], + [ + 31, + 22, + 12 + ], + [ + 32, + 6, + 17 + ], + [ + 32, + 17, + 19 + ], + [ + 32, + 19, + 24 + ], + [ + 32, + 24, + 13 + ], + [ + 32, + 13, + 6 + ], + [ + 33, + 1, + 23 + ], + [ + 33, + 23, + 8 + ], + [ + 33, + 8, + 28 + ], + [ + 33, + 28, + 15 + ], + [ + 33, + 15, + 3 + ], + [ + 33, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + -0.036302000284194946, + -0.025499999523162842, + -0.014805999584496021 + ], + [ + 0.004776999820023775, + 0.025499999523162842, + 0.004722000099718571 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004209449980407953, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_027.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_027.json new file mode 100644 index 0000000000000000000000000000000000000000..f590f617f4304b593dff3652db89cab8d885374b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_027.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.28692090697586536, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + -0.005249989219009876, + 0.02026689052581787 + ], + [ + 0.016393516212701797, + 0.005355285946279764, + 0.020274700596928596 + ], + [ + -0.010551173239946365, + -0.001936863991431892, + 0.0015893022064119577 + ], + [ + 0.021058708429336548, + -0.004999947268515825, + 0.019783440977334976 + ], + [ + -0.0038393354043364525, + -0.00549997016787529, + 0.002347175031900406 + ], + [ + -0.004447362385690212, + -0.005432975012809038, + -0.0016682108398526907 + ], + [ + 0.0016016149893403053, + -0.005432975012809038, + -0.004471834748983383 + ], + [ + 0.021798528730869293, + -0.004999947268515825, + 0.012355390004813671 + ], + [ + 0.023115016520023346, + -0.004999947268515825, + 0.015911880880594254 + ], + [ + -0.004105887375771999, + 0.005463290028274059, + 0.0022624770645052195 + ], + [ + 0.022002436220645905, + 0.005192446056753397, + 0.018826300278306007 + ], + [ + 0.022146016359329224, + 0.005355285946279764, + 0.013035180978477001 + ], + [ + 0.0021148710511624813, + 0.0053552258759737015, + -0.004366633482277393 + ], + [ + -0.0035197939723730087, + 0.0053552258759737015, + -0.003339346731081605 + ], + [ + 0.012750902213156223, + 0.004999982658773661, + 0.0036200531758368015 + ], + [ + 0.014267423190176487, + -0.004999947268515825, + 0.0049940370954573154 + ], + [ + -0.0013361778110265732, + 0.004999982658773661, + -0.004818137735128403 + ], + [ + -0.0021025147289037704, + -0.004999947268515825, + -0.004536387510597706 + ], + [ + 0.019002286717295647, + 0.004999982658773661, + 0.0206608809530735 + ], + [ + 0.023111678659915924, + 0.004999982658773661, + 0.015489219687879086 + ], + [ + -0.004848381504416466, + 0.0053552258759737015, + -0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + -0.9995930790901184, + -0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + 0.01206897757947445, + 0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + 0.4508727192878723, + 0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + 0.9999979734420776, + 0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + -0.037696633487939835, + 0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + -0.7347155213356018, + 0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + -0.01986261084675789, + -0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + 0.008559993468225002, + -0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + -0.979090690612793, + -0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + 0.003514686366543174, + -0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + -0.029233338311314583, + -0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + 0.9484537839889526, + -0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + 0.002508311765268445, + 0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + -0.06626430153846741, + 0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + 0.03201968967914581, + 0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + 0.9626887440681458, + 0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + 0.9626891016960144, + 0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + 0.013617747463285923, + 0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + -0.008036171086132526, + -0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + -0.5307285189628601, + -0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + -0.9659310579299927, + -0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + -0.8791415095329285, + 0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + 0.015754459425807, + -0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + 0.9361693859100342, + -0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + 0.9978163838386536, + -0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + 0.5309804081916809, + -0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + 0.6332581043243408, + 0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.00549997016787529, + -0.004818137735128403 + ], + [ + 0.023115016520023346, + 0.005463290028274059, + 0.0206608809530735 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006484715733677149, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_028.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_028.json new file mode 100644 index 0000000000000000000000000000000000000000..f0658f58fe3cbdd3ab7b46b4b38d558766b3ebc2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_028.json @@ -0,0 +1,9301 @@ +{ + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33439944591373205, + "parts": [ + { + "vertices_raw": [ + [ + 0.003435140708461404, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.002645079977810383 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.003435140708461404, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 7, + 6, + 3, + 1, + 4, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 1, + 0, + 5, + 0, + 2, + 5, + 2, + 3, + 6, + 7, + 4, + 0, + 7, + 0, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.5038278102874756, + 0.013086438179016113, + -0.8637048602104187, + 0.005367162637412548 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5547001957893372, + 0.0, + -0.8320503234863281, + 0.005286477040499449 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.0, + -0.0905357375741005, + -0.9958932399749756, + 0.0031694448553025723 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999541163444519, + 0.030289139598608017, + 0.0, + -0.006448087282478809 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8778955340385437, + -0.47885218262672424, + 0.0, + -0.0016245779115706682 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.009690405800938606 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 5, + 2, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + 0.0005983792361803353, + -0.009690406732261181, + 0.002645079977810383 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.015883300453424454 + ], + [ + 0.0029623471200466156, + -0.012999962083995342, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.015410506166517735 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 7, + 1, + 5, + 1, + 0, + 8, + 1, + 7, + 8, + 7, + 3, + 2, + 8, + 2, + 1, + 9, + 7, + 6, + 9, + 6, + 4, + 9, + 4, + 3, + 9, + 3, + 7, + 10, + 4, + 6, + 10, + 6, + 5, + 0, + 10, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9934325814247131, + -0.09934321790933609, + -0.056767553091049194, + -0.005399323999881744 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.015883300453424454 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10693860054016113, + -0.24952343106269836, + 0.962445855140686, + -0.01839236170053482 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6542210578918457, + -0.6178755760192871, + 0.43614742159843445, + -0.01669164188206196 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.26754844188690186, + 0.026754843071103096, + 0.9631729125976562, + -0.01529643777757883 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.6837635040283203, + 0.5698027014732361, + 0.4558424949645996, + -0.0030875466763973236 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.8320502042770386, + 0.0, + 0.5547002553939819, + -0.01080404594540596 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6882472038269043, + -0.22941558063030243, + 0.6882472038269043, + -0.014803793281316757 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.44721361994743347, + 0.8944272398948669, + 0.0, + 0.007032010704278946 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.11883514374494553, + 0.6238844990730286, + -0.7724288105964661, + 0.015506066381931305 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 8, + 1, + 7 + ], + [ + 8, + 7, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 10, + 4, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 0 + ], + [ + 10, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.005435265135020018, + -0.002555649261921644 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + -0.0011372686130926013 + ], + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.003435140708461404, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + -0.012054375372827053, + 0.001226699212566018 + ], + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + -0.004446823615580797 + ], + [ + -0.001765588647685945, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.012054375372827053, + 0.0007539056241512299 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + -0.012054375372827053, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0010711727663874626, + -0.004489677958190441, + -0.002555649261921644 + ] + ], + "indices_raw": [ + 16, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 4, + 7, + 9, + 2, + 1, + 10, + 11, + 8, + 12, + 10, + 12, + 9, + 10, + 9, + 1, + 13, + 3, + 2, + 13, + 2, + 9, + 14, + 5, + 4, + 14, + 4, + 8, + 11, + 14, + 11, + 5, + 15, + 7, + 13, + 15, + 13, + 9, + 15, + 9, + 12, + 15, + 12, + 8, + 15, + 8, + 7, + 16, + 3, + 13, + 13, + 7, + 6, + 16, + 17, + 11, + 10, + 17, + 10, + 1, + 17, + 1, + 0, + 17, + 0, + 5, + 17, + 5, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.9946268200874329, + 0.10289238393306732, + -0.011432486586272717, + -0.0040475912392139435 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.5291267037391663, + -0.11338429152965546, + 0.8409334421157837, + -0.007334135472774506 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.5038530826568604, + -0.8220758438110352, + 0.2651858925819397, + -0.011727501638233662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.7279386520385742, + -0.6846945881843567, + -0.03603654354810715, + -0.010365767404437065 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8102372884750366, + -0.0925985798239708, + -0.5787410140037537, + -0.00571135338395834 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.09919000416994095, + -0.079352006316185, + -0.9918994903564453, + -0.005486194044351578 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6393464803695679, + 0.051147665828466415, + -0.7672157287597656, + -0.0046252296306192875 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.6854345798492432, + -0.7139943242073059, + 0.14279890060424805, + -0.010572746396064758 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.43158718943595886, + -0.8477606177330017, + -0.30827656388282776, + -0.011156921274960041 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071067094802856, + -0.006639573723077774 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.44721361994743347, + 0.8944271206855774, + 0.0, + 0.002479448216035962 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012054375372827053 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.2568807303905487, + -0.9082568287849426, + -0.3302752375602722, + -0.011395921930670738 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.06311160326004028, + -0.773116946220398, + -0.6311157941818237, + -0.010834909975528717 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + 0.22355104982852936, + -0.7824282646179199, + -0.5812323093414307, + -0.011262265965342522 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5096874833106995, + -0.8388605117797852, + -0.19113285839557648, + -0.011387349106371403 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.5633991956710815, + -0.7887589335441589, + 0.24584698677062988, + -0.01122081559151411 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + -0.015590788796544075, + -0.9822190999984741, + 0.1870894581079483, + -0.01202335488051176 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9284766912460327, + -0.3713906407356262, + 0.0032194172963500023 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.16129031777381897, + 0.9677419662475586, + -0.19354836642742157, + 0.004022978246212006 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.1634203940629959, + 0.9805224537849426, + -0.10894693434238434, + 0.0042988513596355915 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.004489677958190441 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.18878205120563507, + 0.9806178212165833, + -0.052439458668231964, + 0.004066423047333956 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 0 + ], + [ + 16, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 4, + 7 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 8 + ], + [ + 10, + 8, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 9 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 15, + 7, + 13 + ], + [ + 15, + 13, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 8 + ], + [ + 15, + 8, + 7 + ], + [ + 16, + 3, + 13 + ], + [ + 13, + 7, + 6 + ], + [ + 13, + 6, + 16 + ], + [ + 17, + 11, + 10 + ], + [ + 17, + 10, + 1 + ], + [ + 17, + 1, + 0 + ], + [ + 17, + 0, + 5 + ], + [ + 17, + 5, + 11 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012054375372827053, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.008791396394371986 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.008791396394371986 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 4, + 2, + 1, + 5, + 6, + 0, + 1, + 2, + 3, + 7, + 3, + 2, + 4, + 8, + 3, + 7, + 8, + 7, + 4, + 6, + 9, + 0, + 3, + 8, + 9, + 8, + 6, + 5, + 9, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0024895535316318274 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9805806875228882, + 0.1961161196231842, + 0.0, + -0.003600603900849819 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.19611623883247375, + 0.9805806875228882, + -0.009780069813132286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.2576627731323242, + 0.0, + 0.9662349224090576, + -0.007853087969124317 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999687671661377, + -0.024992188438773155, + 0.0, + -0.0010264815064147115 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 4 + ], + [ + 8, + 3, + 7 + ], + [ + 8, + 7, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0012927950592711568, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.008791396394371986 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + 0.0059117809869349, + -0.0035012364387512207 + ], + [ + -0.0008200015290640295, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + -0.003656762884929776, + 0.005438987165689468, + -0.000664475082885474 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.004063460510224104 + ], + [ + -0.0027111757081001997, + 0.0059117809869349, + 0.003117873566225171 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + 0.0016994928009808064 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + -0.0016100622015073895 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + -0.0035012364387512207 + ] + ], + "indices_raw": [ + 10, + 1, + 8, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 3, + 6, + 3, + 5, + 6, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 10, + 3, + 2, + 10, + 2, + 1, + 11, + 9, + 8, + 11, + 8, + 1, + 0, + 11, + 0, + 6, + 5, + 11, + 5, + 7, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0011838451027870178 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.7353563904762268, + -0.20285692811012268, + -0.6466065049171448, + -0.0020153415389358997 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + -0.37139061093330383, + 0.9284766912460327, + -0.0015772486804053187 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.9551337957382202, + -0.14694367349147797, + 0.25715145468711853, + -0.002522602677345276 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2119995355606079, + -0.2119995802640915, + 0.9539981484413147, + -0.002295918297022581 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2595711350440979, + 0.9641208648681641, + -0.05562238395214081, + -0.006229991093277931 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6494998931884766, + -0.2823912501335144, + 0.7059782147407532, + -0.002202085219323635 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8741572499275208, + -0.4856429398059845, + 0.0, + -0.0007747432682663202 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.9622505307197571, + -0.1924501210451126, + 0.19245010614395142, + -0.00234411028213799 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7587982416152954, + -0.23607057332992554, + -0.6070385575294495, + -0.0018941224552690983 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.5975551605224609, + -0.15725137293338776, + -0.7862568497657776, + -0.0027458404656499624 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.1961161494255066, + -0.9805806875228882, + -0.002273849444463849 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.19611620903015137, + 0.9805806279182434, + 0.0, + -0.00609977450221777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 8 + ], + [ + 10, + 8, + 4 + ], + [ + 10, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 11, + 7, + 9 + ] + ], + "raw_bounds": [ + [ + -0.003656762884929776, + 0.0011838451027870178, + -0.0035012364387512207 + ], + [ + 0.003907934296876192, + 0.0059117809869349, + 0.004063460510224104 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.008791396394371986 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 9, + 2, + 3, + 6, + 8, + 0, + 1, + 2, + 3, + 2, + 1, + 3, + 1, + 4, + 3, + 4, + 5, + 6, + 3, + 5, + 7, + 5, + 4, + 7, + 4, + 1, + 0, + 7, + 0, + 8, + 6, + 7, + 6, + 5, + 9, + 8, + 0, + 9, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.15205712616443634, + 0.0, + 0.988371729850769, + -0.008813855238258839 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.28885573148727417, + 0.18775634467601776, + 0.9387811422348022, + -0.0060492344200611115 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.9309493899345398, + 0.07161153852939606, + 0.3580574691295624, + -0.002980258082970977 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.9592642188072205, + -0.06851880997419357, + 0.2740755081176758, + -0.004086846485733986 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.9486833214759827, + 0.3162277936935425, + 0.0, + 0.0018379230750724673 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.09950368851423264, + -0.9950372576713562, + 0.006748180370777845 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.5883482098579407, + 0.19611608982086182, + -0.7844647169113159, + 0.005811032373458147 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6001487970352173, + -0.34808629751205444, + -0.7201787233352661, + -0.0017875595949590206 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9523809552192688, + -0.19047610461711884, + -0.23809513449668884, + -0.0052305348217487335 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 3 + ], + [ + 9, + 3, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 8 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 9, + 8, + 0 + ], + [ + 9, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008318603038787842 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.007373015861958265 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 7, + 8, + 3, + 0, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 2, + 1, + 5, + 6, + 2, + 4, + 7, + 6, + 0, + 2, + 9, + 5, + 1, + 3, + 9, + 3, + 8, + 9, + 8, + 7, + 4, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.9874838590621948, + -0.07053456455469131, + 0.14106911420822144, + 0.0011016115313395858 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9761870503425598, + 0.0, + 0.21693044900894165, + -0.0002973582595586777 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.15617398917675018, + 0.9370424151420593, + -0.3123478889465332, + -0.008351076394319534 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 0, + 2 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ], + [ + -0.0022383821196854115, + 0.012058096937835217, + 0.004063460510224104 + ], + [ + -0.001765588647685945, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.003435140708461404, + 0.012058096937835217, + 0.0035906671546399593 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + -0.0011372686130926013 + ], + [ + -0.003656762884929776, + 0.012058096937835217, + -0.0020828559063374996 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + -0.003974030259996653 + ], + [ + 0.003907934296876192, + 0.012058096937835217, + -0.002555649261921644 + ], + [ + -0.0041295564733445644, + 0.012058096937835217, + 0.001226699212566018 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 16, + 14, + 13, + 12, + 15, + 4, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 7, + 5, + 8, + 2, + 1, + 6, + 9, + 8, + 5, + 7, + 10, + 4, + 3, + 11, + 6, + 1, + 11, + 1, + 0, + 11, + 12, + 7, + 11, + 7, + 6, + 13, + 14, + 9, + 13, + 9, + 7, + 13, + 7, + 12, + 15, + 12, + 11, + 15, + 11, + 0, + 15, + 0, + 4, + 16, + 10, + 3, + 16, + 3, + 2, + 8, + 9, + 16, + 9, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.012058096937835217 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.05941757187247276, + 0.5941759943962097, + 0.8021374344825745, + -0.010557085275650024 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.6401844620704651, + 0.0, + -0.7682211995124817, + -0.0049096569418907166 + ] + }, + { + "index_base": 17, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.05094815790653229, + 0.7896967530250549, + 0.6113781929016113, + -0.011892510578036308 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.9950220584869385, + -0.08291845768690109, + -0.05527897924184799, + -0.004230517894029617 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.7180995345115662, + 0.29920828342437744, + -0.628337025642395, + -0.0075425379909574986 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.7470113635063171, + 0.12138932198286057, + -0.6536349058151245, + -0.005826096516102552 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.1844417154788971, + 0.7131746411323547, + -0.6762862205505371, + -0.011048667132854462 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.08211291581392288, + 0.5337336659431458, + -0.8416566252708435, + -0.009674426168203354 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.5048437118530273, + 0.5889846086502075, + -0.6310546398162842, + -0.010262523777782917 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.7374095916748047, + 0.6671804189682007, + -0.10534423589706421, + -0.010960875079035759 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.8908706903457642, + 0.445435494184494, + 0.08908711373806, + -0.009159289300441742 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5321810841560364, + 0.768706202507019, + 0.3547874391078949, + -0.01190202310681343 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5570861101150513, + 0.7427813410758972, + 0.3713906705379486, + -0.012203739956021309 + ] + }, + { + "index_base": 62, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.9534626007080078, + 0.28603869676589966, + -0.09534622728824615, + -0.007418823428452015 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 14, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 8, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 6 + ], + [ + 9, + 8, + 5 + ], + [ + 9, + 5, + 7 + ], + [ + 10, + 4, + 3 + ], + [ + 11, + 6, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 7 + ], + [ + 13, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 0 + ], + [ + 15, + 0, + 4 + ], + [ + 16, + 10, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 8 + ], + [ + 16, + 8, + 9 + ], + [ + 16, + 9, + 14 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.010166922584176064, + 0.013046538457274437 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 4, + 6, + 3, + 0, + 3, + 1, + 0, + 4, + 2, + 5, + 4, + 5, + 6, + 0, + 1, + 2, + 4, + 0, + 2, + 7, + 3, + 6, + 5, + 7, + 5, + 2, + 1, + 7, + 1, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.8317734599113464, + 0.02579141966998577, + 0.5545157790184021, + -0.01106267236173153 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9997296929359436, + -0.02324952930212021, + 0.0, + 0.0005834902403876185 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + 0.0, + -0.1643989533185959, + 0.0029536818619817495 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.5297672748565674, + -0.029568379744887352, + 0.8476274609565735, + -0.014198040589690208 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.1961144059896469, + 0.004560800269246101, + 0.9805704355239868, + -0.01568915694952011 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.12403467297554016, + 0.0, + -0.9922778606414795, + 0.01304750144481659 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.004602350294589996 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 6, + 3 + ], + [ + 4, + 3, + 0 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 0, + 2 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.008318603038787842 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 2, + 1, + 5, + 1, + 0, + 4, + 6, + 7, + 5, + 4, + 8, + 3, + 2, + 9, + 3, + 8, + 9, + 6, + 4, + 3, + 10, + 8, + 2, + 10, + 2, + 5, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071068286895752, + -0.004967996850609779 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.2979356348514557, + -0.8938066959381104, + -0.33517760038375854, + -0.0073323845863342285 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.33129462599754333, + 0.8834521770477295, + -0.3312946557998657, + -0.007855238392949104 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.009736982174217701 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9816026091575623, + 0.02230914682149887, + -0.18962779641151428, + 0.0021608122624456882 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0008200014708563685 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.9950372576713562, + 0.09950371831655502, + 0.0, + 0.00022768788039684296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 5, + 0, + 4 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 8, + 3, + 2 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 10, + 8, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + 0.010639716871082783, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + -0.007326439023017883, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 6, + 5, + 4, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 9, + 2, + 5, + 6, + 9, + 6, + 8, + 3, + 9, + 3, + 2, + 10, + 0, + 3, + 8, + 10, + 8, + 7, + 10, + 7, + 0, + 11, + 1, + 0, + 11, + 0, + 7, + 11, + 7, + 4, + 11, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.03521473705768585, + -0.9977520704269409, + -0.05701443552970886, + -0.009289816953241825 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.7999998927116394, + 0.0, + 0.6000000238418579, + 0.0018229754641652107 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07114565372467041, + -0.9960376620292664, + 0.0533592514693737, + -0.00948988925665617 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.5723052024841309, + 0.8155349493026733, + -0.08584579080343246, + 0.007058598101139069 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.31622758507728577, + 0.0, + -0.9486833214759827, + -0.0029828313272446394 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.2983115613460541, + -0.5220453143119812, + -0.7990487217903137, + -0.010331927798688412 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.06830870360136032, + -0.11954023689031601, + -0.9904766082763672, + -0.006338475272059441 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.48776865005493164, + 0.18291334807872772, + -0.8535951375961304, + -0.00707156490534544 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.5734623670578003, + 0.0, + -0.8192318081855774, + -0.008982653729617596 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 9, + 2, + 5 + ], + [ + 9, + 5, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 7 + ], + [ + 11, + 7, + 4 + ], + [ + 11, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010639716871082783, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + -0.002555649261921644 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + 0.00827574823051691, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 7, + 8, + 6, + 4, + 5, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 2, + 1, + 4, + 9, + 8, + 7, + 9, + 7, + 5, + 0, + 3, + 9, + 3, + 2, + 10, + 8, + 9, + 10, + 9, + 2, + 10, + 2, + 6, + 10, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05255891755223274, + 0.9986178278923035, + 0.0, + -0.010855256579816341 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.052558813244104385, + 0.0, + 0.9986178874969482, + -0.01563110202550888 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.19611604511737823, + 0.0, + -0.980580747127533, + -0.003964951261878014 + ] + }, + { + "index_base": 20, + "num_vertices": 5, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.004380727652460337 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.08762271702289581, + 0.9249054789543152, + -0.3699623644351959, + -0.011170078068971634 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.051917411386966705, + 0.15575221180915833, + -0.9864309430122375, + -0.006590181030333042 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.2242944985628128, + 0.6728833913803101, + -0.7049253582954407, + -0.010973555967211723 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.5734624266624451, + 0.0, + -0.8192319273948669, + -0.00898265466094017 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.4842175245285034, + -0.2178979516029358, + -0.847380518913269, + -0.006547159049659967 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 4 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 5 + ], + [ + 9, + 5, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 8, + 9 + ], + [ + 10, + 9, + 2 + ], + [ + 10, + 2, + 6 + ], + [ + 10, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + 0.004380727652460337, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.010639716871082783, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.005438987165689468, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 0, + 4, + 5, + 1, + 6, + 4, + 3, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.04461493715643883, + 0.988963782787323, + 0.14128059148788452, + -0.008053954690694809 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + 0.998617947101593, + -0.015904447063803673 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0008200014708563685 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + -0.998617947101593, + 0.013457550667226315 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 4, + 3 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.005481841508299112 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + 0.004063460510224104 + ] + ], + "indices_raw": [ + 0, + 2, + 3, + 4, + 0, + 1, + 2, + 5, + 6, + 3, + 2, + 5, + 2, + 1, + 7, + 6, + 5, + 1, + 7, + 4, + 3, + 7, + 3, + 6, + 8, + 4, + 7, + 8, + 7, + 1, + 8, + 1, + 0, + 8, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + -0.16439901292324066, + 0.0, + 0.0002261999761685729 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.14142130315303802, + 0.0, + 0.9899495244026184, + -0.008921387605369091 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.9899495244026184, + 0.0, + 0.1414213627576828, + -0.0027717400807887316 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8311627507209778, + -0.04617565497756004, + -0.5541085600852966, + 0.0016683712601661682 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8479982614517212, + 0.0, + -0.5299990177154541, + 0.0008568784687668085 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.800000011920929, + 0.0, + -0.5999999046325684, + 0.0014038399094715714 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.06285564601421356, + 0.7752197980880737, + -0.6285566687583923, + -0.006874820217490196 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.20507574081420898, + 0.4101516604423523, + -0.8886616826057434, + -0.0010694856755435467 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004063460510224104 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.012999962083995342, + 0.009264189749956131 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.008791396394371986 + ], + [ + -0.0027111757081001997, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 8, + 4, + 0, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 1, + 0, + 6, + 2, + 3, + 6, + 3, + 7, + 6, + 7, + 8, + 9, + 7, + 3, + 1, + 5, + 9, + 5, + 4, + 8, + 9, + 8, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.12275607138872147, + 0.14321544766426086, + 0.9820489883422852, + -0.011051204055547714 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.9974586963653564, + 0.0, + 0.07124704122543335, + 0.0003936674911528826 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9801960587501526, + -0.1400279700756073, + 0.14002792537212372, + -0.008092239499092102 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8099418878555298, + -0.09642163664102554, + -0.5785300135612488, + -4.437286406755447e-06 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.010163201950490475 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.7682212591171265, + 0.0, + -0.6401844024658203, + 0.0017292811535298824 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 8, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 1 + ], + [ + 9, + 1, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004853521473705769, + 0.010639716871082783, + 0.013519331812858582 + ], + [ + 0.004853521473705769, + 0.013476477935910225, + 0.013519331812858582 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + 0.005326314829289913, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + 0.0029623471200466156, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + 0.010639716871082783, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 9, + 5, + 4, + 8, + 9, + 8, + 6, + 7, + 9, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.2747209966182709, + 0.0, + 0.9615239500999451, + -0.011665796861052513 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9950372576713562, + 0.0, + 0.09950368851423264, + -0.006174658425152302 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.7682213187217712, + 0.0, + -0.6401843428611755, + 0.0015363255515694618 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 7 + ], + [ + 9, + 7, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.013519331812858582 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0022383821196854115, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.009264189749956131 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0022383821196854115, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 7, + 0, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 3, + 6, + 2, + 1, + 8, + 2, + 6, + 3, + 8, + 3, + 5, + 8, + 5, + 0, + 2, + 9, + 1, + 0, + 7, + 9, + 7, + 4, + 9, + 4, + 6, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.16439896821975708, + 0.004275036975741386 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.16437670588493347, + -0.016437672078609467, + 0.9862606525421143, + -0.012935986742377281 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.19611603021621704, + 0.0, + -0.9805806875228882, + 0.010079602710902691 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06237826123833656, + -0.9980525374412537, + 0.008877381682395935 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.9862606525421143, + 0.016437672078609467, + 0.1643766611814499, + -0.006827469449490309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.0, + -0.02939903922379017, + -0.9995677471160889, + 0.009433986619114876 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.9863939881324768, + 0.16439901292324066, + 0.0, + 0.00045876787044107914 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 4, + 3 + ], + [ + 6, + 2, + 1 + ], + [ + 8, + 2, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 1 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009264189749956131 + ], + [ + -0.0022383821196854115, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + 0.005799108650535345, + -0.004489677958190441, + 0.0007539056241512299 + ], + [ + 0.00627190200611949, + 0.0026022258680313826, + -0.0011372686130926013 + ], + [ + 0.005799108650535345, + 0.0059117809869349, + 0.0021722863893955946 + ], + [ + 0.005326314829289913, + -0.0030712971929460764, + 0.003117873566225171 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9837124347686768, + 0.017885657027363777, + -0.17885679006576538, + 0.005919797345995903 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9738617539405823, + -0.11686335504055023, + -0.19477225840091705, + -0.0060253688134253025 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9946228265762329, + 0.053283341228961945, + 0.08880557864904404, + -0.006275836378335953 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.8207634687423706, + -0.5471756458282471, + 0.1641526073217392, + 0.002179298084229231 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.1441291868686676, + 0.09608612209558487, + 0.9848828315734863, + -0.0035433084703981876 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.015410506166517735 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.0139921260997653 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 5, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 4, + 6, + 8, + 7, + 6, + 8, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + 0.0, + 0.5547003746032715, + -0.01080404780805111 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010166922584176064 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.09950388967990875, + 0.0, + 0.9950372576713562, + -0.015603799372911453 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.06644416600465775, + -0.04746011272072792, + 0.9966608285903931, + -0.015056665055453777 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.5704789757728577, + 0.4074849486351013, + 0.7130986452102661, + -0.01796834170818329 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 0, + 3, + 6, + 7, + 2, + 1, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0024895535316318274 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.013046538457274437 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 6 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.002016759943217039, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.0016994928009808064 + ] + ], + "indices_raw": [ + 4, + 1, + 3, + 5, + 3, + 1, + 0, + 0, + 1, + 2, + 4, + 2, + 1, + 6, + 2, + 4, + 6, + 4, + 5, + 6, + 5, + 3, + 0, + 6, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.002589479088783264 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439664712175727 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9935203194618225, + -0.05519557371735573, + 0.09935203194618225, + 0.00149308773688972 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.004489677492529154 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.9669876098632812, + -0.08058230578899384, + 0.2417469024658203, + -0.0029514108318835497 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0029623471200466156 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.00402060616761446 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.554436981678009, + 0.030802056193351746, + 0.8316554427146912, + -0.003179670311510563 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 3, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 6, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.002645079977810383 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005481841508299112 + ], + [ + 0.0006617542239837348, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + 0.005481841508299112 + ] + ], + "indices_raw": [ + 4, + 1, + 0, + 3, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 3, + 2, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.09053570032119751, + 0.0, + 0.9958932399749756, + -0.005876006092876196 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9985359311103821, + 0.0, + 0.05409111827611923, + -0.0009195960592478514 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.08996749669313431, + 0.11185961961746216, + -0.9896429181098938, + 0.005177837796509266 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.13128377497196198, + 0.0, + -0.9913448095321655, + 0.004830181133002043 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0006617542239837348, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.002984528196975589, + -0.008272026665508747, + 0.012078770436346531 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 3, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071066498756409, + 0.0, + 0.7071069478988647, + -0.007464918773621321 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.8903087377548218, + 0.0, + 0.4553573429584503, + -0.008157309144735336 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272027596831322 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06807220727205276, + -0.9976803660392761, + 0.012613847851753235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.002984528196975589, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.02849319949746132, + -0.0101632010191679, + 0.022502409294247627 + ], + [ + 0.02849319949746132, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.014309393242001534, + 0.010639716871082783, + 0.016828887164592743 + ], + [ + 0.04362259432673454, + 0.009694129228591919, + 0.018247267231345177 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.021556822583079338 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.020138442516326904 + ], + [ + 0.032275550067424774, + -0.010635994374752045, + 0.011155364103615284 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0011372686130926013 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0011372686130926013 + ], + [ + 0.04787773638963699, + -0.0030712971929460764, + 0.022975202649831772 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.022975202649831772 + ], + [ + 0.042677007615566254, + -0.009690406732261181, + 0.022502409294247627 + ], + [ + 0.040785834193229675, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.045986562967300415, + 0.007802954874932766, + 0.021556822583079338 + ], + [ + 0.04125862568616867, + 0.011112510226666927, + 0.02061123587191105 + ], + [ + 0.0388946570456028, + 0.011112510226666927, + 0.015410506166517735 + ], + [ + 0.030384374782443047, + -0.01110878773033619, + 0.02061123587191105 + ], + [ + 0.01336380559951067, + -0.010635994374752045, + 0.013046538457274437 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.021556822583079338 + ], + [ + 0.04362259432673454, + -0.009690406732261181, + 0.01872006058692932 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.011112510226666927, + 0.0139921260997653 + ], + [ + 0.030384374782443047, + 0.011585303582251072, + 0.02061123587191105 + ], + [ + 0.04125862568616867, + -0.010635994374752045, + 0.01966564916074276 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 11, + 2, + 1, + 10, + 1, + 12, + 13, + 2, + 11, + 14, + 4, + 15, + 14, + 15, + 13, + 14, + 13, + 11, + 16, + 15, + 4, + 16, + 4, + 9, + 17, + 12, + 1, + 5, + 4, + 14, + 5, + 14, + 11, + 5, + 11, + 10, + 8, + 7, + 17, + 18, + 18, + 17, + 1, + 0, + 19, + 10, + 12, + 19, + 12, + 20, + 21, + 0, + 3, + 22, + 9, + 8, + 18, + 0, + 21, + 22, + 21, + 3, + 6, + 5, + 10, + 6, + 10, + 19, + 6, + 19, + 20, + 6, + 20, + 7, + 23, + 15, + 16, + 16, + 9, + 22, + 23, + 23, + 22, + 3, + 23, + 3, + 2, + 23, + 2, + 13, + 23, + 13, + 15, + 24, + 12, + 17, + 24, + 17, + 7, + 24, + 7, + 20, + 24, + 20, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.5487039089202881, + -0.004039752297103405, + -0.8360070586204529, + -0.0084267258644104 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.37396830320358276, + 0.0, + 0.9274414777755737, + -0.010214114561676979 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.023618821054697037, + 0.000429434614488855, + 0.9997208714485168, + -0.02182772196829319 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.002438429743051529, + -0.07315284758806229, + 0.9973177313804626, + -0.02325499802827835 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.0, + 0.05546998977661133, + 0.9984602928161621, + -0.023057948797941208 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5628597140312195, + 0.8236973285675049, + 0.06864141672849655, + -0.0337909497320652 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.4977046549320221, + 0.8039843440055847, + 0.3254217803478241, + -0.03617624193429947 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.354749470949173, + 0.36319589614868164, + 0.8615344166755676, + -0.03771965578198433 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.37572842836380005, + 0.9108569622039795, + -0.17078568041324615, + -0.022103842347860336 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.5368949174880981, + 0.1193106472492218, + -0.8351699113845825, + -0.009337794035673141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.029399093240499496, + -0.8819714784622192, + 0.4703848958015442, + -0.020386122167110443 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.8450430035591125, + 0.3521014153957367, + -0.40240147709846497, + -0.0329335555434227 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.923076868057251, + 0.38461554050445557, + 0.0, + -0.04545026645064354 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.995893120765686, + -0.09053604304790497, + 0.0, + -0.04795917123556137 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.010436422191560268, + -0.9981001615524292, + -0.06072093918919563, + -0.00960158184170723 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + -0.15411591529846191, + -0.9452441930770874, + 0.28768303990364075, + -0.01174730435013771 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5368158221244812, + -0.4717472493648529, + 0.6994878649711609, + -0.043221279978752136 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6027487516403198, + -0.7835735082626343, + 0.150687113404274, + -0.03670748323202133 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.44721323251724243, + 0.0, + 0.8944272994995117, + -0.008652868680655956 + ] + }, + { + "index_base": 64, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.013363806530833244 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.544949471950531, + 0.7784987688064575, + 0.3113996982574463, + -0.005725621245801449 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9209275841712952, + -0.1782442033290863, + -0.34658530354499817, + -0.036676499992609024 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.9138116836547852, + -0.4061383605003357, + 0.0, + -0.04499860480427742 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7071066498756409, + -0.70710688829422, + 0.0, + -0.03769798204302788 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5571632385253906, + -0.06023363769054413, + -0.8282155394554138, + -0.009384348057210445 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.04342874884605408, + 0.99886155128479, + -0.01974034123122692, + -0.012484797276556492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.006421743426471949, + 0.9977375864982605, + -0.06692144274711609, + -0.010305847972631454 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.10371185094118118, + 0.9748918414115906, + 0.19705253839492798, + -0.012204693630337715 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.13333329558372498, + 0.9333333373069763, + 0.33333322405815125, + -0.013632111251354218 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8944272398948669, + 0.44721361994743347, + -0.01957983709871769 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.0420331209897995, + 0.966762125492096, + 0.2521987855434418, + -0.01767551153898239 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.06639426946640015, + -0.9560773968696594, + 0.2854956090450287, + -0.018522625789046288 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.0397564060986042, + -0.9983277320861816, + -0.04196507856249809, + -0.011433231644332409 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + 0.26032334566116333, + -0.9255942106246948, + -0.2747856676578522, + -0.015181360766291618 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + 0.40406110882759094, + -0.9091371893882751, + 0.10101522505283356, + -0.02832711488008499 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 11, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 12 + ], + [ + 13, + 2, + 11 + ], + [ + 14, + 4, + 15 + ], + [ + 14, + 15, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 9 + ], + [ + 17, + 12, + 1 + ], + [ + 5, + 4, + 14 + ], + [ + 5, + 14, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 8, + 7, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 18, + 17, + 1 + ], + [ + 18, + 1, + 0 + ], + [ + 19, + 10, + 12 + ], + [ + 19, + 12, + 20 + ], + [ + 21, + 0, + 3 + ], + [ + 22, + 9, + 8 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 0 + ], + [ + 22, + 0, + 21 + ], + [ + 22, + 21, + 3 + ], + [ + 6, + 5, + 10 + ], + [ + 6, + 10, + 19 + ], + [ + 6, + 19, + 20 + ], + [ + 6, + 20, + 7 + ], + [ + 23, + 15, + 16 + ], + [ + 16, + 9, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 23, + 22, + 3 + ], + [ + 23, + 3, + 2 + ], + [ + 23, + 2, + 13 + ], + [ + 23, + 13, + 15 + ], + [ + 24, + 12, + 17 + ], + [ + 24, + 17, + 7 + ], + [ + 24, + 7, + 20 + ], + [ + 24, + 20, + 12 + ] + ], + "raw_bounds": [ + [ + 0.01336380559951067, + -0.01110878773033619, + -0.0011372686130926013 + ], + [ + 0.04835053160786629, + 0.011585303582251072, + 0.022975202649831772 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0008200015290640295, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + -0.001765588647685945, + 0.004020606633275747, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0010711727663874626, + 0.004020606633275747, + 0.003117873566225171 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3, + 5, + 1, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 5, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + 0.7071067690849304, + -0.002784498268738389 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.3154498338699341, + 0.07009996473789215, + 0.9463495016098022, + -0.002894541248679161 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.19593016803264618, + -0.04354003816843033, + 0.9796508550643921, + -0.0030892454087734222 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.004020606633275747 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.8941512703895569, + 0.024837536737322807, + 0.44707563519477844, + -0.002451577689498663 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.1412079781293869, + -0.054914213716983795, + -0.9884557723999023, + 0.002149977022781968 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0021722863893955946 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 1, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0163560938090086 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.008163075894117355 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0059117809869349 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 3, + 6, + 0, + 2, + 7, + 1, + 0, + 7, + 0, + 6, + 5, + 7, + 5, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0560038685798645, + -0.99740070104599, + 0.04533645883202553, + -0.011155171319842339 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + -0.05872198939323425, + 0.0, + 0.9982743859291077, + -0.015543119050562382 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.05865586921572685, + -0.997148334980011, + -0.04748332127928734, + -0.009067608043551445 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.007690283004194498, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 7, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 2, + 3, + 5, + 6, + 4, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 8, + 0, + 4, + 6, + 8, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.46962231397628784, + -0.06403941661119461, + -0.8805418014526367, + -0.007981184870004654 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.013363804668188095 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.008752558380365372 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.00627190200611949 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.3159340023994446, + 0.04308191314339638, + -0.9478026032447815, + -0.002936009783297777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 4 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 0, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.004380727186799049 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.015883298590779305 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.19611606001853943, + 0.0, + -0.9805806875228882, + 0.013188702054321766 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0003472079406492412 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0027111757081001997 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0033423160202801228 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.009736983105540276 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + -0.0022383821196854115, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + -0.001765588647685945, + 0.0011838451027870178, + -0.0020828559063374996 + ], + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.00019168150902260095 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 4, + 8, + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 7, + 0, + 3, + 9, + 7, + 6, + 8, + 9, + 8, + 4, + 5, + 9, + 5, + 1, + 0, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0015439663548022509 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0021722863893955946 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.14142130315303802, + 0.0, + -0.9899495244026184, + -0.0023116141092032194 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8944272398948669, + 0.0, + -0.4472135901451111, + -0.0025106719695031643 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9805806875228882, + 0.0, + 0.1961161345243454, + -0.002620934508740902 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0011838451027870178 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 7, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.012100951746106148 + ], + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.0029623471200466156, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 3, + 2, + 1, + 6, + 1, + 0, + 7, + 1, + 6, + 7, + 4, + 3, + 1, + 8, + 6, + 0, + 8, + 0, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00973698403686285 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.16299529373645782, + 0.13039623200893402, + 0.9779720902442932, + -0.010349966585636139 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9792319536209106, + 0.19947320222854614, + 0.03626780956983566, + 0.003649023361504078 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0035900697112083435 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.880450963973999, + 0.4402254819869995, + -0.17609013617038727, + 0.007964345626533031 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 1, + 6 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 8, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.017279790714383125, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_029.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_029.json new file mode 100644 index 0000000000000000000000000000000000000000..a51ebad00657713e864e0d92625dee9407caf088 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_029.json @@ -0,0 +1,1354 @@ +{ + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3782900390215218, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026940000243484974, + -0.018400000408291817, + -0.002956999931484461 + ], + [ + 0.034749001264572144, + -0.011500000022351742, + -0.017650000751018524 + ], + [ + 0.0018619999755173922, + -0.018400000408291817, + 0.003539999946951866 + ], + [ + -0.007480999920517206, + -0.003100000089034438, + -0.010386000387370586 + ], + [ + 0.020020000636577606, + -0.009317000396549702, + -0.0218339990824461 + ], + [ + -0.0034580000210553408, + -0.018400000408291817, + 0.002010999945923686 + ], + [ + -0.007565999869257212, + -0.003100000089034438, + 0.010324000380933285 + ], + [ + -0.012679999694228172, + -0.003100000089034438, + 0.001749000046402216 + ], + [ + -0.010701999999582767, + 0.003100000089034438, + 0.007021999917924404 + ], + [ + -0.012784999795258045, + 0.003100000089034438, + -0.0006089999806135893 + ], + [ + 0.03127700090408325, + -0.011500000022351742, + -0.02252800017595291 + ], + [ + 0.03247499838471413, + -0.0071000000461936, + -0.024327000603079796 + ], + [ + -0.009686999954283237, + 0.003100000089034438, + -0.008365999907255173 + ], + [ + -0.002320999978110194, + 0.018400000408291817, + -0.0032579998951405287 + ], + [ + 0.01777699962258339, + 0.010436000302433968, + -0.020383000373840332 + ], + [ + 0.03258199989795685, + -0.005601000040769577, + -0.011509999632835388 + ], + [ + 0.007480999920517206, + -0.003100000089034438, + 0.010386000387370586 + ], + [ + -5.199999941396527e-05, + -0.003100000089034438, + 0.012799999676644802 + ], + [ + 0.0033710000570863485, + 0.003100000089034438, + 0.012347999960184097 + ], + [ + -0.004530000034719706, + 0.003100000089034438, + 0.011970999650657177 + ], + [ + -0.0024349999148398638, + 0.018400000408291817, + 0.003172999946400523 + ], + [ + 0.03617699816823006, + -0.00803999975323677, + -0.021151000633835793 + ], + [ + 0.0020359999034553766, + 0.018400000408291817, + 0.00344299990683794 + ], + [ + 0.03437599912285805, + 0.009318999946117401, + -0.01423100009560585 + ], + [ + 0.03303299844264984, + 0.012000000104308128, + -0.017819000408053398 + ], + [ + 0.03564000129699707, + 0.009999999776482582, + -0.02071000076830387 + ], + [ + 0.03685100004076958, + 0.0071000000461936, + -0.01864900067448616 + ], + [ + -0.011285999789834023, + -0.003100000089034438, + -0.006039000116288662 + ], + [ + 0.03635299950838089, + -0.0071000000461936, + -0.016155999153852463 + ], + [ + -0.003978999797254801, + 0.018400000408291817, + -0.00041000000783242285 + ], + [ + 0.02185700088739395, + 0.0071000000461936, + -0.022856000810861588 + ], + [ + 0.03161099925637245, + 0.009469999931752682, + -0.024010999128222466 + ], + [ + 0.034717999398708344, + 0.007215000223368406, + -0.023137999698519707 + ], + [ + 0.03087400086224079, + 0.012000000104308128, + -0.020850999280810356 + ], + [ + 0.007790999952703714, + 0.003100000089034438, + 0.010223999619483948 + ] + ], + "indices_raw": [ + 22, + 20, + 19, + 18, + 0, + 1, + 2, + 3, + 4, + 0, + 5, + 6, + 7, + 5, + 7, + 0, + 5, + 0, + 2, + 8, + 9, + 7, + 8, + 7, + 6, + 10, + 4, + 11, + 10, + 1, + 0, + 10, + 0, + 4, + 12, + 13, + 14, + 15, + 16, + 2, + 15, + 2, + 1, + 17, + 6, + 5, + 17, + 5, + 2, + 17, + 2, + 16, + 17, + 16, + 18, + 19, + 20, + 8, + 19, + 8, + 6, + 19, + 6, + 17, + 19, + 17, + 18, + 21, + 1, + 10, + 21, + 10, + 11, + 22, + 23, + 24, + 22, + 24, + 13, + 25, + 24, + 23, + 25, + 23, + 26, + 27, + 7, + 9, + 27, + 9, + 12, + 27, + 12, + 3, + 27, + 3, + 0, + 27, + 0, + 7, + 28, + 26, + 23, + 28, + 23, + 15, + 28, + 15, + 1, + 28, + 1, + 21, + 28, + 21, + 26, + 29, + 20, + 22, + 13, + 29, + 13, + 12, + 29, + 12, + 9, + 29, + 9, + 8, + 29, + 8, + 20, + 30, + 14, + 31, + 30, + 31, + 11, + 30, + 11, + 4, + 30, + 4, + 3, + 30, + 3, + 12, + 14, + 32, + 31, + 25, + 32, + 25, + 26, + 21, + 32, + 21, + 11, + 32, + 11, + 31, + 33, + 13, + 24, + 33, + 24, + 25, + 33, + 25, + 31, + 33, + 31, + 14, + 33, + 14, + 13, + 34, + 16, + 15, + 34, + 15, + 23, + 34, + 23, + 22, + 34, + 22, + 18, + 34, + 18, + 16 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0451480895280838, + 0.5026227831840515, + 0.8633261919021606, + -0.012097529135644436 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1423136591911316, + -0.9847778677940369, + -0.09979698807001114, + -0.018031621351838112 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.4267512261867523, + -0.49956536293029785, + -0.7538686394691467, + -0.012570859864354134 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.7654424905776978, + -0.4535495340824127, + 0.45649829506874084, + -0.011910229921340942 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.8481484055519104, + -0.5134508013725281, + -0.1304318904876709, + -0.012118094600737095 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018400002270936966 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9613348245620728, + 0.08352024853229523, + 0.2624112665653229, + -0.012389769777655602 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8478571772575378, + -0.1595526933670044, + 0.505649209022522, + -0.012129822745919228 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1244775727391243, + -0.3462839722633362, + -0.92983478307724, + -0.0210363008081913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.14184698462486267, + -0.9847263693809509, + -0.10096204280853271, + -0.018035374581813812 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.18778613209724426, + -0.777571976184845, + -0.6000985503196716, + -0.01658771187067032 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.45617246627807617, + 0.47157031297683716, + -0.7546708583831787, + -0.01219438761472702 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.5400451421737671, + -0.5009511709213257, + 0.676313042640686, + -0.012617215514183044 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.5401402115821838, + -0.5034834146499634, + 0.6743537783622742, + -0.012657048180699348 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.2683568596839905, + -0.5145392417907715, + 0.8143918514251709, + -0.012033242732286453 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.23515890538692474, + -0.5246232748031616, + 0.8182119131088257, + -0.012111673131585121 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.26872482895851135, + -0.4739088714122772, + 0.8385686874389648, + -0.012188822962343693 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.3036837875843048, + -0.09857543557882309, + 0.9476597905158997, + -0.012419838458299637 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.5517596006393433, + 0.4712375998497009, + 0.6881107687950134, + -0.01219768263399601 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.6225250363349915, + 0.09859922528266907, + 0.7763638496398926, + -0.012419546954333782 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.31144073605537415, + -0.09856624156236649, + 0.9451398849487305, + -0.012419541366398335 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.047428809106349945, + 0.09865041077136993, + 0.9939911961555481, + -0.012419737875461578 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.598672091960907, + -0.678246021270752, + -0.4261152148246765, + -0.03612402081489563 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.5173730850219727, + -0.44077378511428833, + -0.7335146069526672, + -0.037775393575429916 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.450687438249588, + 0.7877478003501892, + 0.41992151737213135, + -0.016857948154211044 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.1407613307237625, + 0.9858041405677795, + -0.09152323007583618, + -0.01811026968061924 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7313763499259949, + 0.648559033870697, + 0.21085503697395325, + -0.028185034170746803 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8368046283721924, + 0.5030374526977539, + 0.2161276787519455, + -0.030378088355064392 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.9809271693229675, + -0.0833892971277237, + -0.17557938396930695, + -0.012389576062560081 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9240381121635437, + 0.09980206191539764, + -0.3690434694290161, + -0.012347961775958538 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + -0.7513985633850098, + -0.053065814077854156, + -0.657711386680603, + -0.012616708874702454 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6578575372695923, + -0.4854268431663513, + -0.5758334994316101, + -0.012406863272190094 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.8484349846839905, + -0.5070456266403198, + -0.15186411142349243, + -0.012064386159181595 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.8820446133613586, + 0.051294174045324326, + 0.46836555004119873, + -0.024133868515491486 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.7794872522354126, + 0.020454086363315582, + 0.6260839700698853, + -0.018076464533805847 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6194655895233154, + -0.44533371925354004, + 0.6464830040931702, + -0.015236725099384785 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.9353009462356567, + -0.3522794842720032, + 0.0333390012383461, + -0.035963550209999084 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.998820424079895, + -0.03988993912935257, + -0.02768711932003498, + -0.037040647119283676 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.018400000408291817 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + -0.7462656497955322, + 0.5043237805366516, + -0.4344480633735657, + -0.012427072040736675 + ] + }, + { + "index_base": 122, + "num_vertices": 3, + "plane": [ + -0.8173755407333374, + 0.47469088435173035, + -0.3264443278312683, + -0.01212049275636673 + ] + }, + { + "index_base": 125, + "num_vertices": 3, + "plane": [ + -0.8446415066719055, + 0.483139306306839, + 0.23055800795555115, + -0.012156063690781593 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.7889560461044312, + 0.5118223428726196, + 0.3399799168109894, + -0.012417396530508995 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.20466917753219604, + 0.4089396595954895, + -0.8893137574195862, + -0.018756171688437462 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.12061034142971039, + 0.01264103688299656, + -0.9926194548606873, + -0.020140882581472397 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.18927845358848572, + -0.03989730775356293, + -0.9811125993728638, + -0.018003981560468674 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.3869834840297699, + -0.014093653298914433, + -0.9219788908958435, + -0.012514389120042324 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + -0.42786476016044617, + 0.13876493275165558, + -0.8931270837783813, + -0.012046704068779945 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + 0.5293327569961548, + 0.4511655569076538, + -0.7185099720954895, + -0.0382574200630188 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + 0.8962570428848267, + 0.0331924632191658, + -0.4422913193702698, + -0.04151192680001259 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6451348066329956, + -0.03769935667514801, + -0.7631380558013916, + -0.03978327661752701 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.292805939912796, + 0.03349127247929573, + -0.9555851221084595, + -0.032517604529857635 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.1379530429840088, + 0.9855552911758423, + -0.09823238104581833, + -0.018134070560336113 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3793489933013916, + 0.8849450945854187, + -0.27012333273887634, + -0.027963705360889435 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.3395898640155792, + 0.7712914347648621, + -0.5383197665214539, + -0.030964501202106476 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.11380887776613235, + 0.7624368071556091, + -0.6369754672050476, + -0.018917083740234375 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.11918839067220688, + 0.8394197821617126, + -0.5302532911300659, + -0.017449526116251945 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.6565588116645813, + -0.013122377917170525, + 0.7541606426239014, + -0.01278510969132185 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.6690284013748169, + 0.0547332689166069, + 0.7412188053131104, + -0.01296029519289732 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5190467238426208, + 0.5018815994262695, + 0.6918854713439941, + -0.012673563323915005 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.37752199172973633, + 0.4901893436908722, + 0.7856153845787048, + -0.012492992915213108 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.4331280589103699, + 0.0018945846240967512, + 0.9013304710388184, + -0.012595577165484428 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 20, + 19 + ], + [ + 22, + 19, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 10, + 4, + 11 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 12, + 13, + 14 + ], + [ + 15, + 16, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 6, + 5 + ], + [ + 17, + 5, + 2 + ], + [ + 17, + 2, + 16 + ], + [ + 17, + 16, + 18 + ], + [ + 19, + 20, + 8 + ], + [ + 19, + 8, + 6 + ], + [ + 19, + 6, + 17 + ], + [ + 19, + 17, + 18 + ], + [ + 21, + 1, + 10 + ], + [ + 21, + 10, + 11 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 13 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 26 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 12 + ], + [ + 27, + 12, + 3 + ], + [ + 27, + 3, + 0 + ], + [ + 27, + 0, + 7 + ], + [ + 28, + 26, + 23 + ], + [ + 28, + 23, + 15 + ], + [ + 28, + 15, + 1 + ], + [ + 28, + 1, + 21 + ], + [ + 28, + 21, + 26 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 20 + ], + [ + 30, + 14, + 31 + ], + [ + 30, + 31, + 11 + ], + [ + 30, + 11, + 4 + ], + [ + 30, + 4, + 3 + ], + [ + 30, + 3, + 12 + ], + [ + 30, + 12, + 14 + ], + [ + 32, + 31, + 25 + ], + [ + 32, + 25, + 26 + ], + [ + 32, + 26, + 21 + ], + [ + 32, + 21, + 11 + ], + [ + 32, + 11, + 31 + ], + [ + 33, + 13, + 24 + ], + [ + 33, + 24, + 25 + ], + [ + 33, + 25, + 31 + ], + [ + 33, + 31, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 34, + 16, + 15 + ], + [ + 34, + 15, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 18 + ], + [ + 34, + 18, + 16 + ] + ], + "raw_bounds": [ + [ + -0.012784999795258045, + -0.018400000408291817, + -0.024327000603079796 + ], + [ + 0.03685100004076958, + 0.018400000408291817, + 0.012799999676644802 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.004688612651079893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_030.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_030.json new file mode 100644 index 0000000000000000000000000000000000000000..b260b81c2da232d408ed009bdce9ffc9bc9bb6a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_030.json @@ -0,0 +1,1337 @@ +{ + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4022866580635309, + "parts": [ + { + "vertices_raw": [ + [ + 0.004881000146269798, + -0.021114999428391457, + 0.0008929999894462526 + ], + [ + 0.00469100009649992, + 0.019923999905586243, + -0.0017300000181421638 + ], + [ + 0.0033489998895674944, + 0.02449999935925007, + 0.0021879998967051506 + ], + [ + -0.016958000138401985, + -0.020500000566244125, + 0.013813000172376633 + ], + [ + -0.0011149999918416142, + -0.020500000566244125, + 0.007065999787300825 + ], + [ + -0.00979200005531311, + 0.021794000640511513, + 0.011417999863624573 + ], + [ + 0.0015670000575482845, + -0.02500000037252903, + 0.0016840000171214342 + ], + [ + -0.024754999205470085, + -0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03359999880194664, + -0.02500000037252903, + 0.008762000128626823 + ], + [ + 0.0014359999913722277, + -0.023600000888109207, + -0.004265000112354755 + ], + [ + -0.03095399960875511, + 0.02449999935925007, + 0.013713999651372433 + ], + [ + -0.024754999205470085, + 0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03551800176501274, + 0.02449999935925007, + 0.009996999986469746 + ], + [ + -0.034042999148368835, + 0.020500000566244125, + 0.014074999839067459 + ], + [ + -0.0137320002540946, + -0.024035999551415443, + 0.01143999956548214 + ], + [ + 0.003662999952211976, + 0.02449999935925007, + -0.0016070000128820539 + ], + [ + -0.0006580000044777989, + 0.02449999935925007, + -0.003945999778807163 + ], + [ + -0.021220000460743904, + 0.020500000566244125, + 0.0145650003105402 + ], + [ + -0.031286999583244324, + -0.023600000888109207, + 0.014248000457882881 + ], + [ + -0.0340769998729229, + -0.021375000476837158, + 0.013964000158011913 + ], + [ + -0.03274000063538551, + 0.02449999935925007, + 0.005944000091403723 + ], + [ + -0.033351998776197433, + 0.021788999438285828, + 0.005282999947667122 + ], + [ + -0.03579099848866463, + -0.023600000888109207, + 0.011188000440597534 + ], + [ + 0.0043230000883340836, + -0.023600000888109207, + -0.0012489999644458294 + ], + [ + 0.0020200000144541264, + 0.020500000566244125, + -0.0045739999040961266 + ], + [ + -0.03513399884104729, + -0.023600000888109207, + 0.007065999787300825 + ], + [ + -0.036518000066280365, + -0.020500000566244125, + 0.010017000138759613 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + 0.005121000111103058 + ], + [ + -0.014038000255823135, + 0.02483000047504902, + 0.010449999943375587 + ], + [ + 0.0029899999499320984, + -0.023600000888109207, + 0.0033629999961704016 + ], + [ + -0.03604299947619438, + 0.020500000566244125, + 0.007612000219523907 + ], + [ + 0.00022200000239536166, + 0.020500000566244125, + 0.006147000007331371 + ], + [ + -0.0010679999832063913, + -0.020500000566244125, + -0.004885000176727772 + ], + [ + -0.036079999059438705, + 0.020500000566244125, + 0.011818000115454197 + ] + ], + "indices_raw": [ + 32, + 27, + 21, + 16, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 7, + 6, + 14, + 4, + 3, + 15, + 16, + 11, + 15, + 11, + 2, + 15, + 2, + 1, + 17, + 10, + 13, + 17, + 3, + 5, + 18, + 7, + 14, + 18, + 14, + 3, + 18, + 3, + 17, + 18, + 17, + 13, + 18, + 13, + 19, + 18, + 8, + 7, + 20, + 12, + 11, + 20, + 11, + 16, + 20, + 16, + 21, + 22, + 8, + 18, + 22, + 18, + 19, + 23, + 6, + 9, + 23, + 1, + 0, + 24, + 16, + 15, + 24, + 15, + 1, + 24, + 1, + 23, + 24, + 23, + 9, + 25, + 8, + 22, + 25, + 22, + 26, + 25, + 27, + 9, + 25, + 9, + 8, + 28, + 5, + 2, + 28, + 2, + 11, + 28, + 11, + 10, + 28, + 10, + 17, + 28, + 17, + 5, + 29, + 4, + 14, + 29, + 14, + 6, + 29, + 6, + 23, + 29, + 23, + 0, + 29, + 0, + 2, + 30, + 21, + 27, + 30, + 27, + 25, + 30, + 25, + 26, + 30, + 12, + 20, + 30, + 20, + 21, + 31, + 4, + 29, + 31, + 29, + 2, + 31, + 2, + 5, + 31, + 5, + 4, + 32, + 16, + 24, + 32, + 24, + 9, + 32, + 9, + 27, + 33, + 12, + 30, + 33, + 30, + 26, + 33, + 26, + 22, + 19, + 33, + 19, + 13, + 33, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2837983965873718, + 0.004008793272078037, + -0.9588755965232849, + -0.004486851394176483 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9538896679878235, + 0.023541664704680443, + 0.2992326617240906, + -0.004426068160682917 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.3917756676673889, + -0.014285339042544365, + 0.9199498891830444, + -0.006356386002153158 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.03416293114423752, + -0.9848969578742981, + -0.1697382926940918, + -0.024283049628138542 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.0458645299077034, + -0.9726089835166931, + -0.22787760198116302, + -0.02385961078107357 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.09076569974422455, + 0.9896164536476135, + 0.11144871264696121, + -0.028583571314811707 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5515294075012207, + 0.48703670501708984, + 0.677207887172699, + -0.03829167038202286 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.09394942224025726, + -0.9655330181121826, + 0.24273337423801422, + -0.024694306775927544 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.3792104721069336, + -0.25161007046699524, + 0.8904447555541992, + -0.011027069762349129 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.02012530155479908, + 0.9991059899330139, + -0.0371788889169693, + -0.024611562490463257 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.03638264909386635, + 0.999333381652832, + 0.0030103176832199097, + -0.024612098932266235 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.9729765057563782, + 0.216415673494339, + 0.08050452917814255, + -0.008736825548112392 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.03791423141956329, + 0.11882458627223969, + 0.9921911358833313, + -0.017691709101200104 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.2644491493701935, + 0.009802224114537239, + 0.9643497467041016, + -0.008635088801383972 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.05209881067276001, + -0.8847787976264954, + 0.4630899131298065, + -0.0258488729596138 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.12808160483837128, + -0.4694364368915558, + 0.873627245426178, + -0.019518854096531868 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.03354852646589279, + -0.014841711148619652, + 0.9993269443511963, + -0.013539042323827744 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.03818470984697342, + 0.0015337229706346989, + 0.9992694854736328, + -0.01539608184248209 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.10328322649002075, + -0.0025526918470859528, + 0.9946486353874207, + -0.01746341958642006 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.08969464898109436, + -0.9553270936012268, + 0.2816115617752075, + -0.02936439774930477 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.09299364686012268, + 0.9936243891716003, + -0.06373956799507141, + -0.027009541168808937 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.0475323349237442, + 0.9868972301483154, + -0.1541893184185028, + -0.02481869049370289 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.28220677375793457, + 0.28691232204437256, + -0.9154456257820129, + -0.010827393271028996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.22302483022212982, + -0.9178776741027832, + 0.3282690942287445, + -0.033316873013973236 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.48207712173461914, + -0.5139225721359253, + 0.7095668911933899, + -0.03732122853398323 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.23763298988342285, + -0.9443454742431641, + -0.22746899724006653, + -0.023597950115799904 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.9706486463546753, + -0.01086210273206234, + -0.24025662243366241, + -0.004752540495246649 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.43300625681877136, + 0.41548582911491394, + -0.7999231815338135, + -0.013050980865955353 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7348579168319702, + 0.1826428771018982, + -0.6531657576560974, + -0.008216172456741333 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.7274712920188904, + -0.013732098042964935, + -0.686000645160675, + -0.004325751215219498 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.7223119139671326, + -0.014409931376576424, + -0.6914172768592834, + -0.0043262094259262085 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6101171970367432, + -0.786320686340332, + -0.09724568575620651, + -0.03930589184165001 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.9481901526451111, + -0.27945470809936523, + -0.15113064646720886, + -0.03884095326066017 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.2715010344982147, + -0.39808598160743713, + -0.8762503862380981, + -0.012742162682116032 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + -0.16558584570884705, + -0.8288426995277405, + -0.5344165563583374, + -0.021602194756269455 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.3284822404384613, + 0.6712574362754822, + 0.6644644141197205, + -0.018999742344021797 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.05786185339093208, + 0.9949489831924438, + 0.08202731609344482, + -0.024749504402279854 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.04252167418599129, + 0.9477416276931763, + 0.3161925673484802, + -0.02623971924185753 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.14933736622333527, + 0.5396801829338074, + 0.8285189867019653, + -0.0199618861079216 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.17383377254009247, + 0.5114371180534363, + 0.8415545225143433, + -0.01905294880270958 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.40118324756622314, + -0.4329771101474762, + 0.8072068691253662, + -0.014132436364889145 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.2549504041671753, + -0.8379132747650146, + 0.48259902000427246, + -0.022160036489367485 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.5830668807029724, + -0.79475337266922, + 0.16852304339408875, + -0.021066294983029366 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8744012713432312, + -0.4141877293586731, + 0.25272703170776367, + -0.013239211402833462 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7895487546920776, + 0.009096799418330193, + 0.6136204600334167, + -0.004209672100841999 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.6554164290428162, + 0.003668168094009161, + -0.7552587389945984, + -0.017949342727661133 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.7412555813789368, + -0.006969014648348093, + -0.6711868047714233, + -0.021465137600898743 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.9107304215431213, + -0.013661650940775871, + -0.41277554631233215, + -0.02940334752202034 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.7534950971603394, + 0.4068348705768585, + -0.5164594650268555, + -0.0315670520067215 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.7028453350067139, + 0.3142618238925934, + -0.6381598114967346, + -0.02691735327243805 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.6676843166351318, + -0.005086960736662149, + 0.7444272041320801, + -0.004619937390089035 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.7800334692001343, + 0.009462078101933002, + 0.6256662607192993, + -0.004213110543787479 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.46558624505996704, + 0.4115085005760193, + 0.7835114002227783, + -0.013355529867112637 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.46624213457107544, + 0.004624944180250168, + 0.8846451044082642, + -0.005636231042444706 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + -0.1966385543346405, + 0.022245602682232857, + -0.9802235960960388, + -0.004542367532849312 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.2288264036178589, + -0.009850801900029182, + -0.9734174013137817, + -0.004712698981165886 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.2715972363948822, + -0.39491158723831177, + -0.8776558041572571, + -0.01267310418188572 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.9907751083374023, + 0.13523544371128082, + -0.008715703152120113, + -0.03841649368405342 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9999001026153564, + 0.011068263091146946, + -0.008795978501439095, + -0.03619934618473053 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + -0.8549159169197083, + -0.013646861538290977, + 0.5185871124267578, + -0.03669426590204239 + ] + }, + { + "index_base": 182, + "num_vertices": 3, + "plane": [ + -0.7423605918884277, + -0.0011732283746823668, + 0.6699994206428528, + -0.034678373485803604 + ] + }, + { + "index_base": 185, + "num_vertices": 3, + "plane": [ + -0.6870352029800415, + 0.3788135051727295, + 0.6200668215751648, + -0.039881862699985504 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 32, + 27, + 21 + ], + [ + 32, + 21, + 16 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 4, + 3 + ], + [ + 15, + 16, + 11 + ], + [ + 15, + 11, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 10, + 13 + ], + [ + 17, + 3, + 5 + ], + [ + 18, + 7, + 14 + ], + [ + 18, + 14, + 3 + ], + [ + 18, + 3, + 17 + ], + [ + 18, + 17, + 13 + ], + [ + 18, + 13, + 19 + ], + [ + 18, + 8, + 7 + ], + [ + 20, + 12, + 11 + ], + [ + 20, + 11, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 19 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 16, + 15 + ], + [ + 24, + 15, + 1 + ], + [ + 24, + 1, + 23 + ], + [ + 24, + 23, + 9 + ], + [ + 25, + 8, + 22 + ], + [ + 25, + 22, + 26 + ], + [ + 25, + 27, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 28, + 5, + 2 + ], + [ + 28, + 2, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 17 + ], + [ + 28, + 17, + 5 + ], + [ + 29, + 4, + 14 + ], + [ + 29, + 14, + 6 + ], + [ + 29, + 6, + 23 + ], + [ + 29, + 23, + 0 + ], + [ + 29, + 0, + 2 + ], + [ + 30, + 21, + 27 + ], + [ + 30, + 27, + 25 + ], + [ + 30, + 25, + 26 + ], + [ + 30, + 12, + 20 + ], + [ + 30, + 20, + 21 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 2 + ], + [ + 31, + 2, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 16, + 24 + ], + [ + 32, + 24, + 9 + ], + [ + 32, + 9, + 27 + ], + [ + 33, + 12, + 30 + ], + [ + 33, + 30, + 26 + ], + [ + 33, + 26, + 22 + ], + [ + 33, + 22, + 19 + ], + [ + 33, + 19, + 13 + ], + [ + 33, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.036518000066280365, + -0.025499999523162842, + -0.004885000176727772 + ], + [ + 0.004881000146269798, + 0.025499999523162842, + 0.0145650003105402 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.003941190894693136, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_031.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_031.json new file mode 100644 index 0000000000000000000000000000000000000000..324b54d494363a4c04a29f50ee3cd7dfc618aa8b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_031.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4852591627277434, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + 0.005249989219009876, + -0.02026689052581787 + ], + [ + 0.016393516212701797, + -0.005355285946279764, + -0.020274700596928596 + ], + [ + -0.010551173239946365, + 0.001936863991431892, + -0.0015893022064119577 + ], + [ + 0.021058708429336548, + 0.004999947268515825, + -0.019783440977334976 + ], + [ + -0.0038393354043364525, + 0.00549997016787529, + -0.002347175031900406 + ], + [ + -0.004447362385690212, + 0.005432975012809038, + 0.0016682108398526907 + ], + [ + 0.0016016149893403053, + 0.005432975012809038, + 0.004471834748983383 + ], + [ + 0.021798528730869293, + 0.004999947268515825, + -0.012355390004813671 + ], + [ + 0.023115016520023346, + 0.004999947268515825, + -0.015911880880594254 + ], + [ + -0.004105887375771999, + -0.005463290028274059, + -0.0022624770645052195 + ], + [ + 0.022002436220645905, + -0.005192446056753397, + -0.018826300278306007 + ], + [ + 0.022146016359329224, + -0.005355285946279764, + -0.013035180978477001 + ], + [ + 0.0021148710511624813, + -0.0053552258759737015, + 0.004366633482277393 + ], + [ + -0.0035197939723730087, + -0.0053552258759737015, + 0.003339346731081605 + ], + [ + 0.012750902213156223, + -0.004999982658773661, + -0.0036200531758368015 + ], + [ + 0.014267423190176487, + 0.004999947268515825, + -0.0049940370954573154 + ], + [ + -0.0013361778110265732, + -0.004999982658773661, + 0.004818137735128403 + ], + [ + -0.0021025147289037704, + 0.004999947268515825, + 0.004536387510597706 + ], + [ + 0.019002286717295647, + -0.004999982658773661, + -0.0206608809530735 + ], + [ + 0.023111678659915924, + -0.004999982658773661, + -0.015489219687879086 + ], + [ + -0.004848381504416466, + -0.0053552258759737015, + 0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + 0.9995930790901184, + 0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + -0.01206897757947445, + -0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + -0.4508727192878723, + -0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + -0.9999979734420776, + -0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + 0.037696633487939835, + -0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + 0.7347155213356018, + -0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + 0.01986261084675789, + 0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + -0.008559993468225002, + 0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + 0.979090690612793, + 0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + -0.003514686366543174, + 0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + 0.029233338311314583, + 0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + -0.9484537839889526, + 0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + -0.002508311765268445, + -0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + 0.06626430153846741, + -0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + -0.03201968967914581, + -0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + -0.9626887440681458, + -0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + -0.9626891016960144, + -0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + -0.013617747463285923, + -0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + 0.008036171086132526, + 0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + 0.5307285189628601, + 0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + 0.9659310579299927, + 0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + 0.8791415095329285, + -0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + -0.015754459425807, + 0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + -0.9361693859100342, + 0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + -0.9978163838386536, + 0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + -0.5309804081916809, + 0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + -0.6332581043243408, + -0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.005463290028274059, + -0.0206608809530735 + ], + [ + 0.023115016520023346, + 0.00549997016787529, + 0.004818137735128403 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.007088662125170231, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_032.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_032.json new file mode 100644 index 0000000000000000000000000000000000000000..5300ebdb4e3d01d4be4f728bfd917b70ea96f0d6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_032.json @@ -0,0 +1,1205 @@ +{ + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5699186767451465, + "parts": [ + { + "vertices_raw": [ + [ + 0.028950780630111694, + -0.029400473460555077, + -0.02203785441815853 + ], + [ + 0.036072637885808945, + -0.026561623439192772, + -0.020194698125123978 + ], + [ + 0.035480648279190063, + -0.02661014348268509, + -0.013627173379063606 + ], + [ + -0.00460543017834425, + -0.009999943897128105, + 0.001946689561009407 + ], + [ + 3.609992563724518e-05, + -0.009999943897128105, + 0.00499982014298439 + ], + [ + -0.0035099005326628685, + 0.009999975562095642, + 0.003560960292816162 + ], + [ + 0.008276081643998623, + 0.01903347671031952, + 0.004414379596710205 + ], + [ + -0.0046807704493403435, + 0.0189999770373106, + -0.008486798964440823 + ], + [ + -0.0036362605169415474, + 0.0189999770373106, + -0.013943399302661419 + ], + [ + -0.004708371125161648, + -0.018999943509697914, + -0.012313536368310452 + ], + [ + 0.01342473179101944, + 0.029035257175564766, + -0.013558654114603996 + ], + [ + 0.015564174391329288, + 0.02856985665857792, + -0.000364840030670166 + ], + [ + 0.023319818079471588, + 0.030190685763955116, + -0.01600485108792782 + ], + [ + 0.026709288358688354, + -0.029557593166828156, + -0.007937004789710045 + ], + [ + 0.02281275950372219, + -0.030186964198946953, + -0.015777219086885452 + ], + [ + 0.012838222086429596, + -0.028245043009519577, + -0.016035547479987144 + ], + [ + 0.010475315153598785, + 0.025810696184635162, + 0.002504950389266014 + ], + [ + 0.028200238943099976, + 0.02951512672007084, + -0.009176663123071194 + ], + [ + 0.03589693084359169, + 0.02626756578683853, + -0.013896823860704899 + ], + [ + 0.02922419086098671, + 0.029354676604270935, + -0.02211921289563179 + ], + [ + 0.03862079977989197, + -0.02263910323381424, + -0.022213149815797806 + ], + [ + 0.03854474797844887, + 0.02276269719004631, + -0.022212615236639977 + ], + [ + 0.04762116074562073, + -0.0003336999798193574, + -0.02146296575665474 + ], + [ + -0.0020220493897795677, + -0.018999943509697914, + -0.015038898214697838 + ], + [ + 0.007897652685642242, + -0.01619626395404339, + 0.004695599898695946 + ], + [ + 0.009390807710587978, + -0.023656973615288734, + 0.003474060446023941 + ], + [ + 0.012203431688249111, + -0.027437103912234306, + 0.0014214599505066872 + ], + [ + -0.0046807704493403435, + -0.018999943509697914, + -0.008486798964440823 + ], + [ + 0.04063883796334267, + -0.019555572420358658, + -0.017124822363257408 + ], + [ + 0.04063883796334267, + 0.019555605947971344, + -0.017124822363257408 + ], + [ + 0.03459319844841957, + 0.027717577293515205, + -0.020184028893709183 + ], + [ + 0.012706197798252106, + 0.028179867193102837, + -0.016031434759497643 + ], + [ + 0.017847036942839622, + -0.029356664046645164, + -0.002421730197966099 + ], + [ + 0.034339819103479385, + -0.027275454252958298, + -0.022182276472449303 + ] + ], + "indices_raw": [ + 6, + 24, + 25, + 26, + 13, + 2, + 22, + 18, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 3, + 5, + 10, + 8, + 7, + 10, + 11, + 12, + 13, + 14, + 0, + 13, + 0, + 2, + 15, + 0, + 14, + 16, + 11, + 10, + 7, + 16, + 7, + 5, + 16, + 5, + 6, + 16, + 6, + 11, + 17, + 11, + 18, + 17, + 19, + 12, + 17, + 12, + 11, + 20, + 21, + 22, + 23, + 8, + 19, + 0, + 23, + 0, + 15, + 23, + 15, + 9, + 23, + 9, + 8, + 24, + 6, + 4, + 27, + 3, + 7, + 9, + 27, + 9, + 15, + 26, + 28, + 2, + 1, + 28, + 1, + 20, + 28, + 20, + 22, + 28, + 22, + 2, + 29, + 22, + 21, + 29, + 21, + 18, + 29, + 18, + 22, + 30, + 18, + 21, + 30, + 21, + 19, + 30, + 19, + 17, + 30, + 17, + 18, + 31, + 8, + 10, + 31, + 10, + 12, + 19, + 31, + 19, + 8, + 25, + 24, + 4, + 25, + 4, + 3, + 25, + 3, + 27, + 25, + 27, + 26, + 32, + 14, + 13, + 32, + 13, + 26, + 32, + 26, + 15, + 32, + 15, + 14, + 21, + 20, + 33, + 0, + 19, + 33, + 20, + 1, + 33, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 9, + "plane": [ + 0.5554140210151672, + 0.0006718943477608263, + 0.8315737247467041, + -0.008280322887003422 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.3643476068973541, + -0.930901050567627, + 0.02596452087163925, + -0.03734487667679787 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.5491702556610107, + -0.03730444982647896, + 0.8348774909973145, + -0.004527455195784569 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.11144143342971802, + 0.05163991078734398, + 0.9924284219741821, + -0.004441544413566589 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9819781184196472, + 0.019642703235149384, + -0.1879715919494629, + -0.006564902141690254 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9906697869300842, + 0.04385059326887131, + 0.12903651595115662, + -0.004375150892883539 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.503027617931366, + 0.858889639377594, + -0.09629024565219879, + -0.019490636885166168 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.10318870842456818, + 0.9933136105537415, + 0.05177085101604462, + -0.026753893122076988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.13802313804626465, + -0.9903689622879028, + 0.010905110277235508, + -0.032872870564460754 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.3438694477081299, + -0.9379761219024658, + 0.04421054199337959, + -0.03655792772769928 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.17561694979667664, + -0.940667986869812, + -0.2903486490249634, + -0.028970498591661453 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.4611877501010895, + 0.8818241357803345, + 0.09844843298196793, + -0.01807783916592598 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.630448579788208, + 0.591249406337738, + 0.5029498934745789, + -0.0099162757396698 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.3350372314453125, + 0.35465607047080994, + 0.8729084134101868, + -0.007830891758203506 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.44392943382263184, + 0.10660851746797562, + 0.889697253704071, + -0.009630588814616203 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.5595239400863647, + 0.13832393288612366, + 0.8171899914741516, + -0.012362278997898102 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.13888423144817352, + 0.9903077483177185, + -0.0012890974758192897, + -0.033157456666231155 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.003859607269987464, + 0.9948599338531494, + 0.10118690133094788, + -0.028326019644737244 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08269260078668594, + 0.00015025108586996794, + -0.9965750575065613, + -0.025327324867248535 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.2312798649072647, + -0.00027092683012597263, + -0.9728872776031494, + -0.014752579852938652 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.3391564190387726, + -0.4564746022224426, + -0.8225593566894531, + -0.02172916941344738 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + -0.4865109920501709, + -0.7303057909011841, + -0.47954192757606506, + -0.022071298211812973 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + -0.7121536731719971, + -0.010015242733061314, + -0.7019522190093994, + -0.012186886742711067 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.04456556588411331, + 0.007495600264519453, + 0.998978316783905, + -0.004921365063637495 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9999739527702332, + -5.147759907231375e-07, + 0.00721751106902957, + -0.004619385115802288 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.4626477062702179, + -0.8863064050674438, + 0.020445959642529488, + -0.01876632682979107 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.8214462399482727, + -0.5659905076026917, + 0.06986282020807266, + -0.04325450211763382 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.8381461501121521, + -0.545442521572113, + -0.00187135289888829, + -0.04475977271795273 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9195113778114319, + -0.3662273585796356, + -0.1427454799413681, + -0.046974148601293564 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5914568305015564, + -0.03301825746893883, + 0.8056604266166687, + -0.010885016992688179 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.921284019947052, + 0.3570431172847748, + -0.1541299670934677, + -0.047061555087566376 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.8213423490524292, + 0.5700390338897705, + 0.021267056465148926, + -0.04416166618466377 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.5942230820655823, + 0.03332866355776787, + 0.8036093711853027, + -0.01103863026946783 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.7783727049827576, + 0.6275811195373535, + -0.016667159274220467, + -0.04465784132480621 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.4266154170036316, + 0.6126290559768677, + -0.6653458476066589, + -0.0451679490506649 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.2880397439002991, + 0.9575562477111816, + 0.01091738697141409, + -0.036284998059272766 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.44422733783721924, + 0.8887767791748047, + 0.11286143958568573, + -0.03772398456931114 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.49871116876602173, + 0.8536246418952942, + -0.15037348866462708, + -0.0201290100812912 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + -0.18242937326431274, + 0.9379465579986572, + -0.29491662979125977, + -0.028783127665519714 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.34054145216941833, + 0.41426199674606323, + -0.8440488576889038, + -0.020878177136182785 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.10489723086357117, + -0.18109753727912903, + 0.97785484790802, + -0.0066962772980332375 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.4974029064178467, + -0.4251880347728729, + 0.7561782002449036, + -0.00801465567201376 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.6283305883407593, + -0.5868178606033325, + 0.5107303261756897, + -0.009756111539900303 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.5935026407241821, + -0.6775025129318237, + 0.4344478249549866, + -0.011963488534092903 + ] + }, + { + "index_base": 143, + "num_vertices": 3, + "plane": [ + 0.020784344524145126, + -0.9973492622375488, + 0.06973227113485336, + -0.029480915516614914 + ] + }, + { + "index_base": 146, + "num_vertices": 3, + "plane": [ + 0.5194249749183655, + -0.15523900091648102, + 0.8402966856956482, + -0.01179252564907074 + ] + }, + { + "index_base": 149, + "num_vertices": 3, + "plane": [ + -0.3015376627445221, + -0.9528783559799194, + 0.033135946840047836, + -0.022511528804898262 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + -0.19084253907203674, + -0.9815703630447388, + -0.009933975525200367, + -0.02543371543288231 + ] + }, + { + "index_base": 155, + "num_vertices": 5, + "plane": [ + -0.012869753874838352, + -9.784484063857235e-06, + -0.9999171495437622, + -0.02171449363231659 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.6820499300956726, + -0.6322193145751953, + -0.3675685524940491, + -0.04881905019283295 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3671211302280426, + -0.9300682544708252, + 0.013965248130261898, + -0.03766512870788574 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 24, + 25 + ], + [ + 6, + 25, + 26 + ], + [ + 6, + 26, + 13 + ], + [ + 6, + 13, + 2 + ], + [ + 6, + 2, + 22 + ], + [ + 6, + 22, + 18 + ], + [ + 6, + 18, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 3, + 5 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 0 + ], + [ + 13, + 0, + 2 + ], + [ + 15, + 0, + 14 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 7 + ], + [ + 16, + 7, + 5 + ], + [ + 16, + 5, + 6 + ], + [ + 16, + 6, + 11 + ], + [ + 17, + 11, + 18 + ], + [ + 17, + 19, + 12 + ], + [ + 17, + 12, + 11 + ], + [ + 20, + 21, + 22 + ], + [ + 23, + 8, + 19 + ], + [ + 23, + 19, + 0 + ], + [ + 23, + 0, + 15 + ], + [ + 23, + 15, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 24, + 6, + 4 + ], + [ + 27, + 3, + 7 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 26 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 20 + ], + [ + 28, + 20, + 22 + ], + [ + 28, + 22, + 2 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 18 + ], + [ + 29, + 18, + 22 + ], + [ + 30, + 18, + 21 + ], + [ + 30, + 21, + 19 + ], + [ + 30, + 19, + 17 + ], + [ + 30, + 17, + 18 + ], + [ + 31, + 8, + 10 + ], + [ + 31, + 10, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 8 + ], + [ + 25, + 24, + 4 + ], + [ + 25, + 4, + 3 + ], + [ + 25, + 3, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 32, + 14, + 13 + ], + [ + 32, + 13, + 26 + ], + [ + 32, + 26, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 21, + 20, + 33 + ], + [ + 21, + 33, + 0 + ], + [ + 21, + 0, + 19 + ], + [ + 33, + 20, + 1 + ], + [ + 33, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.004708371125161648, + -0.030186964198946953, + -0.022213149815797806 + ], + [ + 0.04762116074562073, + 0.030190685763955116, + 0.00499982014298439 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0077462210319936275, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_033.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_033.json new file mode 100644 index 0000000000000000000000000000000000000000..611c0d2739e99195d2cadb36474bc2ab29a57f9b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_033.json @@ -0,0 +1,1157 @@ +{ + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5802017208188772, + "parts": [ + { + "vertices_raw": [ + [ + -0.03767168149352074, + 0.09650573134422302, + 0.014735303819179535 + ], + [ + -0.03753133490681648, + 0.09698597341775894, + -0.014421169646084309 + ], + [ + -0.03661573305726051, + 0.09527143836021423, + -0.01879185065627098 + ], + [ + -0.034779854118824005, + 0.09137185662984848, + -0.020802000537514687 + ], + [ + -0.021914299577474594, + 0.06519405543804169, + -0.02122657373547554 + ], + [ + -0.020080070942640305, + 0.061217326670885086, + -0.019269099459052086 + ], + [ + -0.019147761166095734, + 0.05934629589319229, + -0.014922774396836758 + ], + [ + -0.01931137964129448, + 0.058817893266677856, + 0.01316662598401308 + ], + [ + -0.019975878298282623, + 0.06008939445018768, + 0.017974872142076492 + ], + [ + -0.022129513323307037, + 0.06443091481924057, + 0.02065662480890751 + ], + [ + -0.034905146807432175, + 0.09065797179937363, + 0.021039104089140892 + ], + [ + -0.03684298321604729, + 0.09460142999887466, + 0.01909629814326763 + ], + [ + -0.0185614712536335, + 0.10603322088718414, + -0.01376466266810894 + ], + [ + -0.019768960773944855, + 0.10518085211515427, + 0.01536810677498579 + ], + [ + -0.0009347088634967804, + 0.06784257292747498, + 0.014088981784880161 + ], + [ + -0.002319570630788803, + 0.06930460780858994, + 0.018848489969968796 + ], + [ + -0.0038556810468435287, + 0.0735592171549797, + -0.020943578332662582 + ], + [ + -0.0011909287422895432, + 0.07055708765983582, + -0.018871286883950233 + ], + [ + -0.001280520111322403, + 0.06811586022377014, + -0.015071212314069271 + ], + [ + -0.016476746648550034, + 0.1006716638803482, + -0.020503150299191475 + ], + [ + -0.01899762824177742, + 0.1045217514038086, + -0.017856653779745102 + ], + [ + 0.0002458672970533371, + 0.07052523642778397, + 0.014631884172558784 + ], + [ + -0.001897316426038742, + 0.0741482824087143, + 0.019543873146176338 + ], + [ + -0.0019694045186042786, + 0.07538348436355591, + -0.019619109109044075 + ], + [ + -0.013884440064430237, + 0.10087498277425766, + -0.01761234924197197 + ], + [ + -9.277835488319397e-05, + 0.07255181670188904, + -0.016040176153182983 + ], + [ + -0.01627231389284134, + 0.1046389788389206, + -0.01701454631984234 + ], + [ + -0.0039185453206300735, + 0.07377190887928009, + 0.020894642919301987 + ], + [ + -0.016373246908187866, + 0.09929986298084259, + 0.021260028705000877 + ], + [ + -0.017505228519439697, + 0.10540067404508591, + 0.014583573676645756 + ], + [ + -0.016749873757362366, + 0.10373673588037491, + 0.018729232251644135 + ], + [ + 0.000268787145614624, + 0.06975561380386353, + -0.014235044829547405 + ], + [ + -0.018299859017133713, + 0.10202805697917938, + 0.020425621420145035 + ], + [ + -0.014566615223884583, + 0.10011439770460129, + 0.01997711881995201 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 1, + 0, + 13, + 8, + 7, + 14, + 8, + 14, + 15, + 8, + 15, + 9, + 16, + 17, + 5, + 14, + 7, + 6, + 18, + 18, + 5, + 17, + 3, + 19, + 16, + 4, + 4, + 16, + 5, + 0, + 11, + 13, + 20, + 1, + 12, + 6, + 5, + 18, + 2, + 1, + 20, + 2, + 20, + 19, + 2, + 19, + 3, + 21, + 22, + 15, + 21, + 15, + 14, + 23, + 24, + 25, + 23, + 25, + 17, + 23, + 17, + 16, + 23, + 16, + 19, + 23, + 19, + 24, + 26, + 24, + 19, + 26, + 19, + 20, + 26, + 20, + 12, + 27, + 28, + 10, + 9, + 27, + 9, + 15, + 27, + 15, + 22, + 29, + 12, + 13, + 29, + 13, + 30, + 29, + 24, + 26, + 29, + 26, + 12, + 31, + 25, + 21, + 31, + 21, + 14, + 31, + 14, + 18, + 31, + 18, + 17, + 31, + 17, + 25, + 32, + 11, + 10, + 32, + 10, + 28, + 32, + 30, + 13, + 32, + 13, + 11, + 33, + 30, + 32, + 28, + 33, + 28, + 27, + 22, + 33, + 22, + 21, + 25, + 24, + 33, + 24, + 29, + 33, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.8990454077720642, + -0.43770331144332886, + -0.011537112295627594, + 0.00854232907295227 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.4335254430770874, + 0.9010509848594666, + 0.012754587456583977, + -0.1034761592745781 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.4108380377292633, + -0.8657787442207336, + 0.28572574257850647, + 0.055095087736845016 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.4142223298549652, + -0.8292221426963806, + 0.3752472400665283, + 0.05135688930749893 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.18960459530353546, + -0.44619691371917725, + 0.8746190071105957, + 0.014878056943416595 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.2224862277507782, + -0.4123368561267853, + -0.8834467530250549, + 0.01268647238612175 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.44090980291366577, + -0.8974372744560242, + -0.014313843101263046, + 0.06148841232061386 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.39463895559310913, + -0.7772634029388428, + -0.49002206325531006, + 0.04606408253312111 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.006612676661461592, + 0.019319364801049232, + -0.9997915029525757, + -0.022334830835461617 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.1832897961139679, + -0.3648014962673187, + -0.9128662347793579, + 0.00842253677546978 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4060666263103485, + 0.8066707253456116, + 0.42940911650657654, + -0.09947303682565689 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.40559709072113037, + 0.8706366419792175, + -0.278357595205307, + -0.10367639362812042 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.39416664838790894, + -0.8104173541069031, + -0.4334239065647125, + 0.04917479306459427 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.40778928995132446, + 0.8177410960197449, + -0.4062109589576721, + -0.1004723310470581 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.19779787957668304, + 0.4640197455883026, + -0.8634591698646545, + -0.06767634302377701 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.17960752546787262, + 0.38261207938194275, + -0.9062830805778503, + -0.06005920469760895 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.8633619546890259, + -0.14466463029384613, + 0.48340290784835815, + 0.0029171407222747803 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8193585276603699, + -0.43592727184295654, + 0.3723156154155731, + 0.025094741955399513 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8942578434944153, + 0.42822811007499695, + -0.13009130954742432, + -0.033072445541620255 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9080484509468079, + 0.08284541964530945, + -0.4105907380580902, + -0.012512287124991417 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5930516123771667, + -0.029018007218837738, + -0.8046413660049438, + -0.012430909089744091 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.41837817430496216, + 0.20911650359630585, + -0.8838720917701721, + -0.032280758023262024 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.6793890595436096, + 0.3675505518913269, + -0.6350882649421692, + -0.03882911428809166 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.6295088529586792, + 0.49453970789909363, + -0.5992904305458069, + -0.051701225340366364 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.20130448043346405, + 0.6409584879875183, + -0.7407082319259644, + -0.07639636844396591 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.06864703446626663, + 0.9334399700164795, + -0.3521040976047516, + -0.10254804790019989 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.004321995656937361, + -0.016686536371707916, + 0.9998514652252197, + -0.019674072042107582 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.17198456823825836, + -0.35867518186569214, + 0.9174821972846985, + 0.007963618263602257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5690829157829285, + -0.1652529090642929, + 0.8055036067962646, + -0.002409711480140686 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.0878634974360466, + 0.9958062171936035, + 0.025493621826171875, + -0.10686850547790527 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.036723993718624115, + 0.9297071099281311, + 0.366464227437973, + -0.10269325971603394 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.8456848859786987, + 0.5333023071289062, + 0.020141810178756714, + -0.04170025885105133 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5198568105697632, + 0.8542534112930298, + -0.00030829812749288976, + -0.08093418180942535 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.9919511675834656, + 0.1265946924686432, + -0.002587554743513465, + -0.009134148247539997 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.9143673181533813, + -0.40472182631492615, + 0.011516300961375237, + 0.028149783611297607 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.7306093573570251, + -0.6826295256614685, + -0.01506186556071043, + 0.04720645397901535 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7641390562057495, + -0.5507550835609436, + -0.3357981741428375, + 0.033432766795158386 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9468886256217957, + -0.0788181722164154, + -0.3117522895336151, + 0.0008056908845901489 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + -0.20547392964363098, + 0.3494061231613159, + 0.9141640663146973, + -0.058081742376089096 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.1127309799194336, + 0.2169547826051712, + 0.9696505665779114, + -0.04400414973497391 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.25089597702026367, + 0.7870725393295288, + 0.5635318160057068, + -0.09640532732009888 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.3410301208496094, + 0.7500720620155334, + 0.5666481852531433, + -0.09434334933757782 + ] + }, + { + "index_base": 139, + "num_vertices": 4, + "plane": [ + 0.3470980226993561, + 0.4856000542640686, + 0.8023188710212708, + -0.05958753079175949 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + 0.5011380910873413, + 0.2325672060251236, + 0.833530604839325, + -0.032609518617391586 + ] + }, + { + "index_base": 147, + "num_vertices": 5, + "plane": [ + 0.8954730033874512, + 0.4446887671947479, + 0.019494924694299698, + -0.03186719864606857 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + 0.8622913956642151, + 0.5057507157325745, + 0.025882257148623466, + -0.038589317351579666 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + 0.8459348082542419, + 0.5300552248954773, + 0.05861508846282959, + -0.04191471263766289 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 0, + 7, + 8 + ], + [ + 0, + 8, + 9 + ], + [ + 0, + 9, + 10 + ], + [ + 0, + 10, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 8, + 7, + 14 + ], + [ + 8, + 14, + 15 + ], + [ + 8, + 15, + 9 + ], + [ + 16, + 17, + 5 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 18 + ], + [ + 18, + 5, + 17 + ], + [ + 3, + 19, + 16 + ], + [ + 3, + 16, + 4 + ], + [ + 4, + 16, + 5 + ], + [ + 0, + 11, + 13 + ], + [ + 20, + 1, + 12 + ], + [ + 6, + 5, + 18 + ], + [ + 2, + 1, + 20 + ], + [ + 2, + 20, + 19 + ], + [ + 2, + 19, + 3 + ], + [ + 21, + 22, + 15 + ], + [ + 21, + 15, + 14 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 17 + ], + [ + 23, + 17, + 16 + ], + [ + 23, + 16, + 19 + ], + [ + 23, + 19, + 24 + ], + [ + 26, + 24, + 19 + ], + [ + 26, + 19, + 20 + ], + [ + 26, + 20, + 12 + ], + [ + 27, + 28, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 22 + ], + [ + 29, + 12, + 13 + ], + [ + 29, + 13, + 30 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 12 + ], + [ + 31, + 25, + 21 + ], + [ + 31, + 21, + 14 + ], + [ + 31, + 14, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 25 + ], + [ + 32, + 11, + 10 + ], + [ + 32, + 10, + 28 + ], + [ + 32, + 30, + 13 + ], + [ + 32, + 13, + 11 + ], + [ + 33, + 30, + 32 + ], + [ + 33, + 32, + 28 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 25 + ], + [ + 33, + 25, + 24 + ], + [ + 33, + 24, + 29 + ], + [ + 33, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.03767168149352074, + 0.058817893266677856, + -0.02122657373547554 + ], + [ + 0.000268787145614624, + 0.10603322088718414, + 0.021260028705000877 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0025171288289129734, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_034.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_034.json new file mode 100644 index 0000000000000000000000000000000000000000..ce302bee5aeca671f7360c1cee82c6aa772ade5c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_034.json @@ -0,0 +1,6561 @@ +{ + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5885110730305314, + "parts": [ + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.009664913639426231, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.0050638155080378056, + -0.020136496052145958, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.02851376309990883, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.015947863459587097, + -0.024906819686293602 + ], + [ + -0.0012191341957077384, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + -0.007570596877485514, + -0.029095452278852463 + ], + [ + -0.0012191341957077384, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.009183935821056366, + -0.029095452278852463 + ], + [ + 0.0050638155080378056, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + 0.011278252117335796, + 0.029545413330197334 + ], + [ + -0.0012191341957077384, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.024325130507349968, + -0.01652955263853073 + ], + [ + 0.0050638155080378056, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + -0.009664913639426231, + -0.003963652998209 + ], + [ + -0.0012191341957077384, + -0.026419445872306824, + 0.014885196462273598 + ], + [ + 0.007158132269978523, + 0.015466885641217232, + -0.024906819686293602 + ] + ], + "indices_raw": [ + 25, + 6, + 5, + 20, + 3, + 2, + 17, + 15, + 14, + 21, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 2, + 1, + 18, + 17, + 18, + 16, + 15, + 19, + 4, + 8, + 0, + 20, + 5, + 4, + 19, + 20, + 19, + 0, + 3, + 21, + 14, + 13, + 22, + 21, + 22, + 12, + 11, + 8, + 7, + 23, + 9, + 24, + 9, + 12, + 22, + 24, + 25, + 10, + 9, + 23, + 25, + 23, + 7, + 6, + 26, + 1, + 0, + 8, + 24, + 24, + 22, + 13, + 16, + 26, + 26, + 16, + 18, + 26, + 18, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0012191339628770947 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.048975951969623566 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.5144957900047302, + 0.8574929237365723, + -0.03030753880739212 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9920614957809448, + -0.06469966471195221, + 0.10783277451992035, + -0.008834896609187126 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.02851376309990883 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + -0.44721347093582153, + -0.8944272398948669, + -0.029409438371658325 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + 0.20601052045822144, + -0.9785498380661011, + -0.030363336205482483 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.029095452278852463 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.841793954372406, + 0.03367171809077263, + 0.5387478470802307, + -0.020207379013299942 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.029545413330197334 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + 0.0, + 0.16439898312091827, + 0.9863938689231873, + -0.030997546389698982 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + -0.7071067690849304, + -0.7071067690849304, + -0.028888624161481857 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8944271802902222, + -0.4472135305404663, + -0.02914929762482643 + ] + }, + { + "index_base": 59, + "num_vertices": 5, + "plane": [ + 0.9970225095748901, + -0.06139301881194115, + 0.04665869474411011, + -0.007370374631136656 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9927272796630859, + -0.11679144948720932, + -0.02919785864651203, + -0.008350582793354988 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9486832618713379, + 0.31622788310050964, + -0.029770798981189728 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8000000715255737, + 0.5999999642372131, + -0.030066676437854767 + ] + }, + { + "index_base": 76, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131338655949 + ] + }, + { + "index_base": 81, + "num_vertices": 5, + "plane": [ + 0.99400395154953, + -0.07000028342008591, + -0.08400034159421921, + -0.008124706335365772 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.8944271802902222, + 0.0, + -0.44721367955207825, + -0.017541099339723587 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.8498364686965942, + 0.06537207961082458, + -0.5229765176773071, + -0.020120026543736458 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 21 + ], + [ + 25, + 21, + 11 + ], + [ + 25, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 17, + 2, + 1 + ], + [ + 17, + 1, + 18 + ], + [ + 17, + 18, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 19, + 4, + 8 + ], + [ + 19, + 8, + 0 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 19 + ], + [ + 20, + 19, + 0 + ], + [ + 20, + 0, + 3 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 22 + ], + [ + 21, + 22, + 12 + ], + [ + 21, + 12, + 11 + ], + [ + 8, + 7, + 23 + ], + [ + 8, + 23, + 9 + ], + [ + 8, + 9, + 24 + ], + [ + 9, + 12, + 22 + ], + [ + 9, + 22, + 24 + ], + [ + 25, + 10, + 9 + ], + [ + 25, + 9, + 23 + ], + [ + 25, + 23, + 7 + ], + [ + 25, + 7, + 6 + ], + [ + 26, + 1, + 0 + ], + [ + 26, + 0, + 8 + ], + [ + 26, + 8, + 24 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 16 + ], + [ + 24, + 16, + 26 + ], + [ + 26, + 16, + 18 + ], + [ + 26, + 18, + 1 + ] + ], + "raw_bounds": [ + [ + -0.0012191341957077384, + -0.02851376309990883, + -0.029095452278852463 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.029545413330197334 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.011690717190504074, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 11, + 10, + 0, + 3, + 7, + 8, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 1, + 0, + 10, + 11, + 13, + 9, + 10, + 14, + 12, + 8, + 4, + 6, + 14, + 6, + 5, + 2, + 1, + 9, + 13, + 14, + 13, + 11, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180544644594193 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5824863314628601, + -0.2398473024368286, + -0.7766485214233398, + 0.027118032798171043 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.015879349783062935 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9745191335678101, + -0.19233931601047516, + -0.1154036894440651, + 0.006136382929980755 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9778023958206177, + -0.2095291018486023, + 0.0, + 0.004827888682484627 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.039544425904750824 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 37, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 7 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 10 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 10 + ], + [ + 14, + 12, + 8 + ], + [ + 14, + 8, + 4 + ], + [ + 14, + 4, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 9 + ], + [ + 14, + 9, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 14, + 11, + 12 + ] + ], + "raw_bounds": [ + [ + -0.015879349783062935, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.01907382905483246 + ], + [ + -0.015879349783062935, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.10971113294363022, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + 0.025356778874993324 + ], + [ + -0.020067984238266945, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 16, + 1, + 0, + 8, + 17, + 5, + 4, + 12, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 0, + 3, + 9, + 10, + 6, + 7, + 11, + 2, + 12, + 11, + 12, + 4, + 6, + 11, + 6, + 10, + 13, + 2, + 14, + 7, + 15, + 14, + 13, + 10, + 7, + 16, + 12, + 2, + 16, + 2, + 1, + 18, + 9, + 3, + 2, + 13, + 14, + 15, + 18, + 15, + 7, + 5, + 17, + 18, + 17, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.008152286522090435 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09714522957801819 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.980580747127533, + -0.19611585140228271, + -0.10917942225933075 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.26578179001808167, + 0.9634605646133423, + -0.033222731202840805, + -0.11186352372169495 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.863063633441925, + -0.4746849834918976, + -0.17261278629302979, + 0.0641951784491539 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9805806279182434, + 0.0, + -0.19611617922782898, + 0.016025833785533905 + ] + }, + { + "index_base": 32, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.015879347920417786 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.309425950050354, + 0.9282792806625366, + 0.20628394186496735, + -0.11328282952308655 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.948683500289917, + 0.31622734665870667, + -0.11209964752197266 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.6904503107070923, + -0.6904515027999878, + -0.2157660871744156, + 0.08350910246372223 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.43643617630004883, + -0.8728713989257812, + -0.21821808815002441, + 0.09725892543792725 + ] + }, + { + "index_base": 50, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 57, + "num_vertices": 5, + "plane": [ + -0.44721338152885437, + 0.8944272994995117, + 3.920385793776404e-08, + -0.10803990811109543 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.7071073651313782, + 0.7071061134338379, + 0.0, + -0.09769126027822495 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 1, + 0 + ], + [ + 16, + 0, + 8 + ], + [ + 16, + 8, + 17 + ], + [ + 16, + 17, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 9 + ], + [ + 10, + 6, + 7 + ], + [ + 11, + 2, + 12 + ], + [ + 11, + 12, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 10 + ], + [ + 11, + 10, + 13 + ], + [ + 11, + 13, + 2 + ], + [ + 14, + 7, + 15 + ], + [ + 14, + 13, + 10 + ], + [ + 14, + 10, + 7 + ], + [ + 16, + 12, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 18, + 9, + 3 + ], + [ + 18, + 3, + 2 + ], + [ + 18, + 2, + 13 + ], + [ + 18, + 13, + 14 + ], + [ + 18, + 14, + 15 + ], + [ + 18, + 15, + 7 + ], + [ + 18, + 7, + 5 + ], + [ + 18, + 5, + 17 + ], + [ + 18, + 17, + 8 + ], + [ + 18, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0029694989789277315, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0029694989789277315, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.002319296821951866 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.06782480329275131, + 0.008602246642112732 + ], + [ + -0.0012191341957077384, + 0.06782480329275131, + 0.014885196462273598 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + 0.014885196462273598 + ], + [ + -0.0033134508412331343, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.0033134508412331343, + 0.07620206475257874, + 0.014885196462273598 + ] + ], + "indices_raw": [ + 15, + 11, + 9, + 8, + 13, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 10, + 5, + 4, + 9, + 11, + 12, + 13, + 8, + 7, + 12, + 1, + 0, + 13, + 14, + 2, + 1, + 12, + 7, + 6, + 14, + 6, + 5, + 15, + 3, + 2, + 14, + 5, + 10, + 15, + 10, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.08248502016067505 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -0.8574930429458618, + -0.5144956707954407, + 0.059352561831474304 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.8320502042770386, + -0.5547003149986267, + 0.0, + 0.03689424321055412 + ] + }, + { + "index_base": 19, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8944272398948669, + 0.4472135007381439, + 0.0, + -0.03954441472887993 + ] + }, + { + "index_base": 32, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.00815228745341301 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.8164966702461243, + -0.4082482159137726, + -0.4082481861114502, + 0.02593078278005123 + ] + }, + { + "index_base": 41, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0033134508412331343 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.9230769276618958, + -0.23076939582824707, + 0.3076923191547394, + 0.009946474805474281 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 13 + ], + [ + 15, + 13, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 11 + ], + [ + 12, + 13, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 13 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 12 + ], + [ + 14, + 12, + 7 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 5 + ], + [ + 15, + 5, + 10 + ], + [ + 15, + 10, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0033134508412331343, + 0.06782480329275131, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.08248502016067505, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.0012191341957077384, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.008152286522090435 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.008152286522090435 + ], + [ + -0.005407767370343208, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09923955053091049, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07829638570547104, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.005407767370343208, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 8, + 7, + 9, + 10, + 12, + 14, + 0, + 1, + 2, + 3, + 0, + 2, + 4, + 1, + 0, + 3, + 5, + 6, + 7, + 8, + 1, + 4, + 7, + 4, + 6, + 9, + 10, + 5, + 11, + 12, + 10, + 9, + 6, + 5, + 13, + 14, + 2, + 13, + 2, + 1, + 13, + 1, + 8, + 15, + 11, + 5, + 3, + 15, + 3, + 2, + 15, + 2, + 14, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9701424241065979, + 0.0, + 0.24253563582897186, + -0.005300870165228844 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5642765164375305, + -0.2821383476257324, + 0.7758802175521851, + 0.02654591202735901 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.00815228745341301 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09923955053091049 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8944271206855774, + 0.4472135603427887, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.8320502638816833, + -0.5547003149986267, + 0.0, + 0.03689424693584442 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0050638155080378056 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596401825547218 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.9932110905647278, + 0.03678560629487038, + 0.11035677790641785, + -0.010202080011367798 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + -0.9863938689231873, + 0.1643989533185959, + 0.0, + -0.023714888840913773 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + -0.70710688829422, + 0.7071066498756409, + 0.058166634291410446 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38411056995391846, + -0.5121477842330933, + 0.7682211995124817, + 0.04374859854578972 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 9 + ], + [ + 13, + 9, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 14 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 5, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 9, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 13, + 14, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 8 + ], + [ + 15, + 11, + 5 + ], + [ + 15, + 5, + 3 + ], + [ + 15, + 3, + 2 + ], + [ + 15, + 2, + 14 + ], + [ + 15, + 14, + 12 + ], + [ + 15, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0050638155080378056, + 0.09923955053091049, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005407767370343208, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + -0.008152286522090435 + ], + [ + 0.0008751824498176575, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + -0.005407767370343208, + 0.08248502016067505, + 0.014885196462273598 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + 0.014885196462273598 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.11180544644594193, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.1034281849861145, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.08667364716529846, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + 0.002319296821951866 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + 0.002319296821951866 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 3, + 2, + 0, + 1, + 2, + 3, + 8, + 9, + 10, + 11, + 12, + 13, + 8, + 13, + 1, + 0, + 8, + 0, + 9, + 14, + 12, + 11, + 5, + 4, + 14, + 4, + 2, + 1, + 14, + 1, + 13, + 12, + 15, + 9, + 0, + 3, + 15, + 3, + 7, + 16, + 10, + 9, + 15, + 16, + 15, + 7, + 6, + 16, + 6, + 5, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08248502016067505 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -0.6000003218650818, + -0.7999998927116394, + 0.04296920448541641 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.8652899265289307, + -0.4944513440132141, + -0.08240808546543121, + 0.035433728247880936 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.8944271802902222, + 0.44721361994743347, + 0.0, + -0.03954441845417023 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751824498176575 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5999999046325684, + 0.0, + -0.800000011920929, + -0.007046938873827457 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8778955936431885, + -0.47885221242904663, + 0.0, + 0.03475068509578705 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.8919529914855957, + -0.44597649574279785, + 0.07432956993579865, + 0.030856501311063766 + ] + }, + { + "index_base": 43, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.986393928527832, + 0.0, + 0.16439904272556305, + -0.018110405653715134 + ] + }, + { + "index_base": 51, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.11180544644594193 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 8, + 12, + 13 + ], + [ + 8, + 13, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 14, + 12, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 13 + ], + [ + 14, + 13, + 12 + ], + [ + 15, + 9, + 0 + ], + [ + 15, + 0, + 3 + ], + [ + 15, + 3, + 7 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 15 + ], + [ + 16, + 15, + 7 + ], + [ + 16, + 7, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 11 + ], + [ + 16, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08248502016067505, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.11180544644594193, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06782480329275131, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.002319296821951866 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.009596400894224644, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.020718185231089592 + ], + [ + -0.0033134508412331343, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + -0.0144352363422513 + ], + [ + 0.0008751824498176575, + 0.0636361688375473, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 14, + 9, + 1, + 0, + 13, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 0, + 2, + 7, + 2, + 1, + 8, + 7, + 1, + 9, + 8, + 9, + 10, + 11, + 7, + 8, + 11, + 8, + 10, + 3, + 6, + 2, + 11, + 2, + 7, + 12, + 5, + 13, + 12, + 13, + 0, + 6, + 12, + 6, + 3, + 12, + 3, + 5, + 14, + 4, + 3, + 10, + 14, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0008751825080253184 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.1168634369969368, + -0.19477233290672302, + -0.9738616943359375, + -0.0091081028804183 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9958932399749756, + 0.09053561836481094, + -0.06984195858240128 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.4472135901451111, + -0.8944271802902222, + 0.0071182288229465485 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071064710617065, + 0.7071070671081543, + 0.024105779826641083 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.7067064046859741, + -0.7067062258720398, + -0.03365268558263779, + 0.034532882273197174 + ] + }, + { + "index_base": 29, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.009596400894224644 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.577350378036499, + -0.5773502588272095, + -0.5773502588272095, + 0.016819916665554047 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06991912424564362 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9701426029205322, + -0.2425353080034256, + -0.07133256644010544 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.31622734665870667, + 0.948683500289917, + 0.0, + -0.0673789232969284 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.1279057115316391, + 0.9912706613540649, + 0.031976427882909775, + -0.06927098333835602 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12549108266830444, + -0.31372764706611633, + 0.9411838054656982, + -0.004010792821645737 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 13 + ], + [ + 14, + 13, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 7, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 6 + ], + [ + 11, + 6, + 2 + ], + [ + 11, + 2, + 7 + ], + [ + 12, + 5, + 13 + ], + [ + 12, + 13, + 0 + ], + [ + 12, + 0, + 6 + ], + [ + 12, + 6, + 3 + ], + [ + 12, + 3, + 5 + ], + [ + 14, + 4, + 3 + ], + [ + 14, + 3, + 10 + ], + [ + 14, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.009596400894224644, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.025356778874993324 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 12, + 11, + 10, + 5, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 0, + 4, + 7, + 8, + 0, + 9, + 8, + 7, + 4, + 6, + 9, + 6, + 5, + 10, + 9, + 10, + 11, + 8, + 12, + 8, + 11, + 12, + 1, + 0, + 12, + 0, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356780737638474 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.07201343774795532 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7071064114570618, + -0.7071070671081543, + -0.03595302253961563 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.20507566630840302, + 0.41015151143074036, + -0.8886617422103882, + -0.015699541196227074 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + -0.7071067690849304, + -0.0021838797256350517 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014885196462273598 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944271206855774, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8944271206855774, + -0.4472135603427887, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.024256616830825806 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.930198609828949, + -0.328305184841156, + -0.16415302455425262, + 0.004553729668259621 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 5 + ], + [ + 12, + 5, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 8, + 0 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 8 + ] + ], + "raw_bounds": [ + [ + -0.024256616830825806, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.022812502458691597 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.03682251647114754, + 0.1013338640332222, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.008152286522090435 + ], + [ + -0.03472819924354553, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.03263388201594353, + 0.09714522957801819, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.008152286522090435 + ], + [ + -0.0221622996032238, + 0.10971113294363022, + -0.020718185231089592 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.01652955263853073 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.02635093405842781, + 0.10761681944131851, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 4, + 3, + 12, + 9, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 5, + 8, + 9, + 10, + 11, + 0, + 4, + 13, + 12, + 3, + 2, + 14, + 7, + 6, + 15, + 14, + 15, + 1, + 0, + 0, + 11, + 7, + 14, + 16, + 10, + 9, + 12, + 13, + 16, + 13, + 2, + 16, + 2, + 1, + 15, + 6, + 5, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + 0.008152286522090435 + ] + }, + { + "index_base": 7, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.01797366701066494 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.707107424736023, + 0.7071061730384827, + 0.0, + -0.09769126772880554 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.3746344745159149, + -0.6556100845336914, + 0.6556100249290466, + 0.08125989139080048 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.10971113294363022 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -0.7071061134338379, + -0.7071073651313782, + 0.0, + 0.04265468567609787 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.09505091607570648 + ] + }, + { + "index_base": 35, + "num_vertices": 4, + "plane": [ + 0.022645514458417892, + -0.9737582802772522, + 0.22645507752895355, + 0.09718111902475357 + ] + }, + { + "index_base": 39, + "num_vertices": 5, + "plane": [ + -0.4472135305404663, + 0.8944271802902222, + 0.0, + -0.10803990811109543 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.2182176411151886, + 0.8728719353675842, + -0.43643510341644287, + -0.10964211821556091 + ] + }, + { + "index_base": 47, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 4, + 3 + ], + [ + 11, + 3, + 12 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 5, + 8, + 9 + ], + [ + 5, + 9, + 10 + ], + [ + 11, + 0, + 4 + ], + [ + 13, + 12, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 0, + 11, + 7 + ], + [ + 0, + 7, + 14 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 12 + ], + [ + 16, + 12, + 13 + ], + [ + 16, + 13, + 2 + ], + [ + 16, + 2, + 1 + ], + [ + 16, + 1, + 15 + ], + [ + 16, + 15, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 10 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.008152286522090435 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09505091607570648, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.018623869866132736 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.018623869866132736 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.024256616830825806, + 0.06991911679506302, + -0.022812502458691597 + ], + [ + -0.03472819924354553, + 0.09295660257339478, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 9, + 10, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 11, + 5, + 4, + 8, + 11, + 8, + 10, + 12, + 13, + 9, + 6, + 7, + 13, + 7, + 2, + 1, + 5, + 11, + 12, + 13, + 12, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.018623871728777885 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.70710688829422, + 0.7071066498756409, + 0.0, + -0.05450182780623436 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09505091607570648 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.06782480329275131 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.0322883240878582 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03472819924354553 + ] + }, + { + "index_base": 31, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812504321336746 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + -0.9103664755821228, + -0.4138028621673584, + 0.0, + 0.006850318983197212 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 12 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 7 + ], + [ + 13, + 7, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 5 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 12 + ], + [ + 13, + 12, + 10 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.03472819924354553, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.09505091607570648, + -0.018623869866132736 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.024256616830825806, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.02326246351003647 + ], + [ + -0.020067984238266945, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.015879349783062935, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.024256616830825806, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09714522957801819, + 0.025356778874993324 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.021168146282434464 + ], + [ + -0.03682251647114754, + 0.09505091607570648, + 0.025356778874993324 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + -0.02635093405842781, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "indices_raw": [ + 10, + 8, + 7, + 5, + 1, + 0, + 12, + 0, + 1, + 2, + 3, + 4, + 1, + 5, + 4, + 6, + 2, + 1, + 7, + 8, + 9, + 6, + 4, + 7, + 4, + 5, + 10, + 11, + 9, + 8, + 13, + 3, + 2, + 6, + 9, + 11, + 13, + 11, + 10, + 12, + 13, + 12, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021168144419789314 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.07201343774795532 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.37186795473098755, + 0.16903091967105865, + -0.9127665162086487, + 0.010717673227190971 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9701424241065979, + 0.24253563582897186, + 0.0, + -0.008155949413776398 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.09714522957801819 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.2182178646326065, + 0.43643632531166077, + -0.8728712797164917, + -0.018627416342496872 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.03682251647114754 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.025356778874993324 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957299955189228 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7071061730384827, + -0.707107424736023, + 0.0, + 0.033769235014915466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 5 + ], + [ + 10, + 5, + 1 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 12 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 6, + 9 + ], + [ + 13, + 9, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03682251647114754, + 0.07201343774795532, + 0.021168146282434464 + ], + [ + -0.009596400894224644, + 0.09714522957801819, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.007502084132283926, + 0.1034281849861145, + -0.022812502458691597 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.011690717190504074, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.1034281849861145, + -0.0144352363422513 + ], + [ + -0.013785033486783504, + 0.11180544644594193, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.020718185231089592 + ], + [ + -0.01797366701066494, + 0.11180544644594193, + -0.0144352363422513 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.007502084132283926, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.09086228162050247, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.018623869866132736 + ], + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10971113294363022, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.10552249848842621, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 13, + 6, + 5, + 12, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 4, + 5, + 6, + 2, + 1, + 7, + 8, + 0, + 3, + 9, + 7, + 9, + 10, + 7, + 10, + 11, + 8, + 12, + 5, + 4, + 12, + 4, + 0, + 8, + 11, + 13, + 9, + 3, + 2, + 6, + 13, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366887331009 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.8944270610809326, + 0.447213739156723, + 0.0, + -0.03954443708062172 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.6246950626373291, + 0.4685215950012207, + -0.6246948838233948, + -0.05802267789840698 + ] + }, + { + "index_base": 13, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.11180545389652252 + ] + }, + { + "index_base": 18, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.007502084132283926 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7071067094802856, + 0.7071068286895752, + 0.0744565799832344 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.08667364716529846 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.33333316445350647, + 0.6666673421859741, + -0.6666661500930786, + -0.09434036910533905 + ] + }, + { + "index_base": 33, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.29059654474258423, + -0.20756895840168, + 0.9340603351593018, + 0.030163493007421494 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 13, + 6, + 5 + ], + [ + 13, + 5, + 12 + ], + [ + 13, + 12, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 7, + 11, + 8 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 0 + ], + [ + 12, + 0, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 13, + 9, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 6 + ], + [ + 13, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.08667364716529846, + -0.022812502458691597 + ], + [ + -0.007502084132283926, + 0.11180544644594193, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.01797366701066494, + 0.0636361688375473, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.018623869866132736 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.01652955263853073 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.0221622996032238, + 0.06782480329275131, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05944753438234329, + -0.022812502458691597 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.018623869866132736 + ], + [ + -0.020067984238266945, + 0.0615418516099453, + -0.022812502458691597 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.0221622996032238, + 0.06573048233985901, + -0.018623869866132736 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 6, + 0, + 1, + 2, + 3, + 6, + 7, + 2, + 3, + 2, + 1, + 8, + 5, + 9, + 8, + 9, + 10, + 8, + 10, + 7, + 6, + 5, + 11, + 12, + 9, + 11, + 9, + 5, + 11, + 5, + 4, + 11, + 4, + 1, + 0, + 12, + 13, + 2, + 7, + 13, + 7, + 10, + 13, + 10, + 9, + 12, + 13, + 12, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.009596399962902069 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.1543031483888626, + 0.6172134876251221, + 0.771516740322113, + -0.030913468450307846 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.06782480329275131 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.11704131960868835, + 0.7022461295127869, + 0.7022476196289062, + -0.03714504837989807 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8944270610809326, + -0.44721370935440063, + 0.04296942055225372 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.666666567325592, + -0.666666567325592, + -0.33333343267440796, + 0.020045073702931404 + ] + }, + { + "index_base": 21, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.057353220880031586 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.16222147643566132, + -0.9733285307884216, + -0.16222147643566132, + 0.05571804940700531 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.44721370935440063, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + 0.0144352363422513 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0221622996032238 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9370425939559937, + -0.3123472332954407, + -0.156173974275589, + -0.003144848393276334 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + -0.8944271802902222, + -0.4472135901451111, + 0.0, + 0.00957300141453743 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.70710688829422, + 0.0, + 0.7071067690849304, + -0.002502049319446087 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 8, + 5, + 9 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 11, + 12, + 9 + ], + [ + 11, + 9, + 5 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 12 + ], + [ + 13, + 2, + 7 + ], + [ + 13, + 7, + 10 + ], + [ + 13, + 10, + 9 + ], + [ + 13, + 9, + 12 + ], + [ + 13, + 12, + 0 + ], + [ + 13, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0221622996032238, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + -0.009596400894224644, + 0.06782480329275131, + -0.0144352363422513 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07201343774795532, + 0.025356778874993324 + ], + [ + 0.0050638155080378056, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + 0.025356778874993324 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.021168146282434464 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.07410775125026703, + -0.022812502458691597 + ], + [ + 0.0008751824498176575, + 0.06573048233985901, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.06782480329275131, + -0.022812502458691597 + ] + ], + "indices_raw": [ + 11, + 1, + 0, + 4, + 7, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 4, + 3, + 6, + 7, + 4, + 5, + 6, + 5, + 8, + 6, + 8, + 9, + 10, + 7, + 11, + 2, + 1, + 12, + 2, + 11, + 12, + 11, + 10, + 9, + 12, + 9, + 8, + 5, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0008751824498176575 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.2425355315208435, + 0.9701425433158875, + -0.008657712489366531 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.14002802968025208, + -0.14002789556980133, + 0.9801961183547974, + -0.015773065388202667 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.025356778874993324 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6666662096977234, + 0.6666672825813293, + 0.33333319425582886, + -0.061233341693878174 + ] + }, + { + "index_base": 23, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.07410775125026703 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.0, + -0.24253572523593903, + -0.9701424241065979, + -0.006189386360347271 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.06523294001817703, + -0.19569841027259827, + -0.9784920811653137, + -0.009515592828392982 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.022812502458691597 + ] + }, + { + "index_base": 38, + "num_vertices": 6, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.007158131804317236 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 7 + ], + [ + 11, + 7, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 6, + 10, + 7 + ], + [ + 11, + 2, + 1 + ], + [ + 12, + 2, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 5 + ], + [ + 12, + 5, + 3 + ], + [ + 12, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0008751824498176575, + 0.05735321715474129, + -0.022812502458691597 + ], + [ + 0.007158132269978523, + 0.07410775125026703, + 0.025356778874993324 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05735321715474129, + 0.02326246351003647 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + 0.02326246351003647 + ], + [ + -0.0012191341957077384, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + 0.02326246351003647 + ], + [ + -0.005407767370343208, + 0.05525889992713928, + -0.020718185231089592 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 7, + 4, + 5, + 9, + 7, + 6, + 8, + 9, + 8, + 3, + 2, + 9, + 2, + 1, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02326246351003647 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.05735321715474129 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.007158131804317236 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.048975951969623566 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + -0.5547002553939819, + 0.0, + 0.0261525921523571 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005407767370343208 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.020718185231089592 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005407767370343208, + 0.048975951969623566, + -0.020718185231089592 + ], + [ + 0.007158132269978523, + 0.05735321715474129, + 0.02326246351003647 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.009596400894224644, + 0.05944753438234329, + 0.014885196462273598 + ], + [ + -0.009596400894224644, + 0.05944753438234329, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + 0.014885196462273598 + ], + [ + -0.01797366701066494, + 0.0615418516099453, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.01797366701066494, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + 0.014885196462273598 + ], + [ + -0.013785033486783504, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + 0.014885196462273598 + ], + [ + -0.015879349783062935, + 0.0636361688375473, + -0.0144352363422513 + ] + ], + "indices_raw": [ + 8, + 0, + 3, + 10, + 4, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 8, + 9, + 1, + 0, + 11, + 5, + 4, + 10, + 11, + 10, + 3, + 2, + 11, + 2, + 1, + 9, + 6, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014885196462273598 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + 0.009596400894224644 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.01797366701066494 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.05735321715474129 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.447213739156723, + -0.8944270610809326, + 0.0, + 0.05746312439441681 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.7071067690849304, + 0.7071067690849304, + 0.0, + -0.05622595548629761 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.31622737646102905, + 0.9486834406852722, + 0.0, + -0.06539206206798553 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.014435237273573875 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 8, + 9, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 10 + ], + [ + 11, + 10, + 3 + ], + [ + 11, + 3, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 9 + ], + [ + 11, + 9, + 6 + ], + [ + 11, + 6, + 5 + ] + ], + "raw_bounds": [ + [ + -0.01797366701066494, + 0.05735321715474129, + -0.0144352363422513 + ], + [ + -0.009596400894224644, + 0.06573048233985901, + 0.014885196462273598 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0078093367628753185, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_035.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_035.json new file mode 100644 index 0000000000000000000000000000000000000000..f67e9db656dc5cccb0128df447d0e2487a5c5067 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_035.json @@ -0,0 +1,1349 @@ +{ + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6867602807469666, + "parts": [ + { + "vertices_raw": [ + [ + 0.018593167886137962, + 0.08097150921821594, + -0.021438807249069214 + ], + [ + 5.1595037803053856e-05, + 0.08342776447534561, + -0.023732446134090424 + ], + [ + 0.01447334885597229, + 0.08229271322488785, + 0.02242007479071617 + ], + [ + -0.02634771168231964, + 0.001998230814933777, + -0.011162007227540016 + ], + [ + -0.012175701558589935, + 0.03909830003976822, + -0.037554528564214706 + ], + [ + -0.006837090943008661, + 0.0020171217620372772, + -0.02773931622505188 + ], + [ + -0.019787151366472244, + -1.862645149230957e-08, + 0.003154065925627947 + ], + [ + 0.02637120895087719, + 0.0019925106316804886, + 0.011089342646300793 + ], + [ + 0.011553199961781502, + 0.0020041316747665405, + 0.026135701686143875 + ], + [ + 0.025628598406910896, + 0.0019912607967853546, + -0.012611716985702515 + ], + [ + -0.027768991887569427, + 0.001998230814933777, + 0.006904747802764177 + ], + [ + -0.016303081065416336, + 0.001998230814933777, + 0.02351602166891098 + ], + [ + -0.018583431839942932, + 0.04023250937461853, + 0.03507610037922859 + ], + [ + 0.009741099551320076, + 0.002014441415667534, + -0.026918556541204453 + ], + [ + 0.018599899485707283, + 0.04705861955881119, + -0.03517469763755798 + ], + [ + -4.991190508008003e-05, + 0.08099988102912903, + 0.028812013566493988 + ], + [ + 0.0185991283506155, + 0.05706439167261124, + 0.03383197262883186 + ], + [ + 0.028389547020196915, + 0.031500257551670074, + -0.00032774999272078276 + ], + [ + -0.018599700182676315, + 0.04722455143928528, + -0.035109907388687134 + ], + [ + 4.801899194717407e-05, + 0.05029944330453873, + -0.03964218869805336 + ], + [ + -0.013108989223837852, + 0.06076536327600479, + 0.03547974303364754 + ], + [ + 0.005243339110165834, + 0.04012010246515274, + 0.03931775316596031 + ], + [ + -0.018602270632982254, + 0.07896379381418228, + 0.024146221578121185 + ], + [ + 0.010589808225631714, + 0.07880374789237976, + -0.02872374653816223 + ], + [ + -0.027727261185646057, + 0.03689667955040932, + 0.0022640489041805267 + ], + [ + -0.018585700541734695, + 0.07945641875267029, + -0.023796048015356064 + ], + [ + 0.018600909039378166, + 0.039589740335941315, + 0.03495677188038826 + ], + [ + 0.002489723265171051, + 0.0020270217210054398, + 0.02857973426580429 + ], + [ + 0.018595367670059204, + 0.080972820520401, + 0.021401964128017426 + ], + [ + -0.013116918504238129, + 0.06820365786552429, + -0.03305211663246155 + ], + [ + -0.010273776017129421, + 0.08328322321176529, + 0.021275483071804047 + ], + [ + 0.005125262308865786, + 0.0401710607111454, + -0.039358288049697876 + ], + [ + -0.008777698501944542, + 0.07996837049722672, + -0.028448548167943954 + ], + [ + 0.018592149019241333, + 0.06753019243478775, + -0.030588295310735703 + ] + ], + "indices_raw": [ + 26, + 21, + 27, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 5, + 6, + 7, + 8, + 6, + 7, + 6, + 9, + 10, + 3, + 6, + 10, + 6, + 11, + 10, + 11, + 12, + 13, + 14, + 9, + 13, + 9, + 6, + 13, + 6, + 5, + 15, + 16, + 2, + 17, + 16, + 7, + 17, + 7, + 9, + 17, + 9, + 14, + 18, + 4, + 3, + 18, + 19, + 4, + 20, + 12, + 21, + 20, + 21, + 16, + 20, + 16, + 15, + 20, + 15, + 22, + 20, + 22, + 12, + 23, + 1, + 0, + 24, + 25, + 18, + 24, + 18, + 3, + 24, + 3, + 10, + 24, + 10, + 12, + 24, + 12, + 22, + 24, + 22, + 25, + 26, + 8, + 7, + 26, + 7, + 16, + 26, + 16, + 21, + 28, + 2, + 16, + 28, + 16, + 17, + 28, + 17, + 0, + 28, + 0, + 2, + 29, + 19, + 18, + 29, + 18, + 25, + 29, + 23, + 19, + 30, + 22, + 15, + 30, + 15, + 2, + 30, + 2, + 1, + 30, + 1, + 25, + 30, + 25, + 22, + 27, + 21, + 12, + 27, + 12, + 11, + 27, + 11, + 6, + 27, + 6, + 8, + 31, + 13, + 5, + 31, + 5, + 4, + 31, + 4, + 19, + 31, + 19, + 14, + 31, + 14, + 13, + 32, + 1, + 23, + 32, + 23, + 29, + 32, + 29, + 25, + 32, + 25, + 1, + 33, + 14, + 19, + 33, + 19, + 23, + 33, + 23, + 0, + 33, + 0, + 17, + 33, + 17, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2725587785243988, + -0.2792445123195648, + 0.9207248687744141, + -0.026426630094647408 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.13341094553470612, + 0.9909094572067261, + -0.017318377271294594, + -0.0830872505903244 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.6208861470222473, + -0.2829010486602783, + -0.7310727834701538, + -0.023953869938850403 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.08393854647874832, + -0.9914484620094299, + -0.0999210774898529, + -0.0013457655441015959 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.03675341606140137, + -0.9986402988433838, + 0.036966919898986816, + 0.0006106306682340801 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.043351080268621445, + -0.9990590810775757, + -0.0013056030729785562, + 0.0008618938736617565 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.25154760479927063, + -0.9676425457000732, + -0.01978881098330021, + -0.0049150134436786175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.18423812091350555, + -0.9746200442314148, + 0.127170130610466, + -0.004046669229865074 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.803621768951416, + -0.21564161777496338, + 0.5546988844871521, + -0.025714922696352005 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.646187424659729, + -0.2586871087551117, + -0.7179991602897644, + -0.025100968778133392 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.031204357743263245, + -0.9988546967506409, + -0.03627029061317444, + 0.0007318256539292634 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.0030023057479411364, + -0.9979516863822937, + -0.06390134245157242, + 0.00026093749329447746 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.33045271039009094, + 0.43331974744796753, + 0.8384717702865601, + -0.05924041569232941 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.9668712019920349, + 0.03186018392443657, + 0.2532689571380615, + -0.028369631618261337 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.9962881207466125, + -0.08022282272577286, + -0.031211845576763153, + -0.025767359882593155 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.9647355675697327, + 0.019023140892386436, + -0.26253238320350647, + -0.028073687106370926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6277990937232971, + -0.2775203585624695, + -0.7272211313247681, + -0.024103766307234764 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.2495606541633606, + 0.09269029647111893, + -0.9639129042625427, + -0.042861904948949814 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.1750744879245758, + 0.027330823242664337, + 0.9841757416725159, + -0.03887411952018738 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.07931802421808243, + 0.2499076873064041, + 0.9650154113769531, + -0.04838445037603378 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08081348240375519, + 0.2645120918750763, + 0.9609904885292053, + -0.04910948872566223 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.26391687989234924, + 0.45124104619026184, + 0.8524842858314514, + -0.061125434935092926 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.7361868023872375, + 0.18347501754760742, + 0.6514337658882141, + -0.04391229525208473 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.1717333197593689, + 0.8766072988510132, + -0.4495190382003784, + -0.08381044119596481 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.9732696413993835, + 0.07644213736057281, + -0.2165704220533371, + -0.029316237196326256 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.9733037352561951, + 0.04788282513618469, + -0.22447079420089722, + -0.028245553374290466 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.9968773722648621, + -0.009236379526555538, + -0.07842261344194412, + -0.027122333645820618 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.9636079668998718, + 0.036369144916534424, + 0.2648339867591858, + -0.02865970879793167 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.962613582611084, + 0.07313434034585953, + 0.26081910729408264, + -0.029979558661580086 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9774680733680725, + 0.211075097322464, + 0.0018310380401089787, + -0.03489463031291962 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6826552152633667, + -0.2858397960662842, + 0.6725157499313354, + -0.024890664964914322 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9588593244552612, + 0.01833231747150421, + 0.2832890450954437, + -0.02846429869532585 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.3119693696498871, + 0.061060406267642975, + 0.9481280446052551, + -0.04136377573013306 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.34441429376602173, + 0.43310368061065674, + 0.8329465389251709, + -0.05930083245038986 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.9740151762962341, + 0.10459345579147339, + 0.20088496804237366, + -0.030880730599164963 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.9809566736221313, + 0.19422662258148193, + -5.631510430248454e-05, + -0.03396712243556976 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.30494314432144165, + 0.9523705840110779, + -4.480905772652477e-05, + -0.0827856957912445 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + -0.25806522369384766, + 0.1608859747648239, + -0.9526374936103821, + -0.04584471881389618 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.6748825311660767, + 0.24466420710086823, + -0.6961846947669983, + -0.04854975640773773 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.012671082280576229, + 0.35358288884162903, + -0.9353173971176147, + -0.05486366152763367 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.22669196128845215, + 0.8032118082046509, + 0.5508735179901123, + -0.08094315230846405 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.026816027238965034, + 0.9662106037139893, + 0.25635483860969543, + -0.08564770221710205 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.03942440077662468, + 0.9991474151611328, + 0.012253166176378727, + -0.0830678790807724 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + -0.20805417001247406, + 0.9771002531051636, + -0.04459225386381149, + -0.0825648382306099 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + -0.4579385817050934, + 0.8889384269714355, + 0.008975902572274208, + -0.0789293721318245 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.17059944570064545, + -0.25589442253112793, + 0.9515323638916016, + -0.02625109814107418 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.2482616901397705, + -0.29388561844825745, + 0.9230371117591858, + -0.025166340172290802 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.02596966363489628, + -0.9944418668746948, + 0.1020345538854599, + -0.0008357078768312931 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + 0.015311419032514095, + -0.9976938962936401, + 0.06612512469291687, + 9.438768029212952e-05 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + 0.047051072120666504, + -0.3044682443141937, + -0.9513596892356873, + -0.02545422688126564 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + -0.08360948413610458, + -0.26621881127357483, + -0.9602797031402588, + -0.026672156527638435 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + -0.09864556789398193, + -0.07725920528173447, + -0.9921189546585083, + -0.035438936203718185 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.24912211298942566, + 0.09787458926439285, + -0.9635137319564819, + -0.043130792677402496 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.3978307545185089, + -0.2405204325914383, + -0.8853703737258911, + -0.02722368948161602 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.03734022006392479, + 0.7711450457572937, + -0.6355635523796082, + -0.0794203132390976 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.00850102212280035, + 0.3616645038127899, + -0.9322695732116699, + -0.0553688183426857 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.4003576338291168, + 0.45819589495658875, + -0.7935807108879089, + -0.06273161619901657 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.196921244263649, + 0.9291509985923767, + -0.31289055943489075, + -0.08493249118328094 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.2635309398174286, + 0.21098531782627106, + -0.9412952065467834, + -0.047940101474523544 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.18915846943855286, + 0.28945985436439514, + -0.9383134841918945, + -0.051765553653240204 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5145388841629028, + 0.48247429728507996, + -0.7088499665260315, + -0.06383047997951508 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.9773878455162048, + 0.11893592029809952, + -0.17483505606651306, + -0.03155141323804855 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.9674341082572937, + 0.055685944855213165, + -0.2469213902950287, + -0.029300065711140633 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 27 + ], + [ + 26, + 27, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 9 + ], + [ + 10, + 3, + 6 + ], + [ + 10, + 6, + 11 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 6 + ], + [ + 13, + 6, + 5 + ], + [ + 15, + 16, + 2 + ], + [ + 17, + 16, + 7 + ], + [ + 17, + 7, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 18, + 4, + 3 + ], + [ + 18, + 19, + 4 + ], + [ + 20, + 12, + 21 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 22 + ], + [ + 20, + 22, + 12 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 3 + ], + [ + 24, + 3, + 10 + ], + [ + 24, + 10, + 12 + ], + [ + 24, + 12, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 26, + 8, + 7 + ], + [ + 26, + 7, + 16 + ], + [ + 26, + 16, + 21 + ], + [ + 28, + 2, + 16 + ], + [ + 28, + 16, + 17 + ], + [ + 28, + 17, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 29, + 19, + 18 + ], + [ + 29, + 18, + 25 + ], + [ + 29, + 23, + 19 + ], + [ + 30, + 22, + 15 + ], + [ + 30, + 15, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 25 + ], + [ + 30, + 25, + 22 + ], + [ + 27, + 21, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 6 + ], + [ + 27, + 6, + 8 + ], + [ + 31, + 13, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 31, + 4, + 19 + ], + [ + 31, + 19, + 14 + ], + [ + 31, + 14, + 13 + ], + [ + 32, + 1, + 23 + ], + [ + 32, + 23, + 29 + ], + [ + 32, + 29, + 25 + ], + [ + 32, + 25, + 1 + ], + [ + 33, + 14, + 19 + ], + [ + 33, + 19, + 23 + ], + [ + 33, + 23, + 0 + ], + [ + 33, + 0, + 17 + ], + [ + 33, + 17, + 14 + ] + ], + "raw_bounds": [ + [ + -0.027768991887569427, + -1.862645149230957e-08, + -0.03964218869805336 + ], + [ + 0.028389547020196915, + 0.08342776447534561, + 0.03931775316596031 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.007872321177273989, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_036.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_036.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4e07c2f1fdfe301966e21154e081c857eed813 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_036.json @@ -0,0 +1,1325 @@ +{ + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7206469611264765, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026839999482035637, + 0.01812800019979477, + 0.002948000095784664 + ], + [ + 0.03532699868083, + 0.01042800024151802, + 0.01865600049495697 + ], + [ + 0.002423000056296587, + 0.01812800019979477, + -0.003200999926775694 + ], + [ + -0.006533999927341938, + -0.003372000064700842, + 0.011051000095903873 + ], + [ + -0.0038900000508874655, + -0.018672000616788864, + 0.0009159999899566174 + ], + [ + 0.022525999695062637, + -0.009589999914169312, + 0.022586999461054802 + ], + [ + 0.020020000636577606, + 0.009045000188052654, + 0.02181600034236908 + ], + [ + -0.006506999954581261, + 0.0028280001133680344, + 0.011005000211298466 + ], + [ + 0.03247400000691414, + 0.006827999837696552, + 0.024309000000357628 + ], + [ + 0.032561998814344406, + -0.008636999875307083, + 0.024142999202013016 + ], + [ + 0.03483700007200241, + -0.01177200023084879, + 0.018881000578403473 + ], + [ + 0.03685100004076958, + -0.00737199978902936, + 0.018629999831318855 + ], + [ + -0.0030769999139010906, + 0.01812800019979477, + -0.0025740000419318676 + ], + [ + -0.003703000023961067, + -0.003372000064700842, + -0.012271000072360039 + ], + [ + -0.010197999887168407, + -0.003372000064700842, + -0.007753999903798103 + ], + [ + -0.006446000188589096, + 0.0028280001133680344, + -0.011076999828219414 + ], + [ + 0.03437599912285805, + -0.009591000154614449, + 0.014213000424206257 + ], + [ + 0.0026990000624209642, + -0.018672000616788864, + -0.0029700000304728746 + ], + [ + 0.00420599989593029, + -0.003372000064700842, + -0.0121069997549057 + ], + [ + 0.006754999980330467, + 0.0028280001133680344, + -0.010890999808907509 + ], + [ + 0.03258100152015686, + 0.00532800005748868, + 0.011490999720990658 + ], + [ + -0.0023169999476522207, + -0.018672000616788864, + -0.0032790000550448895 + ], + [ + 0.03119100071489811, + 0.01042800024151802, + 0.023019999265670776 + ], + [ + -0.011799000203609467, + -0.003372000064700842, + 0.004945000167936087 + ], + [ + -0.010592999868094921, + 0.0028280001133680344, + 0.0071669998578727245 + ], + [ + -0.011714999563992023, + 0.0028280001133680344, + -0.005175999831408262 + ], + [ + 0.030987000092864037, + -0.01177200023084879, + 0.022531000897288322 + ], + [ + -0.0009260000078938901, + 0.0028280001133680344, + -0.012784999795258045 + ], + [ + 0.03627200052142143, + 0.006827999837696552, + 0.021105999127030373 + ], + [ + 0.036322999745607376, + 0.006827999837696552, + 0.01607000082731247 + ], + [ + 0.03438499942421913, + 0.009727999567985535, + 0.014646000228822231 + ], + [ + -0.012779000215232372, + -0.003372000064700842, + -0.0007489999989047647 + ], + [ + -0.012799999676644802, + -0.00027200000477023423, + -0.0001250000059371814 + ], + [ + -0.012601999565958977, + 0.0028280001133680344, + 0.0022169998846948147 + ] + ], + "indices_raw": [ + 5, + 6, + 7, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 8, + 6, + 5, + 9, + 8, + 5, + 10, + 11, + 9, + 12, + 0, + 2, + 13, + 14, + 15, + 16, + 11, + 10, + 16, + 10, + 17, + 16, + 17, + 18, + 16, + 18, + 19, + 16, + 19, + 20, + 21, + 14, + 13, + 21, + 13, + 18, + 21, + 18, + 17, + 21, + 17, + 4, + 22, + 6, + 8, + 22, + 1, + 0, + 22, + 0, + 6, + 23, + 4, + 3, + 23, + 3, + 24, + 25, + 12, + 15, + 25, + 15, + 14, + 26, + 5, + 4, + 26, + 4, + 17, + 26, + 17, + 10, + 26, + 10, + 9, + 26, + 9, + 5, + 27, + 19, + 18, + 27, + 18, + 13, + 27, + 13, + 15, + 27, + 15, + 12, + 27, + 12, + 2, + 27, + 2, + 19, + 28, + 1, + 22, + 28, + 22, + 8, + 28, + 8, + 9, + 28, + 9, + 11, + 29, + 11, + 16, + 29, + 16, + 20, + 29, + 1, + 28, + 29, + 28, + 11, + 30, + 1, + 29, + 30, + 29, + 20, + 30, + 20, + 19, + 30, + 19, + 2, + 30, + 2, + 1, + 31, + 32, + 25, + 31, + 25, + 14, + 31, + 14, + 21, + 4, + 31, + 4, + 23, + 7, + 6, + 0, + 7, + 0, + 24, + 7, + 24, + 3, + 33, + 24, + 0, + 33, + 0, + 12, + 33, + 12, + 25, + 33, + 25, + 32, + 33, + 32, + 31, + 23, + 33, + 23, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.37598150968551636, + -0.007047585677355528, + 0.9266003370285034, + -0.012623818591237068 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1479942947626114, + 0.9813202619552612, + 0.12291540950536728, + -0.017754511907696724 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.40699267387390137, + -0.5522811412811279, + 0.7275592684745789, + -0.012561840936541557 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.1937749981880188, + 0.01452657300978899, + 0.9809383749961853, + -0.01765216886997223 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.15213719010353088, + -0.011473992839455605, + 0.9882928133010864, + -0.019005561247467995 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.780780017375946, + -0.32701343297958374, + 0.5323951840400696, + -0.041101790964603424 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.01812800019979477 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5684247612953186, + -0.09407851099967957, + -0.8173387050628662, + -0.012451673857867718 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.8671820759773254, + -0.4128212034702301, + -0.27852073311805725, + -0.029811004176735878 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.45119428634643555, + -0.7906122207641602, + -0.4139516055583954, + -0.017209522426128387 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.5209053754806519, + -0.47490203380584717, + -0.7093134522438049, + -0.012379955500364304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6396760940551758, + -0.11390049755573273, + -0.7601585984230042, + -0.012277789413928986 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.6570210456848145, + -0.058086298406124115, + -0.7516312003135681, + -0.012459925375878811 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.5035997033119202, + -0.4711983799934387, + -0.7241266369819641, + -0.01233946904540062 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.017888875678181648, + -0.5053991079330444, + -0.8627002239227295, + -0.012224158272147179 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.052674856036901474, + -0.5158279538154602, + -0.8550713658332825, + -0.01231327187269926 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018672000616788864 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.137966126203537, + 0.28992775082588196, + 0.9470518827438354, + -0.020521199330687523 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.14272043108940125, + 0.9804766774177551, + 0.1352638602256775, + -0.017789779230952263 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.16134604811668396, + 0.7992663979530334, + 0.5789133906364441, + -0.016628792509436607 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.659807026386261, + -0.49089089035987854, + 0.5689295530319214, + -0.01225370541214943 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.7545040845870972, + -0.08639750629663467, + 0.6505836844444275, + -0.012410862371325493 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.6578753590583801, + 0.4713192284107208, + -0.5874164700508118, + -0.012080367654561996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.7426183223724365, + 0.09401248395442963, + -0.6630834937095642, + -0.012397761456668377 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.2004859447479248, + -0.7922033071517944, + 0.5763847231864929, + -0.01609988324344158 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.09477370232343674, + -0.9824433326721191, + 0.16069570183753967, + -0.018122712150216103 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.12301618605852127, + -0.9838852882385254, + 0.12975680828094482, + -0.018317749723792076 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5586577653884888, + -0.5836637616157532, + 0.5892691016197205, + -0.037458840757608414 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.10088272392749786, + -0.4143989682197571, + 0.9044866561889648, + -0.022131241858005524 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.23840472102165222, + 0.0916094109416008, + -0.9668355584144592, + -0.012399301864206791 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.02064395137131214, + -0.09178199619054794, + -0.9955650568008423, + -0.01244962215423584 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.29517605900764465, + 0.0531235933303833, + -0.95396488904953, + -0.012620007619261742 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.2539156973361969, + 0.5119706988334656, + -0.8206173777580261, + -0.012174572795629501 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.09509026259183884, + 0.5433152318000793, + -0.8341261148452759, + -0.012288852594792843 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.20926295220851898, + 0.4857953190803528, + -0.8486529588699341, + -0.012030079960823059 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6061393022537231, + 0.550071120262146, + 0.5744710564613342, + -0.03786655515432358 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.5758235454559326, + 0.4496940076351166, + 0.6827902793884277, + -0.038367755711078644 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.6446806192398071, + -0.0045371027663350105, + 0.7644385695457458, + -0.039487119764089584 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.7951945066452026, + -0.07254453748464584, + 0.6019992232322693, + -0.041053757071495056 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.8820550441741943, + -0.0516299344599247, + -0.4683089554309845, + -0.024160627275705338 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.7775325179100037, + -0.021119071170687675, + -0.6284878849983215, + -0.017998311668634415 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.9655303955078125, + 0.2601065933704376, + 0.009777862578630447, + -0.037004102021455765 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.9991887807846069, + 0.03897717595100403, + 0.010118715465068817, + -0.03672228008508682 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8561676740646362, + 0.43602272868156433, + -0.27723827958106995, + -0.029620522633194923 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7353038191795349, + 0.16912102699279785, + -0.6562975645065308, + -0.01731649413704872 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + 0.6135073900222778, + 0.2783605456352234, + -0.7390021085739136, + -0.012979917228221893 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + 0.5189911723136902, + 0.496620774269104, + -0.6957125067710876, + -0.012487232685089111 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + 0.3715055584907532, + 0.8958867788314819, + -0.24366049468517303, + -0.017920754849910736 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.9810357689857483, + 0.03183993324637413, + -0.1911938339471817, + -0.012572497129440308 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.9348964095115662, + -0.0855177789926529, + -0.34446367621421814, + -0.01249341107904911 + ] + }, + { + "index_base": 151, + "num_vertices": 4, + "plane": [ + -0.8094019293785095, + -0.5047253370285034, + -0.300201416015625, + -0.012283976189792156 + ] + }, + { + "index_base": 155, + "num_vertices": 3, + "plane": [ + -0.8620215654373169, + -0.4846722185611725, + 0.148363396525383, + -0.012538964860141277 + ] + }, + { + "index_base": 158, + "num_vertices": 3, + "plane": [ + -0.42468133568763733, + 0.5026414394378662, + 0.7529922723770142, + -0.012471551075577736 + ] + }, + { + "index_base": 161, + "num_vertices": 3, + "plane": [ + -0.5986503958702087, + 0.4852049946784973, + 0.6373333930969238, + -0.012281432747840881 + ] + }, + { + "index_base": 164, + "num_vertices": 3, + "plane": [ + -0.6846169829368591, + 0.008388981223106384, + 0.728854775428772, + -0.012499573640525341 + ] + }, + { + "index_base": 167, + "num_vertices": 3, + "plane": [ + -0.8005982041358948, + 0.5034515857696533, + 0.3249295651912689, + -0.012233268469572067 + ] + }, + { + "index_base": 170, + "num_vertices": 3, + "plane": [ + -0.8389223217964172, + 0.5409663915634155, + 0.059705983847379684, + -0.012234320864081383 + ] + }, + { + "index_base": 173, + "num_vertices": 3, + "plane": [ + -0.8585682511329651, + 0.5022446513175964, + -0.10300961136817932, + -0.012011653743684292 + ] + }, + { + "index_base": 176, + "num_vertices": 3, + "plane": [ + -0.981397807598114, + 0.15163841843605042, + -0.1177464947104454, + -0.012535365298390388 + ] + }, + { + "index_base": 179, + "num_vertices": 4, + "plane": [ + -0.9843317270278931, + -0.04888606444001198, + 0.16941432654857635, + -0.012616727501153946 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.9256370067596436, + 0.045413363724946976, + 0.3756776750087738, + -0.012626182287931442 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 9, + 8, + 5 + ], + [ + 10, + 11, + 9 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 21, + 14, + 13 + ], + [ + 21, + 13, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 4 + ], + [ + 22, + 6, + 8 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 6 + ], + [ + 23, + 4, + 3 + ], + [ + 23, + 3, + 24 + ], + [ + 25, + 12, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 26, + 5, + 4 + ], + [ + 26, + 4, + 17 + ], + [ + 26, + 17, + 10 + ], + [ + 26, + 10, + 9 + ], + [ + 26, + 9, + 5 + ], + [ + 27, + 19, + 18 + ], + [ + 27, + 18, + 13 + ], + [ + 27, + 13, + 15 + ], + [ + 27, + 15, + 12 + ], + [ + 27, + 12, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 28, + 1, + 22 + ], + [ + 28, + 22, + 8 + ], + [ + 28, + 8, + 9 + ], + [ + 28, + 9, + 11 + ], + [ + 29, + 11, + 16 + ], + [ + 29, + 16, + 20 + ], + [ + 29, + 1, + 28 + ], + [ + 29, + 28, + 11 + ], + [ + 30, + 1, + 29 + ], + [ + 30, + 29, + 20 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 32, + 25 + ], + [ + 31, + 25, + 14 + ], + [ + 31, + 14, + 21 + ], + [ + 31, + 21, + 4 + ], + [ + 31, + 4, + 23 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 24 + ], + [ + 7, + 24, + 3 + ], + [ + 33, + 24, + 0 + ], + [ + 33, + 0, + 12 + ], + [ + 33, + 12, + 25 + ], + [ + 33, + 25, + 32 + ], + [ + 33, + 32, + 31 + ], + [ + 33, + 31, + 23 + ], + [ + 33, + 23, + 24 + ] + ], + "raw_bounds": [ + [ + -0.012799999676644802, + -0.018672000616788864, + -0.012784999795258045 + ], + [ + 0.03685100004076958, + 0.01812800019979477, + 0.024309000000357628 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0048623657785356045, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_037.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_037.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3e81158a53517b076e6ae5d4e0e16b447fba86 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_037.json @@ -0,0 +1,1313 @@ +{ + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.750443525146693, + "parts": [ + { + "vertices_raw": [ + [ + 0.00036100001307204366, + 0.01850000023841858, + 0.003984000068157911 + ], + [ + -0.03325900062918663, + 0.020500000566244125, + -0.0050650001503527164 + ], + [ + -0.0010179999517276883, + -0.015789000317454338, + 0.004722000099718571 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + -0.005121000111103058 + ], + [ + -0.015515999868512154, + -0.02495500072836876, + -0.00990699976682663 + ], + [ + -0.015351999551057816, + -0.020920999348163605, + -0.013396999798715115 + ], + [ + 0.00443900004029274, + -0.01769999973475933, + -0.0007389999809674919 + ], + [ + -0.03207699954509735, + 0.02449999935925007, + -0.013717000372707844 + ], + [ + -0.0354279987514019, + 0.02449999935925007, + -0.00887800008058548 + ], + [ + -0.024991000071167946, + 0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.015807999297976494, + 0.02518800087273121, + -0.008384999819099903 + ], + [ + -0.01617399975657463, + 0.02390800043940544, + -0.012168999761343002 + ], + [ + 0.0035000001080334187, + -0.014499999582767487, + 0.003570999950170517 + ], + [ + 0.004776999820023775, + 0.014499999582767487, + 0.0014779999619349837 + ], + [ + -0.03238900005817413, + -0.02370000071823597, + -0.005338999908417463 + ], + [ + -0.03600599989295006, + -0.02370000071823597, + -0.009344000369310379 + ], + [ + -0.024991000071167946, + -0.025499999523162842, + -0.009895999915897846 + ], + [ + -0.0020940001122653484, + -0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.011460999958217144, + 0.01676500029861927, + -0.012227999977767467 + ], + [ + -0.0020940001122653484, + 0.014499999582767487, + -0.007697000168263912 + ], + [ + -0.03317800164222717, + -0.02370000071823597, + -0.013939999975264072 + ], + [ + -0.032016001641750336, + -0.020948000252246857, + -0.014709999784827232 + ], + [ + 0.002580000087618828, + -0.01769999973475933, + 0.0036869999021291733 + ], + [ + -0.03292600065469742, + 0.02449999935925007, + -0.006008000113070011 + ], + [ + 0.0032689999788999557, + 0.01850000023841858, + -0.002305000089108944 + ], + [ + -0.023507000878453255, + 0.020500000566244125, + -0.014805999584496021 + ], + [ + -0.03413600102066994, + 0.020500000566244125, + -0.014019000343978405 + ], + [ + 0.0033400000538676977, + 0.01850000023841858, + 0.0022009999956935644 + ], + [ + -0.036302000284194946, + 0.020500000566244125, + -0.011233000084757805 + ], + [ + -0.03579400107264519, + -0.020500000566244125, + -0.01235899981111288 + ], + [ + -0.017098000273108482, + -0.02512899972498417, + -0.007063999772071838 + ], + [ + 0.002518000081181526, + 0.014499999582767487, + 0.00431999983265996 + ], + [ + 0.003854000009596348, + -0.014499999582767487, + -0.0031850000377744436 + ], + [ + -0.03577600046992302, + 0.020500000566244125, + -0.007120999973267317 + ] + ], + "indices_raw": [ + 7, + 9, + 10, + 11, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 8, + 9, + 12, + 6, + 13, + 14, + 2, + 3, + 14, + 3, + 15, + 14, + 15, + 16, + 17, + 6, + 5, + 5, + 18, + 19, + 17, + 20, + 21, + 5, + 20, + 5, + 4, + 20, + 4, + 16, + 20, + 16, + 15, + 22, + 6, + 12, + 22, + 2, + 14, + 23, + 9, + 8, + 23, + 1, + 0, + 10, + 24, + 11, + 10, + 9, + 23, + 10, + 23, + 0, + 25, + 26, + 7, + 25, + 7, + 11, + 25, + 11, + 18, + 25, + 18, + 5, + 25, + 5, + 21, + 25, + 21, + 26, + 27, + 13, + 24, + 27, + 24, + 10, + 27, + 10, + 0, + 28, + 8, + 7, + 28, + 7, + 26, + 19, + 18, + 11, + 19, + 11, + 24, + 29, + 15, + 28, + 29, + 28, + 26, + 26, + 21, + 20, + 29, + 29, + 20, + 15, + 30, + 4, + 6, + 30, + 6, + 22, + 30, + 22, + 14, + 30, + 14, + 16, + 30, + 16, + 4, + 31, + 12, + 13, + 31, + 13, + 27, + 31, + 27, + 0, + 31, + 0, + 2, + 31, + 2, + 22, + 12, + 32, + 6, + 17, + 32, + 17, + 19, + 32, + 19, + 24, + 32, + 24, + 13, + 32, + 13, + 6, + 33, + 1, + 23, + 33, + 23, + 8, + 33, + 8, + 28, + 33, + 28, + 15, + 33, + 15, + 3, + 33, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.09191659837961197, + 0.9254609942436218, + -0.3675232231616974, + -0.024939177557826042 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2580503225326538, + 0.031161170452833176, + 0.9656288027763367, + -0.004330390598624945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2907710373401642, + -0.0002926961751654744, + 0.9567925930023193, + -0.004818600602447987 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.5047945976257324, + -0.5764406323432922, + -0.6425719261169434, + -0.012918642722070217 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.10196014493703842, + 0.992279589176178, + -0.07060722261667252, + -0.02854994311928749 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9725351929664612, + -0.026132727041840553, + 0.2312842756509781, + -0.004608714021742344 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.267561137676239, + -0.14954526722431183, + 0.9518651366233826, + -0.0071282535791397095 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.714544951915741, + -0.2701604664325714, + 0.6453205943107605, + -0.02610083296895027 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1529802680015564, + -0.978523850440979, + 0.13815969228744507, + -0.027408258989453316 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.5297884345054626, + -0.4632146954536438, + -0.7104620337486267, + -0.011075662449002266 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + 0.41420218348503113, + -0.014535641297698021, + -0.9100688695907593, + -0.006137460470199585 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.07545790076255798, + -0.29810070991516113, + -0.9515472650527954, + -0.017826015129685402 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.1244371086359024, + -0.6520766615867615, + -0.7478712201118469, + -0.02175096794962883 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.04955287277698517, + -0.8713471293449402, + -0.48815858364105225, + -0.02581179514527321 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + -0.16540244221687317, + -0.9809607267379761, + -0.10177499055862427, + -0.030155235901474953 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.8942309617996216, + -0.24347613751888275, + 0.3755931854248047, + -0.008001456037163734 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.09812956303358078, + -0.6104356646537781, + 0.7859636545181274, + -0.01344938576221466 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.0877046212553978, + 0.9932079911231995, + 0.07645881175994873, + -0.026761993765830994 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.2387775182723999, + 0.24160966277122498, + 0.94053715467453, + -0.008130678907036781 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.40391185879707336, + 0.8539947271347046, + -0.32794544100761414, + -0.017875205725431442 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.00606840243563056, + 0.9713795185089111, + 0.23745547235012054, + -0.022571973502635956 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.026381274685263634, + 0.8933627605438232, + 0.44856107234954834, + -0.018323803320527077 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.0733710527420044, + 0.1125829815864563, + -0.9909297227859497, + -0.01870439015328884 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.10296253859996796, + 0.460614949464798, + -0.8816080093383789, + -0.020075354725122452 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.25849807262420654, + 0.1784006655216217, + -0.9493955969810486, + -0.011637449264526367 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.21177111566066742, + 0.008449878543615341, + -0.977282702922821, + -0.009664766490459442 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.07856549322605133, + -0.018437571823596954, + -0.9967384934425354, + -0.01253290195018053 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.07383441179990768, + 0.012848081067204475, + -0.9971876740455627, + -0.016763372346758842 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.9401538968086243, + 0.3404277563095093, + -0.014813792891800404, + -0.009405422955751419 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.33231863379478455, + 0.943152666091919, + -0.005236217752099037, + -0.01854674331843853 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.17118361592292786, + 0.942811906337738, + 0.28601008653640747, + -0.018643280491232872 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.7309419512748718, + 0.45772239565849304, + -0.5061760544776917, + -0.04160384461283684 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.7192039489746094, + 0.41242653131484985, + -0.5591511130332947, + -0.040844231843948364 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.4741263687610626, + 0.3196081519126892, + -0.8203991651535034, + -0.009956111200153828 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.5003477334976196, + 0.37871766090393066, + -0.7786046862602234, + -0.01043659821152687 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + -0.9966763257980347, + -0.010129128582775593, + -0.08083165436983109, + -0.03688168153166771 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + -0.7894546389579773, + 0.007074643392115831, + -0.6137681007385254, + -0.03569827228784561 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.5297442674636841, + -0.01295719388872385, + -0.8480584025382996, + -0.02970666065812111 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7803236842155457, + -0.400691956281662, + -0.48014670610427856, + -0.04207922890782356 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.2960875928401947, + -0.9491862058639526, + 0.10666650533676147, + -0.018036101013422012 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.2913316488265991, + -0.9487637877464294, + 0.12236455827951431, + -0.017995914444327354 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.010452709160745144, + -0.8135984539985657, + 0.5813331007957458, + -0.016517098993062973 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.05727130174636841, + -0.9568250775337219, + 0.2849661707878113, + -0.02301028184592724 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.057366594672203064, + -0.9979274272918701, + -0.029153840616345406, + -0.024302007630467415 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.782784104347229, + 0.010436615906655788, + 0.622205913066864, + -0.004810310900211334 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.7719117403030396, + 0.16640755534172058, + 0.6135639548301697, + -0.007007179316133261 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.48487988114356995, + 0.32952210307121277, + 0.8101274967193604, + -0.009498748928308487 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.10716138035058975, + 0.025701558217406273, + 0.9939094185829163, + -0.004396528471261263 + ] + }, + { + "index_base": 147, + "num_vertices": 4, + "plane": [ + 0.25879350304603577, + -0.01739414967596531, + 0.9657761454582214, + -0.004571579862385988 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.5408830046653748, + -0.44613879919052124, + -0.713025689125061, + -0.010824562981724739 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6043630242347717, + 0.0, + -0.7967090606689453, + -0.004866733681410551 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.6968936920166016, + 0.031460270285606384, + -0.7164840698242188, + -0.004511656239628792 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.937711775302887, + 0.025861751288175583, + -0.3464505076408386, + -0.004342390689998865 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.9741137027740479, + 0.005334840621799231, + -0.22599554061889648, + -0.0043966746889054775 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + -0.6158075332641602, + 0.2289944291114807, + 0.75388503074646, + -0.02135710045695305 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.7105207443237305, + 0.33389386534690857, + 0.6194152235984802, + -0.02785356156527996 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.982061505317688, + 0.14061996340751648, + 0.12562358379364014, + -0.03712237998843193 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9919167757034302, + -0.0012199876364320517, + 0.12688425183296204, + -0.034558262676000595 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + -0.8432195782661438, + -0.02262483537197113, + 0.537092924118042, + -0.025878580287098885 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + -0.6326172351837158, + 0.0011486286530271173, + 0.7744638323783875, + -0.017141105607151985 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 9, + 10 + ], + [ + 7, + 10, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 2, + 3 + ], + [ + 14, + 3, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 6, + 5 + ], + [ + 5, + 18, + 19 + ], + [ + 5, + 19, + 17 + ], + [ + 20, + 21, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 20, + 4, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 6, + 12 + ], + [ + 22, + 2, + 14 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 1, + 0 + ], + [ + 10, + 24, + 11 + ], + [ + 10, + 9, + 23 + ], + [ + 10, + 23, + 0 + ], + [ + 25, + 26, + 7 + ], + [ + 25, + 7, + 11 + ], + [ + 25, + 11, + 18 + ], + [ + 25, + 18, + 5 + ], + [ + 25, + 5, + 21 + ], + [ + 25, + 21, + 26 + ], + [ + 27, + 13, + 24 + ], + [ + 27, + 24, + 10 + ], + [ + 27, + 10, + 0 + ], + [ + 28, + 8, + 7 + ], + [ + 28, + 7, + 26 + ], + [ + 19, + 18, + 11 + ], + [ + 19, + 11, + 24 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 26 + ], + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 29 + ], + [ + 29, + 20, + 15 + ], + [ + 30, + 4, + 6 + ], + [ + 30, + 6, + 22 + ], + [ + 30, + 22, + 14 + ], + [ + 30, + 14, + 16 + ], + [ + 30, + 16, + 4 + ], + [ + 31, + 12, + 13 + ], + [ + 31, + 13, + 27 + ], + [ + 31, + 27, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 31, + 2, + 22 + ], + [ + 31, + 22, + 12 + ], + [ + 32, + 6, + 17 + ], + [ + 32, + 17, + 19 + ], + [ + 32, + 19, + 24 + ], + [ + 32, + 24, + 13 + ], + [ + 32, + 13, + 6 + ], + [ + 33, + 1, + 23 + ], + [ + 33, + 23, + 8 + ], + [ + 33, + 8, + 28 + ], + [ + 33, + 28, + 15 + ], + [ + 33, + 15, + 3 + ], + [ + 33, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + -0.036302000284194946, + -0.025499999523162842, + -0.014805999584496021 + ], + [ + 0.004776999820023775, + 0.025499999523162842, + 0.004722000099718571 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0043985978700220585, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_038.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_038.json new file mode 100644 index 0000000000000000000000000000000000000000..53fc8a42344cc0033b4d3c546804608e02118d77 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_038.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.839538003783673, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + -0.005249989219009876, + 0.02026689052581787 + ], + [ + 0.016393516212701797, + 0.005355285946279764, + 0.020274700596928596 + ], + [ + -0.010551173239946365, + -0.001936863991431892, + 0.0015893022064119577 + ], + [ + 0.021058708429336548, + -0.004999947268515825, + 0.019783440977334976 + ], + [ + -0.0038393354043364525, + -0.00549997016787529, + 0.002347175031900406 + ], + [ + -0.004447362385690212, + -0.005432975012809038, + -0.0016682108398526907 + ], + [ + 0.0016016149893403053, + -0.005432975012809038, + -0.004471834748983383 + ], + [ + 0.021798528730869293, + -0.004999947268515825, + 0.012355390004813671 + ], + [ + 0.023115016520023346, + -0.004999947268515825, + 0.015911880880594254 + ], + [ + -0.004105887375771999, + 0.005463290028274059, + 0.0022624770645052195 + ], + [ + 0.022002436220645905, + 0.005192446056753397, + 0.018826300278306007 + ], + [ + 0.022146016359329224, + 0.005355285946279764, + 0.013035180978477001 + ], + [ + 0.0021148710511624813, + 0.0053552258759737015, + -0.004366633482277393 + ], + [ + -0.0035197939723730087, + 0.0053552258759737015, + -0.003339346731081605 + ], + [ + 0.012750902213156223, + 0.004999982658773661, + 0.0036200531758368015 + ], + [ + 0.014267423190176487, + -0.004999947268515825, + 0.0049940370954573154 + ], + [ + -0.0013361778110265732, + 0.004999982658773661, + -0.004818137735128403 + ], + [ + -0.0021025147289037704, + -0.004999947268515825, + -0.004536387510597706 + ], + [ + 0.019002286717295647, + 0.004999982658773661, + 0.0206608809530735 + ], + [ + 0.023111678659915924, + 0.004999982658773661, + 0.015489219687879086 + ], + [ + -0.004848381504416466, + 0.0053552258759737015, + -0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + -0.9995930790901184, + -0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + 0.01206897757947445, + 0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + 0.4508727192878723, + 0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + 0.9999979734420776, + 0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + -0.037696633487939835, + 0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + -0.7347155213356018, + 0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + -0.01986261084675789, + -0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + 0.008559993468225002, + -0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + -0.979090690612793, + -0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + 0.003514686366543174, + -0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + -0.029233338311314583, + -0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + 0.9484537839889526, + -0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + 0.002508311765268445, + 0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + -0.06626430153846741, + 0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + 0.03201968967914581, + 0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + 0.9626887440681458, + 0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + 0.9626891016960144, + 0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + 0.013617747463285923, + 0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + -0.008036171086132526, + -0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + -0.5307285189628601, + -0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + -0.9659310579299927, + -0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + -0.8791415095329285, + 0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + 0.015754459425807, + -0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + 0.9361693859100342, + -0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + 0.9978163838386536, + -0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + 0.5309804081916809, + -0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + 0.6332581043243408, + 0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.00549997016787529, + -0.004818137735128403 + ], + [ + 0.023115016520023346, + 0.005463290028274059, + 0.0206608809530735 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.007977438159286976, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_039.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_039.json new file mode 100644 index 0000000000000000000000000000000000000000..34b0c7fbd861530a8f33008d91fcb693e8bf4092 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_039.json @@ -0,0 +1,9301 @@ +{ + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8883249727077782, + "parts": [ + { + "vertices_raw": [ + [ + 0.003435140708461404, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.002645079977810383 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.003435140708461404, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 7, + 6, + 3, + 1, + 4, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 1, + 0, + 5, + 0, + 2, + 5, + 2, + 3, + 6, + 7, + 4, + 0, + 7, + 0, + 5, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.5038278102874756, + 0.013086438179016113, + -0.8637048602104187, + 0.005367162637412548 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.5547001957893372, + 0.0, + -0.8320503234863281, + 0.005286477040499449 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.0, + -0.0905357375741005, + -0.9958932399749756, + 0.0031694448553025723 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999541163444519, + 0.030289139598608017, + 0.0, + -0.006448087282478809 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8778955340385437, + -0.47885218262672424, + 0.0, + -0.0016245779115706682 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.009690405800938606 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 7, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 5, + 2, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 6 + ] + ], + "raw_bounds": [ + [ + 0.0005983792361803353, + -0.009690406732261181, + 0.002645079977810383 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.015883300453424454 + ], + [ + 0.0029623471200466156, + -0.012999962083995342, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.015410506166517735 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 7, + 1, + 5, + 1, + 0, + 8, + 1, + 7, + 8, + 7, + 3, + 2, + 8, + 2, + 1, + 9, + 7, + 6, + 9, + 6, + 4, + 9, + 4, + 3, + 9, + 3, + 7, + 10, + 4, + 6, + 10, + 6, + 5, + 0, + 10, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9934325814247131, + -0.09934321790933609, + -0.056767553091049194, + -0.005399323999881744 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.015883300453424454 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10693860054016113, + -0.24952343106269836, + 0.962445855140686, + -0.01839236170053482 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6542210578918457, + -0.6178755760192871, + 0.43614742159843445, + -0.01669164188206196 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.26754844188690186, + 0.026754843071103096, + 0.9631729125976562, + -0.01529643777757883 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.6837635040283203, + 0.5698027014732361, + 0.4558424949645996, + -0.0030875466763973236 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.8320502042770386, + 0.0, + 0.5547002553939819, + -0.01080404594540596 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6882472038269043, + -0.22941558063030243, + 0.6882472038269043, + -0.014803793281316757 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.44721361994743347, + 0.8944272398948669, + 0.0, + 0.007032010704278946 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.11883514374494553, + 0.6238844990730286, + -0.7724288105964661, + 0.015506066381931305 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 8, + 1, + 7 + ], + [ + 8, + 7, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 10, + 4, + 6 + ], + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 0 + ], + [ + 10, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.005435265135020018, + -0.002555649261921644 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + -0.0011372686130926013 + ], + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.003435140708461404, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + -0.012054375372827053, + 0.001226699212566018 + ], + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + -0.004446823615580797 + ], + [ + -0.001765588647685945, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + -0.004919617436826229 + ], + [ + -0.0027111757081001997, + -0.012054375372827053, + 0.0007539056241512299 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + -0.012054375372827053, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + 0.0010711727663874626, + -0.004489677958190441, + -0.002555649261921644 + ] + ], + "indices_raw": [ + 16, + 6, + 5, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 4, + 7, + 9, + 2, + 1, + 10, + 11, + 8, + 12, + 10, + 12, + 9, + 10, + 9, + 1, + 13, + 3, + 2, + 13, + 2, + 9, + 14, + 5, + 4, + 14, + 4, + 8, + 11, + 14, + 11, + 5, + 15, + 7, + 13, + 15, + 13, + 9, + 15, + 9, + 12, + 15, + 12, + 8, + 15, + 8, + 7, + 16, + 3, + 13, + 13, + 7, + 6, + 16, + 17, + 11, + 10, + 17, + 10, + 1, + 17, + 1, + 0, + 17, + 0, + 5, + 17, + 5, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.9946268200874329, + 0.10289238393306732, + -0.011432486586272717, + -0.0040475912392139435 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.5291267037391663, + -0.11338429152965546, + 0.8409334421157837, + -0.007334135472774506 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.5038530826568604, + -0.8220758438110352, + 0.2651858925819397, + -0.011727501638233662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.7279386520385742, + -0.6846945881843567, + -0.03603654354810715, + -0.010365767404437065 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8102372884750366, + -0.0925985798239708, + -0.5787410140037537, + -0.00571135338395834 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.09919000416994095, + -0.079352006316185, + -0.9918994903564453, + -0.005486194044351578 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6393464803695679, + 0.051147665828466415, + -0.7672157287597656, + -0.0046252296306192875 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.6854345798492432, + -0.7139943242073059, + 0.14279890060424805, + -0.010572746396064758 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.43158718943595886, + -0.8477606177330017, + -0.30827656388282776, + -0.011156921274960041 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071067094802856, + -0.006639573723077774 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.44721361994743347, + 0.8944271206855774, + 0.0, + 0.002479448216035962 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012054375372827053 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.2568807303905487, + -0.9082568287849426, + -0.3302752375602722, + -0.011395921930670738 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.06311160326004028, + -0.773116946220398, + -0.6311157941818237, + -0.010834909975528717 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + 0.22355104982852936, + -0.7824282646179199, + -0.5812323093414307, + -0.011262265965342522 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5096874833106995, + -0.8388605117797852, + -0.19113285839557648, + -0.011387349106371403 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.5633991956710815, + -0.7887589335441589, + 0.24584698677062988, + -0.01122081559151411 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + -0.015590788796544075, + -0.9822190999984741, + 0.1870894581079483, + -0.01202335488051176 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9284766912460327, + -0.3713906407356262, + 0.0032194172963500023 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.16129031777381897, + 0.9677419662475586, + -0.19354836642742157, + 0.004022978246212006 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.1634203940629959, + 0.9805224537849426, + -0.10894693434238434, + 0.0042988513596355915 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.004489677958190441 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.18878205120563507, + 0.9806178212165833, + -0.052439458668231964, + 0.004066423047333956 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 0 + ], + [ + 16, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 4, + 7 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 8 + ], + [ + 10, + 8, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 9 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 15, + 7, + 13 + ], + [ + 15, + 13, + 9 + ], + [ + 15, + 9, + 12 + ], + [ + 15, + 12, + 8 + ], + [ + 15, + 8, + 7 + ], + [ + 16, + 3, + 13 + ], + [ + 13, + 7, + 6 + ], + [ + 13, + 6, + 16 + ], + [ + 17, + 11, + 10 + ], + [ + 17, + 10, + 1 + ], + [ + 17, + 1, + 0 + ], + [ + 17, + 0, + 5 + ], + [ + 17, + 5, + 11 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012054375372827053, + -0.004919617436826229 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.008791396394371986 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.008791396394371986 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 4, + 2, + 1, + 5, + 6, + 0, + 1, + 2, + 3, + 7, + 3, + 2, + 4, + 8, + 3, + 7, + 8, + 7, + 4, + 6, + 9, + 0, + 3, + 8, + 9, + 8, + 6, + 5, + 9, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0024895535316318274 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.9805806875228882, + 0.1961161196231842, + 0.0, + -0.003600603900849819 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.0, + 0.19611623883247375, + 0.9805806875228882, + -0.009780069813132286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.2576627731323242, + 0.0, + 0.9662349224090576, + -0.007853087969124317 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999687671661377, + -0.024992188438773155, + 0.0, + -0.0010264815064147115 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 4 + ], + [ + 8, + 3, + 7 + ], + [ + 8, + 7, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0012927950592711568, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.008791396394371986 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + 0.0059117809869349, + -0.0035012364387512207 + ], + [ + -0.0008200015290640295, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + -0.003656762884929776, + 0.005438987165689468, + -0.000664475082885474 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.004063460510224104 + ], + [ + -0.0027111757081001997, + 0.0059117809869349, + 0.003117873566225171 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + 0.0016994928009808064 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.003907934296876192, + 0.005438987165689468, + -0.0016100622015073895 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + -0.0035012364387512207 + ] + ], + "indices_raw": [ + 10, + 1, + 8, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 3, + 6, + 3, + 5, + 6, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 8, + 9, + 10, + 3, + 2, + 10, + 2, + 1, + 11, + 9, + 8, + 11, + 8, + 1, + 0, + 11, + 0, + 6, + 5, + 11, + 5, + 7, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0011838451027870178 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.7353563904762268, + -0.20285692811012268, + -0.6466065049171448, + -0.0020153415389358997 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.0, + -0.37139061093330383, + 0.9284766912460327, + -0.0015772486804053187 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.9551337957382202, + -0.14694367349147797, + 0.25715145468711853, + -0.002522602677345276 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2119995355606079, + -0.2119995802640915, + 0.9539981484413147, + -0.002295918297022581 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2595711350440979, + 0.9641208648681641, + -0.05562238395214081, + -0.006229991093277931 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.6494998931884766, + -0.2823912501335144, + 0.7059782147407532, + -0.002202085219323635 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.8741572499275208, + -0.4856429398059845, + 0.0, + -0.0007747432682663202 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.9622505307197571, + -0.1924501210451126, + 0.19245010614395142, + -0.00234411028213799 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7587982416152954, + -0.23607057332992554, + -0.6070385575294495, + -0.0018941224552690983 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.5975551605224609, + -0.15725137293338776, + -0.7862568497657776, + -0.0027458404656499624 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.1961161494255066, + -0.9805806875228882, + -0.002273849444463849 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.19611620903015137, + 0.9805806279182434, + 0.0, + -0.00609977450221777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 8 + ], + [ + 10, + 8, + 4 + ], + [ + 10, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 8 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 11, + 7, + 9 + ] + ], + "raw_bounds": [ + [ + -0.003656762884929776, + 0.0011838451027870178, + -0.0035012364387512207 + ], + [ + 0.003907934296876192, + 0.0059117809869349, + 0.004063460510224104 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.008791396394371986 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.007845808751881123 + ], + [ + -0.001765588647685945, + -0.01110878773033619, + 0.005954634863883257 + ], + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.004853521473705769, + -0.012999962083995342, + 0.007845808751881123 + ] + ], + "indices_raw": [ + 9, + 2, + 3, + 6, + 8, + 0, + 1, + 2, + 3, + 2, + 1, + 3, + 1, + 4, + 3, + 4, + 5, + 6, + 3, + 5, + 7, + 5, + 4, + 7, + 4, + 1, + 0, + 7, + 0, + 8, + 6, + 7, + 6, + 5, + 9, + 8, + 0, + 9, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.15205712616443634, + 0.0, + 0.988371729850769, + -0.008813855238258839 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.28885573148727417, + 0.18775634467601776, + 0.9387811422348022, + -0.0060492344200611115 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.9309493899345398, + 0.07161153852939606, + 0.3580574691295624, + -0.002980258082970977 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.9592642188072205, + -0.06851880997419357, + 0.2740755081176758, + -0.004086846485733986 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.9486833214759827, + 0.3162277936935425, + 0.0, + 0.0018379230750724673 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.09950368851423264, + -0.9950372576713562, + 0.006748180370777845 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.5883482098579407, + 0.19611608982086182, + -0.7844647169113159, + 0.005811032373458147 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.6001487970352173, + -0.34808629751205444, + -0.7201787233352661, + -0.0017875595949590206 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9523809552192688, + -0.19047610461711884, + -0.23809513449668884, + -0.0052305348217487335 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 3 + ], + [ + 9, + 3, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 8 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 9, + 8, + 0 + ], + [ + 9, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.012999962083995342, + 0.005481841508299112 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008318603038787842 + ], + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.007373015861958265 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 7, + 8, + 3, + 0, + 0, + 1, + 2, + 3, + 1, + 0, + 4, + 2, + 1, + 5, + 6, + 2, + 4, + 7, + 6, + 0, + 2, + 9, + 5, + 1, + 3, + 9, + 3, + 8, + 9, + 8, + 7, + 4, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.9874838590621948, + -0.07053456455469131, + 0.14106911420822144, + 0.0011016115313395858 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9761870503425598, + 0.0, + 0.21693044900894165, + -0.0002973582595586777 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.15617398917675018, + 0.9370424151420593, + -0.3123478889465332, + -0.008351076394319534 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 0, + 2 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 3 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.005954634863883257 + ], + [ + -0.0022383821196854115, + 0.012058096937835217, + 0.004063460510224104 + ], + [ + -0.001765588647685945, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + -0.002555649261921644 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.003435140708461404, + 0.012058096937835217, + 0.0035906671546399593 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + -0.0011372686130926013 + ], + [ + -0.003656762884929776, + 0.012058096937835217, + -0.0020828559063374996 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + -0.003974030259996653 + ], + [ + 0.003907934296876192, + 0.012058096937835217, + -0.002555649261921644 + ], + [ + -0.0041295564733445644, + 0.012058096937835217, + 0.001226699212566018 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 16, + 14, + 13, + 12, + 15, + 4, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 7, + 5, + 8, + 2, + 1, + 6, + 9, + 8, + 5, + 7, + 10, + 4, + 3, + 11, + 6, + 1, + 11, + 1, + 0, + 11, + 12, + 7, + 11, + 7, + 6, + 13, + 14, + 9, + 13, + 9, + 7, + 13, + 7, + 12, + 15, + 12, + 11, + 15, + 11, + 0, + 15, + 0, + 4, + 16, + 10, + 3, + 16, + 3, + 2, + 8, + 9, + 16, + 9, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.012058096937835217 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + -0.05941757187247276, + 0.5941759943962097, + 0.8021374344825745, + -0.010557085275650024 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.6401844620704651, + 0.0, + -0.7682211995124817, + -0.0049096569418907166 + ] + }, + { + "index_base": 17, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.004919617436826229 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.05094815790653229, + 0.7896967530250549, + 0.6113781929016113, + -0.011892510578036308 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.9950220584869385, + -0.08291845768690109, + -0.05527897924184799, + -0.004230517894029617 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + -0.7180995345115662, + 0.29920828342437744, + -0.628337025642395, + -0.0075425379909574986 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.7470113635063171, + 0.12138932198286057, + -0.6536349058151245, + -0.005826096516102552 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.1844417154788971, + 0.7131746411323547, + -0.6762862205505371, + -0.011048667132854462 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.08211291581392288, + 0.5337336659431458, + -0.8416566252708435, + -0.009674426168203354 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + -0.5048437118530273, + 0.5889846086502075, + -0.6310546398162842, + -0.010262523777782917 + ] + }, + { + "index_base": 50, + "num_vertices": 3, + "plane": [ + -0.7374095916748047, + 0.6671804189682007, + -0.10534423589706421, + -0.010960875079035759 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.8908706903457642, + 0.445435494184494, + 0.08908711373806, + -0.009159289300441742 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5321810841560364, + 0.768706202507019, + 0.3547874391078949, + -0.01190202310681343 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.5570861101150513, + 0.7427813410758972, + 0.3713906705379486, + -0.012203739956021309 + ] + }, + { + "index_base": 62, + "num_vertices": 5, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.9534626007080078, + 0.28603869676589966, + -0.09534622728824615, + -0.007418823428452015 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 14, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 8, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 6 + ], + [ + 9, + 8, + 5 + ], + [ + 9, + 5, + 7 + ], + [ + 10, + 4, + 3 + ], + [ + 11, + 6, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 13, + 14, + 9 + ], + [ + 13, + 9, + 7 + ], + [ + 13, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 0 + ], + [ + 15, + 0, + 4 + ], + [ + 16, + 10, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 8 + ], + [ + 16, + 8, + 9 + ], + [ + 16, + 9, + 14 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.004380727652460337, + 0.012058096937835217, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.010166922584176064, + 0.013046538457274437 + ], + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 4, + 6, + 3, + 0, + 3, + 1, + 0, + 4, + 2, + 5, + 4, + 5, + 6, + 0, + 1, + 2, + 4, + 0, + 2, + 7, + 3, + 6, + 5, + 7, + 5, + 2, + 1, + 7, + 1, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.8317734599113464, + 0.02579141966998577, + 0.5545157790184021, + -0.01106267236173153 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9997296929359436, + -0.02324952930212021, + 0.0, + 0.0005834902403876185 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + 0.0, + -0.1643989533185959, + 0.0029536818619817495 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.5297672748565674, + -0.029568379744887352, + 0.8476274609565735, + -0.014198040589690208 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.1961144059896469, + 0.004560800269246101, + 0.9805704355239868, + -0.01568915694952011 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.12403467297554016, + 0.0, + -0.9922778606414795, + 0.01304750144481659 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.004602350294589996 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 6, + 3 + ], + [ + 4, + 3, + 0 + ], + [ + 3, + 1, + 0 + ], + [ + 4, + 2, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 0, + 2 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.005075143650174141, + -0.008744820021092892, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + 0.009221335873007774, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.007845808751881123 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.007845808751881123 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.008318603038787842 + ] + ], + "indices_raw": [ + 10, + 7, + 6, + 9, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 2, + 1, + 5, + 1, + 0, + 4, + 6, + 7, + 5, + 4, + 8, + 3, + 2, + 9, + 3, + 8, + 9, + 6, + 4, + 3, + 10, + 8, + 2, + 10, + 2, + 5, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.7071067690849304, + 0.0, + 0.7071068286895752, + -0.004967996850609779 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.2979356348514557, + -0.8938066959381104, + -0.33517760038375854, + -0.0073323845863342285 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.33129462599754333, + 0.8834521770477295, + -0.3312946557998657, + -0.007855238392949104 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.009736982174217701 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9816026091575623, + 0.02230914682149887, + -0.18962779641151428, + 0.0021608122624456882 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0008200014708563685 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.9950372576713562, + 0.09950371831655502, + 0.0, + 0.00022768788039684296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 2, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 5, + 0, + 4 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 8, + 3, + 2 + ], + [ + 9, + 3, + 8 + ], + [ + 9, + 6, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 10, + 8, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + 0.010639716871082783, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.009217613376677036, + -0.004919617436826229 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.004063460510224104 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.006744695827364922, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.005326314829289913, + -0.004489677958190441, + 0.004063460510224104 + ], + [ + 0.006744695827364922, + -0.009690406732261181, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.005435265135020018, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + -0.007326439023017883, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 6, + 5, + 4, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 9, + 2, + 5, + 6, + 9, + 6, + 8, + 3, + 9, + 3, + 2, + 10, + 0, + 3, + 8, + 10, + 8, + 7, + 10, + 7, + 0, + 11, + 1, + 0, + 11, + 0, + 7, + 11, + 7, + 4, + 11, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.03521473705768585, + -0.9977520704269409, + -0.05701443552970886, + -0.009289816953241825 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.7999998927116394, + 0.0, + 0.6000000238418579, + 0.0018229754641652107 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07114565372467041, + -0.9960376620292664, + 0.0533592514693737, + -0.00948988925665617 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.5723052024841309, + 0.8155349493026733, + -0.08584579080343246, + 0.007058598101139069 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.31622758507728577, + 0.0, + -0.9486833214759827, + -0.0029828313272446394 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.2983115613460541, + -0.5220453143119812, + -0.7990487217903137, + -0.010331927798688412 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.06830870360136032, + -0.11954023689031601, + -0.9904766082763672, + -0.006338475272059441 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.48776865005493164, + 0.18291334807872772, + -0.8535951375961304, + -0.00707156490534544 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.5734623670578003, + 0.0, + -0.8192318081855774, + -0.008982653729617596 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 9, + 2, + 5 + ], + [ + 9, + 5, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 7 + ], + [ + 11, + 7, + 4 + ], + [ + 11, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010639716871082783, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.010639716871082783, + -0.002555649261921644 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + -0.004919617436826229 + ], + [ + 0.006744695827364922, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.004380727652460337, + 0.009694129228591919, + -0.004919617436826229 + ], + [ + 0.008635870181024075, + 0.00827574823051691, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 7, + 8, + 6, + 4, + 5, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 6, + 2, + 1, + 4, + 9, + 8, + 7, + 9, + 7, + 5, + 0, + 3, + 9, + 3, + 2, + 10, + 8, + 9, + 10, + 9, + 2, + 10, + 2, + 6, + 10, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05255891755223274, + 0.9986178278923035, + 0.0, + -0.010855256579816341 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.052558813244104385, + 0.0, + 0.9986178874969482, + -0.01563110202550888 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.19611604511737823, + 0.0, + -0.980580747127533, + -0.003964951261878014 + ] + }, + { + "index_base": 20, + "num_vertices": 5, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.004380727652460337 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.08762271702289581, + 0.9249054789543152, + -0.3699623644351959, + -0.011170078068971634 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.051917411386966705, + 0.15575221180915833, + -0.9864309430122375, + -0.006590181030333042 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.2242944985628128, + 0.6728833913803101, + -0.7049253582954407, + -0.010973555967211723 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.5734624266624451, + 0.0, + -0.8192319273948669, + -0.00898265466094017 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.4842175245285034, + -0.2178979516029358, + -0.847380518913269, + -0.006547159049659967 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 4 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 5 + ], + [ + 9, + 5, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 10, + 8, + 9 + ], + [ + 10, + 9, + 2 + ], + [ + 10, + 2, + 6 + ], + [ + 10, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + 0.004380727652460337, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.010639716871082783, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.005438987165689468, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + -0.0008200015290640295, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 0, + 4, + 5, + 1, + 6, + 4, + 3, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.04461493715643883, + 0.988963782787323, + 0.14128059148788452, + -0.008053954690694809 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + 0.998617947101593, + -0.015904447063803673 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.005911781452596188 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999999403953552, + 0.0, + 0.0, + -0.0008200014708563685 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.052558816969394684, + 0.0, + -0.998617947101593, + 0.013457550667226315 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 4, + 3 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0008200015290640295, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.005481841508299112 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + -0.0012927950592711568, + 0.012058096937835217, + 0.004063460510224104 + ] + ], + "indices_raw": [ + 0, + 2, + 3, + 4, + 0, + 1, + 2, + 5, + 6, + 3, + 2, + 5, + 2, + 1, + 7, + 6, + 5, + 1, + 7, + 4, + 3, + 7, + 3, + 6, + 8, + 4, + 7, + 8, + 7, + 1, + 8, + 1, + 0, + 8, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.986393928527832, + -0.16439901292324066, + 0.0, + 0.0002261999761685729 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.14142130315303802, + 0.0, + 0.9899495244026184, + -0.008921387605369091 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.9899495244026184, + 0.0, + 0.1414213627576828, + -0.0027717400807887316 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.8311627507209778, + -0.04617565497756004, + -0.5541085600852966, + 0.0016683712601661682 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8479982614517212, + 0.0, + -0.5299990177154541, + 0.0008568784687668085 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.800000011920929, + 0.0, + -0.5999999046325684, + 0.0014038399094715714 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.06285564601421356, + 0.7752197980880737, + -0.6285566687583923, + -0.006874820217490196 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.20507574081420898, + 0.4101516604423523, + -0.8886616826057434, + -0.0010694856755435467 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004063460510224104 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + 0.010639716871082783, + 0.004063460510224104 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0012927950592711568, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.0008200015290640295, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + -0.005075143650174141, + -0.012999962083995342, + 0.009264189749956131 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.008791396394371986 + ], + [ + -0.0027111757081001997, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 6, + 8, + 4, + 0, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 1, + 0, + 6, + 2, + 3, + 6, + 3, + 7, + 6, + 7, + 8, + 9, + 7, + 3, + 1, + 5, + 9, + 5, + 4, + 8, + 9, + 8, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + -0.12275607138872147, + 0.14321544766426086, + 0.9820489883422852, + -0.011051204055547714 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.9974586963653564, + 0.0, + 0.07124704122543335, + 0.0003936674911528826 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9801960587501526, + -0.1400279700756073, + 0.14002792537212372, + -0.008092239499092102 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.8099418878555298, + -0.09642163664102554, + -0.5785300135612488, + -4.437286406755447e-06 + ] + }, + { + "index_base": 24, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.010163201950490475 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.7682212591171265, + 0.0, + -0.6401844024658203, + 0.0017292811535298824 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 8, + 4 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 2, + 3 + ], + [ + 6, + 3, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 1 + ], + [ + 9, + 1, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 7 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.012999962083995342, + 0.005954634863883257 + ], + [ + -0.0008200015290640295, + -0.0101632010191679, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + 0.004853521473705769, + 0.010639716871082783, + 0.013519331812858582 + ], + [ + 0.004853521473705769, + 0.013476477935910225, + 0.013519331812858582 + ], + [ + 0.0015439663548022509, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.008791396394371986 + ], + [ + 0.005326314829289913, + 0.010639716871082783, + 0.008791396394371986 + ], + [ + 0.0029623471200466156, + 0.013476477935910225, + 0.005954634863883257 + ], + [ + 0.0029623471200466156, + 0.010639716871082783, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 8, + 4, + 0, + 3, + 6, + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 3, + 2, + 7, + 9, + 5, + 4, + 8, + 9, + 8, + 6, + 7, + 9, + 7, + 2, + 1, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.2747209966182709, + 0.0, + 0.9615239500999451, + -0.011665796861052513 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439663548022509 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9950372576713562, + 0.0, + 0.09950368851423264, + -0.006174658425152302 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.7682213187217712, + 0.0, + -0.6401843428611755, + 0.0015363255515694618 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 7 + ], + [ + 9, + 7, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + 0.010639716871082783, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + 0.013476477935910225, + 0.013519331812858582 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0022383821196854115, + -0.0101632010191679, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.012100951746106148 + ], + [ + -0.005075143650174141, + 0.0059117809869349, + 0.009264189749956131 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.005075143650174141, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.0022383821196854115, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "indices_raw": [ + 7, + 0, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 3, + 6, + 2, + 1, + 8, + 2, + 6, + 3, + 8, + 3, + 5, + 8, + 5, + 0, + 2, + 9, + 1, + 0, + 7, + 9, + 7, + 4, + 9, + 4, + 6, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.16439896821975708, + 0.004275036975741386 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.16437670588493347, + -0.016437672078609467, + 0.9862606525421143, + -0.012935986742377281 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.19611603021621704, + 0.0, + -0.9805806875228882, + 0.010079602710902691 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06237826123833656, + -0.9980525374412537, + 0.008877381682395935 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.9862606525421143, + 0.016437672078609467, + 0.1643766611814499, + -0.006827469449490309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.005075143650174141 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.0, + -0.02939903922379017, + -0.9995677471160889, + 0.009433986619114876 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0101632010191679 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.9863939881324768, + 0.16439901292324066, + 0.0, + 0.00045876787044107914 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 7, + 0, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 4, + 3 + ], + [ + 6, + 2, + 1 + ], + [ + 8, + 2, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ], + [ + 9, + 7, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 1 + ] + ], + "raw_bounds": [ + [ + -0.005075143650174141, + -0.0101632010191679, + 0.009264189749956131 + ], + [ + -0.0022383821196854115, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + 0.005799108650535345, + -0.004489677958190441, + 0.0007539056241512299 + ], + [ + 0.00627190200611949, + 0.0026022258680313826, + -0.0011372686130926013 + ], + [ + 0.005799108650535345, + 0.0059117809869349, + 0.0021722863893955946 + ], + [ + 0.005326314829289913, + -0.0030712971929460764, + 0.003117873566225171 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9837124347686768, + 0.017885657027363777, + -0.17885679006576538, + 0.005919797345995903 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9738617539405823, + -0.11686335504055023, + -0.19477225840091705, + -0.0060253688134253025 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9946228265762329, + 0.053283341228961945, + 0.08880557864904404, + -0.006275836378335953 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.8207634687423706, + -0.5471756458282471, + 0.1641526073217392, + 0.002179298084229231 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.1441291868686676, + 0.09608612209558487, + 0.9848828315734863, + -0.0035433084703981876 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.004602350294589996, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010166922584176064, + 0.015410506166517735 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.015410506166517735 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.002016759943217039, + 0.013476477935910225, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.0139921260997653 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 5, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 4, + 6, + 8, + 7, + 6, + 8, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.012573745101690292 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.8320502638816833, + 0.0, + 0.5547003746032715, + -0.01080404780805111 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010166922584176064 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.09950388967990875, + 0.0, + 0.9950372576713562, + -0.015603799372911453 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.06644416600465775, + -0.04746011272072792, + 0.9966608285903931, + -0.015056665055453777 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.5704789757728577, + 0.4074849486351013, + 0.7130986452102661, + -0.01796834170818329 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.004380727652460337 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.013476477935910225, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 4, + 0, + 3, + 6, + 7, + 2, + 1, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.008272025734186172 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0024895535316318274 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.008163075894117355 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.013046538457274437 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 6 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 3 + ], + [ + 7, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.002016759943217039, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + -0.004489677958190441, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + -0.0011372686130926013 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.0016994928009808064 + ] + ], + "indices_raw": [ + 4, + 1, + 3, + 5, + 3, + 1, + 0, + 0, + 1, + 2, + 4, + 2, + 1, + 6, + 2, + 4, + 6, + 4, + 5, + 6, + 5, + 3, + 0, + 6, + 0, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.002589479088783264 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.0015439664712175727 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.9935203194618225, + -0.05519557371735573, + 0.09935203194618225, + 0.00149308773688972 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9999999403953552, + 0.0, + -0.004489677492529154 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.9669876098632812, + -0.08058230578899384, + 0.2417469024658203, + -0.0029514108318835497 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0029623471200466156 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.00402060616761446 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.554436981678009, + 0.030802056193351746, + 0.8316554427146912, + -0.003179670311510563 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 3, + 1, + 0 + ], + [ + 0, + 1, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 0 + ], + [ + 6, + 0, + 2 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + 0.0029623471200466156, + 0.004020606633275747, + 0.002645079977810383 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0005983792361803353, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + -0.004489677958190441, + 0.005481841508299112 + ], + [ + 0.0006617542239837348, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0005983792361803353, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + -0.004602350294589996, + 0.0059117809869349, + 0.005481841508299112 + ] + ], + "indices_raw": [ + 4, + 1, + 0, + 3, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 3, + 2, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.09053570032119751, + 0.0, + 0.9958932399749756, + -0.005876006092876196 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.9985359311103821, + 0.0, + 0.05409111827611923, + -0.0009195960592478514 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + 0.08996749669313431, + 0.11185961961746216, + -0.9896429181098938, + 0.005177837796509266 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.13128377497196198, + 0.0, + -0.9913448095321655, + 0.004830181133002043 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.004602350294589996, + -0.004489677958190441, + 0.004784716293215752 + ], + [ + 0.0006617542239837348, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + 0.0059117809869349, + 0.013046538457274437 + ], + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.013046538457274437 + ], + [ + 0.002984528196975589, + -0.008272026665508747, + 0.012078770436346531 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 3, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071066498756409, + 0.0, + 0.7071069478988647, + -0.007464918773621321 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.8903087377548218, + 0.0, + 0.4553573429584503, + -0.008157309144735336 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272027596831322 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.0, + 0.06807220727205276, + -0.9976803660392761, + 0.012613847851753235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.001521785045042634, + -0.008272026665508747, + 0.012078770436346531 + ], + [ + 0.002984528196975589, + 0.0059117809869349, + 0.013046538457274437 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.02849319949746132, + -0.0101632010191679, + 0.022502409294247627 + ], + [ + 0.02849319949746132, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.014309393242001534, + 0.010639716871082783, + 0.016828887164592743 + ], + [ + 0.04362259432673454, + 0.009694129228591919, + 0.018247267231345177 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.021556822583079338 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.020138442516326904 + ], + [ + 0.032275550067424774, + -0.010635994374752045, + 0.011155364103615284 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + -0.0011372686130926013 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + -0.0011372686130926013 + ], + [ + 0.04787773638963699, + -0.0030712971929460764, + 0.022975202649831772 + ], + [ + 0.04835053160786629, + 0.0021294322796165943, + 0.022975202649831772 + ], + [ + 0.042677007615566254, + -0.009690406732261181, + 0.022502409294247627 + ], + [ + 0.040785834193229675, + 0.010639716871082783, + 0.022502409294247627 + ], + [ + 0.045986562967300415, + 0.007802954874932766, + 0.021556822583079338 + ], + [ + 0.04125862568616867, + 0.011112510226666927, + 0.02061123587191105 + ], + [ + 0.0388946570456028, + 0.011112510226666927, + 0.015410506166517735 + ], + [ + 0.030384374782443047, + -0.01110878773033619, + 0.02061123587191105 + ], + [ + 0.01336380559951067, + -0.010635994374752045, + 0.013046538457274437 + ], + [ + 0.045986562967300415, + -0.007326439023017883, + 0.021556822583079338 + ], + [ + 0.04362259432673454, + -0.009690406732261181, + 0.01872006058692932 + ], + [ + 0.01336380559951067, + 0.010166922584176064, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.011112510226666927, + 0.0139921260997653 + ], + [ + 0.030384374782443047, + 0.011585303582251072, + 0.02061123587191105 + ], + [ + 0.04125862568616867, + -0.010635994374752045, + 0.01966564916074276 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 11, + 2, + 1, + 10, + 1, + 12, + 13, + 2, + 11, + 14, + 4, + 15, + 14, + 15, + 13, + 14, + 13, + 11, + 16, + 15, + 4, + 16, + 4, + 9, + 17, + 12, + 1, + 5, + 4, + 14, + 5, + 14, + 11, + 5, + 11, + 10, + 8, + 7, + 17, + 18, + 18, + 17, + 1, + 0, + 19, + 10, + 12, + 19, + 12, + 20, + 21, + 0, + 3, + 22, + 9, + 8, + 18, + 0, + 21, + 22, + 21, + 3, + 6, + 5, + 10, + 6, + 10, + 19, + 6, + 19, + 20, + 6, + 20, + 7, + 23, + 15, + 16, + 16, + 9, + 22, + 23, + 23, + 22, + 3, + 23, + 3, + 2, + 23, + 2, + 13, + 23, + 13, + 15, + 24, + 12, + 17, + 24, + 17, + 7, + 24, + 7, + 20, + 24, + 20, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.5487039089202881, + -0.004039752297103405, + -0.8360070586204529, + -0.0084267258644104 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.37396830320358276, + 0.0, + 0.9274414777755737, + -0.010214114561676979 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.023618821054697037, + 0.000429434614488855, + 0.9997208714485168, + -0.02182772196829319 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.002438429743051529, + -0.07315284758806229, + 0.9973177313804626, + -0.02325499802827835 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.0, + 0.05546998977661133, + 0.9984602928161621, + -0.023057948797941208 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5628597140312195, + 0.8236973285675049, + 0.06864141672849655, + -0.0337909497320652 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.4977046549320221, + 0.8039843440055847, + 0.3254217803478241, + -0.03617624193429947 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.354749470949173, + 0.36319589614868164, + 0.8615344166755676, + -0.03771965578198433 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.37572842836380005, + 0.9108569622039795, + -0.17078568041324615, + -0.022103842347860336 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.5368949174880981, + 0.1193106472492218, + -0.8351699113845825, + -0.009337794035673141 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.029399093240499496, + -0.8819714784622192, + 0.4703848958015442, + -0.020386122167110443 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.8450430035591125, + 0.3521014153957367, + -0.40240147709846497, + -0.0329335555434227 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.923076868057251, + 0.38461554050445557, + 0.0, + -0.04545026645064354 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.995893120765686, + -0.09053604304790497, + 0.0, + -0.04795917123556137 + ] + }, + { + "index_base": 47, + "num_vertices": 4, + "plane": [ + -0.010436422191560268, + -0.9981001615524292, + -0.06072093918919563, + -0.00960158184170723 + ] + }, + { + "index_base": 51, + "num_vertices": 4, + "plane": [ + -0.15411591529846191, + -0.9452441930770874, + 0.28768303990364075, + -0.01174730435013771 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5368158221244812, + -0.4717472493648529, + 0.6994878649711609, + -0.043221279978752136 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6027487516403198, + -0.7835735082626343, + 0.150687113404274, + -0.03670748323202133 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.44721323251724243, + 0.0, + 0.8944272994995117, + -0.008652868680655956 + ] + }, + { + "index_base": 64, + "num_vertices": 6, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.013363806530833244 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.544949471950531, + 0.7784987688064575, + 0.3113996982574463, + -0.005725621245801449 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9209275841712952, + -0.1782442033290863, + -0.34658530354499817, + -0.036676499992609024 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.9138116836547852, + -0.4061383605003357, + 0.0, + -0.04499860480427742 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7071066498756409, + -0.70710688829422, + 0.0, + -0.03769798204302788 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5571632385253906, + -0.06023363769054413, + -0.8282155394554138, + -0.009384348057210445 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.04342874884605408, + 0.99886155128479, + -0.01974034123122692, + -0.012484797276556492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.006421743426471949, + 0.9977375864982605, + -0.06692144274711609, + -0.010305847972631454 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.10371185094118118, + 0.9748918414115906, + 0.19705253839492798, + -0.012204693630337715 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.13333329558372498, + 0.9333333373069763, + 0.33333322405815125, + -0.013632111251354218 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8944272398948669, + 0.44721361994743347, + -0.01957983709871769 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.0420331209897995, + 0.966762125492096, + 0.2521987855434418, + -0.01767551153898239 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.06639426946640015, + -0.9560773968696594, + 0.2854956090450287, + -0.018522625789046288 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.0397564060986042, + -0.9983277320861816, + -0.04196507856249809, + -0.011433231644332409 + ] + }, + { + "index_base": 110, + "num_vertices": 3, + "plane": [ + 0.26032334566116333, + -0.9255942106246948, + -0.2747856676578522, + -0.015181360766291618 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + 0.40406110882759094, + -0.9091371893882751, + 0.10101522505283356, + -0.02832711488008499 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 11, + 2 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 12 + ], + [ + 13, + 2, + 11 + ], + [ + 14, + 4, + 15 + ], + [ + 14, + 15, + 13 + ], + [ + 14, + 13, + 11 + ], + [ + 16, + 15, + 4 + ], + [ + 16, + 4, + 9 + ], + [ + 17, + 12, + 1 + ], + [ + 5, + 4, + 14 + ], + [ + 5, + 14, + 11 + ], + [ + 5, + 11, + 10 + ], + [ + 8, + 7, + 17 + ], + [ + 8, + 17, + 18 + ], + [ + 18, + 17, + 1 + ], + [ + 18, + 1, + 0 + ], + [ + 19, + 10, + 12 + ], + [ + 19, + 12, + 20 + ], + [ + 21, + 0, + 3 + ], + [ + 22, + 9, + 8 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 0 + ], + [ + 22, + 0, + 21 + ], + [ + 22, + 21, + 3 + ], + [ + 6, + 5, + 10 + ], + [ + 6, + 10, + 19 + ], + [ + 6, + 19, + 20 + ], + [ + 6, + 20, + 7 + ], + [ + 23, + 15, + 16 + ], + [ + 16, + 9, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 23, + 22, + 3 + ], + [ + 23, + 3, + 2 + ], + [ + 23, + 2, + 13 + ], + [ + 23, + 13, + 15 + ], + [ + 24, + 12, + 17 + ], + [ + 24, + 17, + 7 + ], + [ + 24, + 7, + 20 + ], + [ + 24, + 20, + 12 + ] + ], + "raw_bounds": [ + [ + 0.01336380559951067, + -0.01110878773033619, + -0.0011372686130926013 + ], + [ + 0.04835053160786629, + 0.011585303582251072, + 0.022975202649831772 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0008200015290640295, + -0.004489677958190441, + 0.003117873566225171 + ], + [ + -0.001765588647685945, + 0.004020606633275747, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.002645079977810383 + ], + [ + 0.0010711727663874626, + 0.004020606633275747, + 0.003117873566225171 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.0021722863893955946 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3, + 5, + 1, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 5, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.7071067690849304, + 0.0, + 0.7071067690849304, + -0.002784498268738389 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.3154498338699341, + 0.07009996473789215, + 0.9463495016098022, + -0.002894541248679161 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.19593016803264618, + -0.04354003816843033, + 0.9796508550643921, + -0.0030892454087734222 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.004020606633275747 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.8941512703895569, + 0.024837536737322807, + 0.44707563519477844, + -0.002451577689498663 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.1412079781293869, + -0.054914213716983795, + -0.9884557723999023, + 0.002149977022781968 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0021722863893955946 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 1, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + -0.001765588647685945, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + 0.004020606633275747, + 0.003117873566225171 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.008163075894117355, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ], + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.008163075894117355, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0163560938090086 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.008272026665508747 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.008163075894117355 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.005954634863883257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0059117809869349 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.008163075894117355, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.015883300453424454 + ], + [ + 0.01336380559951067, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.009690406732261181, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.005954634863883257 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.015883300453424454 + ], + [ + 0.005326314829289913, + -0.009690406732261181, + 0.005954634863883257 + ] + ], + "indices_raw": [ + 3, + 2, + 1, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 3, + 6, + 0, + 2, + 7, + 1, + 0, + 7, + 0, + 6, + 5, + 7, + 5, + 4, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.01336380559951067 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0560038685798645, + -0.99740070104599, + 0.04533645883202553, + -0.011155171319842339 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + -0.05872198939323425, + 0.0, + 0.9982743859291077, + -0.015543119050562382 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.05865586921572685, + -0.997148334980011, + -0.04748332127928734, + -0.009067608043551445 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.005326314829289913 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.00595463439822197 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 1 + ], + [ + 3, + 1, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 1 + ] + ], + "raw_bounds": [ + [ + 0.005326314829289913, + -0.0101632010191679, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + -0.008272026665508747, + 0.0163560938090086 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.007690283004194498, + 0.0059117809869349, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + -0.0016100622015073895 + ], + [ + 0.01336380559951067, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + -0.004489677958190441, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + 0.005954634863883257 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + -0.0016100622015073895 + ], + [ + 0.00627190200611949, + 0.0059117809869349, + -0.004919617436826229 + ] + ], + "indices_raw": [ + 8, + 6, + 5, + 7, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 2, + 3, + 5, + 6, + 4, + 7, + 5, + 3, + 2, + 7, + 2, + 1, + 8, + 0, + 4, + 6, + 8, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.9999999403953552, + 0.0, + -0.005911780521273613 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + 0.46962231397628784, + -0.06403941661119461, + -0.8805418014526367, + -0.007981184870004654 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.004489677958190441 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.005954634863883257 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.013363804668188095 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.5547001957893372, + 0.0, + -0.8320502638816833, + -0.008752558380365372 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.00627190200611949 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.3159340023994446, + 0.04308191314339638, + -0.9478026032447815, + -0.002936009783297777 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 8, + 7, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 4 + ], + [ + 7, + 5, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 8, + 0, + 4 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.00627190200611949, + -0.004489677958190441, + -0.005392410792410374 + ], + [ + 0.01336380559951067, + 0.0059117809869349, + 0.005954634863883257 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + 0.004380727652460337, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.012573745101690292 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.013519331812858582 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.015883300453424454 + ], + [ + -0.0003472079406492412, + 0.010166922584176064, + 0.013519331812858582 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9999999403953552, + 0.0, + 0.0, + -0.004380727186799049 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.0059117809869349 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.015883298590779305 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.19611606001853943, + 0.0, + -0.9805806875228882, + 0.013188702054321766 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0003472079406492412 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.010166922584176064 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0003472079406492412, + 0.0059117809869349, + 0.012573745101690292 + ], + [ + 0.004380727652460337, + 0.010166922584176064, + 0.015883300453424454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.010639716871082783, + 0.012573745101690292 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ], + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0027111757081001997, + 0.013476477935910225, + 0.009736983105540276 + ], + [ + -0.001765588647685945, + 0.013476477935910225, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 4, + 1, + 0, + 6, + 7, + 3, + 2, + 5, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.010639716871082783 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + -0.0027111757081001997 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0033423160202801228 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.009736983105540276 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.013476477935910225 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 6 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + 0.010639716871082783, + 0.009736983105540276 + ], + [ + -0.0012927950592711568, + 0.013476477935910225, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0015439663548022509, + 0.0011838451027870178, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + 0.0015439663548022509, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + -0.0022383821196854115, + -0.004489677958190441, + 0.0021722863893955946 + ], + [ + -0.0022383821196854115, + 0.0011838451027870178, + 0.0021722863893955946 + ], + [ + -0.001765588647685945, + -0.004489677958190441, + -0.0020828559063374996 + ], + [ + -0.001765588647685945, + 0.0011838451027870178, + -0.0020828559063374996 + ], + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.00019168150902260095 + ], + [ + -0.0027111757081001997, + 0.0011838451027870178, + -0.00019168150902260095 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 4, + 8, + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 7, + 0, + 3, + 9, + 7, + 6, + 8, + 9, + 8, + 4, + 5, + 9, + 5, + 1, + 0, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.0044896784238517284 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.0015439663548022509 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0021722863893955946 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.14142130315303802, + 0.0, + -0.9899495244026184, + -0.0023116141092032194 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.8944272398948669, + 0.0, + -0.4472135901451111, + -0.0025106719695031643 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.9805806875228882, + 0.0, + 0.1961161345243454, + -0.002620934508740902 + ] + }, + { + "index_base": 25, + "num_vertices": 5, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.0011838451027870178 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 6, + 4, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 7, + 0 + ], + [ + 6, + 0, + 3 + ], + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 5 + ], + [ + 9, + 5, + 1 + ], + [ + 9, + 1, + 0 + ], + [ + 9, + 0, + 7 + ] + ], + "raw_bounds": [ + [ + -0.0027111757081001997, + -0.004489677958190441, + -0.002555649261921644 + ], + [ + 0.0015439663548022509, + 0.0011838451027870178, + 0.0021722863893955946 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + }, + { + "vertices_raw": [ + [ + 0.0024895535316318274, + -0.008272026665508747, + 0.012100951746106148 + ], + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.012573745101690292 + ], + [ + 0.005326314829289913, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.0101632010191679, + 0.009736983105540276 + ], + [ + 0.002016759943217039, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.0029623471200466156, + -0.008272026665508747, + 0.009736983105540276 + ] + ], + "indices_raw": [ + 8, + 5, + 4, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 3, + 2, + 1, + 6, + 1, + 0, + 7, + 1, + 6, + 7, + 4, + 3, + 1, + 8, + 6, + 0, + 8, + 0, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00973698403686285 + ] + }, + { + "index_base": 5, + "num_vertices": 3, + "plane": [ + -0.16299529373645782, + 0.13039623200893402, + 0.9779720902442932, + -0.010349966585636139 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.005326314829289913 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.012573745101690292 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9792319536209106, + 0.19947320222854614, + 0.03626780956983566, + 0.003649023361504078 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9863939881324768, + 0.0, + -0.1643989533185959, + 0.0035900697112083435 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.012999962083995342 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.880450963973999, + 0.4402254819869995, + -0.17609013617038727, + 0.007964345626533031 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + 0.008272026665508747 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 1, + 6 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ], + [ + 8, + 6, + 0 + ], + [ + 8, + 0, + 2 + ], + [ + 8, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + 0.0015439663548022509, + -0.012999962083995342, + 0.009736983105540276 + ], + [ + 0.005326314829289913, + -0.008272026665508747, + 0.012573745101690292 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.015389184933155775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_040.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_040.json new file mode 100644 index 0000000000000000000000000000000000000000..614fb54ec8d2fefb6ab50fd02f33c20b8cb60fc0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_040.json @@ -0,0 +1,1354 @@ +{ + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9338998170569539, + "parts": [ + { + "vertices_raw": [ + [ + -0.0026940000243484974, + -0.018400000408291817, + -0.002956999931484461 + ], + [ + 0.034749001264572144, + -0.011500000022351742, + -0.017650000751018524 + ], + [ + 0.0018619999755173922, + -0.018400000408291817, + 0.003539999946951866 + ], + [ + -0.007480999920517206, + -0.003100000089034438, + -0.010386000387370586 + ], + [ + 0.020020000636577606, + -0.009317000396549702, + -0.0218339990824461 + ], + [ + -0.0034580000210553408, + -0.018400000408291817, + 0.002010999945923686 + ], + [ + -0.007565999869257212, + -0.003100000089034438, + 0.010324000380933285 + ], + [ + -0.012679999694228172, + -0.003100000089034438, + 0.001749000046402216 + ], + [ + -0.010701999999582767, + 0.003100000089034438, + 0.007021999917924404 + ], + [ + -0.012784999795258045, + 0.003100000089034438, + -0.0006089999806135893 + ], + [ + 0.03127700090408325, + -0.011500000022351742, + -0.02252800017595291 + ], + [ + 0.03247499838471413, + -0.0071000000461936, + -0.024327000603079796 + ], + [ + -0.009686999954283237, + 0.003100000089034438, + -0.008365999907255173 + ], + [ + -0.002320999978110194, + 0.018400000408291817, + -0.0032579998951405287 + ], + [ + 0.01777699962258339, + 0.010436000302433968, + -0.020383000373840332 + ], + [ + 0.03258199989795685, + -0.005601000040769577, + -0.011509999632835388 + ], + [ + 0.007480999920517206, + -0.003100000089034438, + 0.010386000387370586 + ], + [ + -5.199999941396527e-05, + -0.003100000089034438, + 0.012799999676644802 + ], + [ + 0.0033710000570863485, + 0.003100000089034438, + 0.012347999960184097 + ], + [ + -0.004530000034719706, + 0.003100000089034438, + 0.011970999650657177 + ], + [ + -0.0024349999148398638, + 0.018400000408291817, + 0.003172999946400523 + ], + [ + 0.03617699816823006, + -0.00803999975323677, + -0.021151000633835793 + ], + [ + 0.0020359999034553766, + 0.018400000408291817, + 0.00344299990683794 + ], + [ + 0.03437599912285805, + 0.009318999946117401, + -0.01423100009560585 + ], + [ + 0.03303299844264984, + 0.012000000104308128, + -0.017819000408053398 + ], + [ + 0.03564000129699707, + 0.009999999776482582, + -0.02071000076830387 + ], + [ + 0.03685100004076958, + 0.0071000000461936, + -0.01864900067448616 + ], + [ + -0.011285999789834023, + -0.003100000089034438, + -0.006039000116288662 + ], + [ + 0.03635299950838089, + -0.0071000000461936, + -0.016155999153852463 + ], + [ + -0.003978999797254801, + 0.018400000408291817, + -0.00041000000783242285 + ], + [ + 0.02185700088739395, + 0.0071000000461936, + -0.022856000810861588 + ], + [ + 0.03161099925637245, + 0.009469999931752682, + -0.024010999128222466 + ], + [ + 0.034717999398708344, + 0.007215000223368406, + -0.023137999698519707 + ], + [ + 0.03087400086224079, + 0.012000000104308128, + -0.020850999280810356 + ], + [ + 0.007790999952703714, + 0.003100000089034438, + 0.010223999619483948 + ] + ], + "indices_raw": [ + 22, + 20, + 19, + 18, + 0, + 1, + 2, + 3, + 4, + 0, + 5, + 6, + 7, + 5, + 7, + 0, + 5, + 0, + 2, + 8, + 9, + 7, + 8, + 7, + 6, + 10, + 4, + 11, + 10, + 1, + 0, + 10, + 0, + 4, + 12, + 13, + 14, + 15, + 16, + 2, + 15, + 2, + 1, + 17, + 6, + 5, + 17, + 5, + 2, + 17, + 2, + 16, + 17, + 16, + 18, + 19, + 20, + 8, + 19, + 8, + 6, + 19, + 6, + 17, + 19, + 17, + 18, + 21, + 1, + 10, + 21, + 10, + 11, + 22, + 23, + 24, + 22, + 24, + 13, + 25, + 24, + 23, + 25, + 23, + 26, + 27, + 7, + 9, + 27, + 9, + 12, + 27, + 12, + 3, + 27, + 3, + 0, + 27, + 0, + 7, + 28, + 26, + 23, + 28, + 23, + 15, + 28, + 15, + 1, + 28, + 1, + 21, + 28, + 21, + 26, + 29, + 20, + 22, + 13, + 29, + 13, + 12, + 29, + 12, + 9, + 29, + 9, + 8, + 29, + 8, + 20, + 30, + 14, + 31, + 30, + 31, + 11, + 30, + 11, + 4, + 30, + 4, + 3, + 30, + 3, + 12, + 14, + 32, + 31, + 25, + 32, + 25, + 26, + 21, + 32, + 21, + 11, + 32, + 11, + 31, + 33, + 13, + 24, + 33, + 24, + 25, + 33, + 25, + 31, + 33, + 31, + 14, + 33, + 14, + 13, + 34, + 16, + 15, + 34, + 15, + 23, + 34, + 23, + 22, + 34, + 22, + 18, + 34, + 18, + 16 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0451480895280838, + 0.5026227831840515, + 0.8633261919021606, + -0.012097529135644436 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.1423136591911316, + -0.9847778677940369, + -0.09979698807001114, + -0.018031621351838112 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.4267512261867523, + -0.49956536293029785, + -0.7538686394691467, + -0.012570859864354134 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.7654424905776978, + -0.4535495340824127, + 0.45649829506874084, + -0.011910229921340942 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.8481484055519104, + -0.5134508013725281, + -0.1304318904876709, + -0.012118094600737095 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.018400002270936966 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.9613348245620728, + 0.08352024853229523, + 0.2624112665653229, + -0.012389769777655602 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8478571772575378, + -0.1595526933670044, + 0.505649209022522, + -0.012129822745919228 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.1244775727391243, + -0.3462839722633362, + -0.92983478307724, + -0.0210363008081913 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.14184698462486267, + -0.9847263693809509, + -0.10096204280853271, + -0.018035374581813812 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.18778613209724426, + -0.777571976184845, + -0.6000985503196716, + -0.01658771187067032 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.45617246627807617, + 0.47157031297683716, + -0.7546708583831787, + -0.01219438761472702 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.5400451421737671, + -0.5009511709213257, + 0.676313042640686, + -0.012617215514183044 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.5401402115821838, + -0.5034834146499634, + 0.6743537783622742, + -0.012657048180699348 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.2683568596839905, + -0.5145392417907715, + 0.8143918514251709, + -0.012033242732286453 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.23515890538692474, + -0.5246232748031616, + 0.8182119131088257, + -0.012111673131585121 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.26872482895851135, + -0.4739088714122772, + 0.8385686874389648, + -0.012188822962343693 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.3036837875843048, + -0.09857543557882309, + 0.9476597905158997, + -0.012419838458299637 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.5517596006393433, + 0.4712375998497009, + 0.6881107687950134, + -0.01219768263399601 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.6225250363349915, + 0.09859922528266907, + 0.7763638496398926, + -0.012419546954333782 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.31144073605537415, + -0.09856624156236649, + 0.9451398849487305, + -0.012419541366398335 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.047428809106349945, + 0.09865041077136993, + 0.9939911961555481, + -0.012419737875461578 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.598672091960907, + -0.678246021270752, + -0.4261152148246765, + -0.03612402081489563 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.5173730850219727, + -0.44077378511428833, + -0.7335146069526672, + -0.037775393575429916 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.450687438249588, + 0.7877478003501892, + 0.41992151737213135, + -0.016857948154211044 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.1407613307237625, + 0.9858041405677795, + -0.09152323007583618, + -0.01811026968061924 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.7313763499259949, + 0.648559033870697, + 0.21085503697395325, + -0.028185034170746803 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8368046283721924, + 0.5030374526977539, + 0.2161276787519455, + -0.030378088355064392 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.9809271693229675, + -0.0833892971277237, + -0.17557938396930695, + -0.012389576062560081 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.9240381121635437, + 0.09980206191539764, + -0.3690434694290161, + -0.012347961775958538 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + -0.7513985633850098, + -0.053065814077854156, + -0.657711386680603, + -0.012616708874702454 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6578575372695923, + -0.4854268431663513, + -0.5758334994316101, + -0.012406863272190094 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.8484349846839905, + -0.5070456266403198, + -0.15186411142349243, + -0.012064386159181595 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.8820446133613586, + 0.051294174045324326, + 0.46836555004119873, + -0.024133868515491486 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.7794872522354126, + 0.020454086363315582, + 0.6260839700698853, + -0.018076464533805847 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.6194655895233154, + -0.44533371925354004, + 0.6464830040931702, + -0.015236725099384785 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.9353009462356567, + -0.3522794842720032, + 0.0333390012383461, + -0.035963550209999084 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.998820424079895, + -0.03988993912935257, + -0.02768711932003498, + -0.037040647119283676 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.018400000408291817 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + -0.7462656497955322, + 0.5043237805366516, + -0.4344480633735657, + -0.012427072040736675 + ] + }, + { + "index_base": 122, + "num_vertices": 3, + "plane": [ + -0.8173755407333374, + 0.47469088435173035, + -0.3264443278312683, + -0.01212049275636673 + ] + }, + { + "index_base": 125, + "num_vertices": 3, + "plane": [ + -0.8446415066719055, + 0.483139306306839, + 0.23055800795555115, + -0.012156063690781593 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.7889560461044312, + 0.5118223428726196, + 0.3399799168109894, + -0.012417396530508995 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.20466917753219604, + 0.4089396595954895, + -0.8893137574195862, + -0.018756171688437462 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.12061034142971039, + 0.01264103688299656, + -0.9926194548606873, + -0.020140882581472397 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.18927845358848572, + -0.03989730775356293, + -0.9811125993728638, + -0.018003981560468674 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.3869834840297699, + -0.014093653298914433, + -0.9219788908958435, + -0.012514389120042324 + ] + }, + { + "index_base": 143, + "num_vertices": 4, + "plane": [ + -0.42786476016044617, + 0.13876493275165558, + -0.8931270837783813, + -0.012046704068779945 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + 0.5293327569961548, + 0.4511655569076538, + -0.7185099720954895, + -0.0382574200630188 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + 0.8962570428848267, + 0.0331924632191658, + -0.4422913193702698, + -0.04151192680001259 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.6451348066329956, + -0.03769935667514801, + -0.7631380558013916, + -0.03978327661752701 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.292805939912796, + 0.03349127247929573, + -0.9555851221084595, + -0.032517604529857635 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.1379530429840088, + 0.9855552911758423, + -0.09823238104581833, + -0.018134070560336113 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3793489933013916, + 0.8849450945854187, + -0.27012333273887634, + -0.027963705360889435 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.3395898640155792, + 0.7712914347648621, + -0.5383197665214539, + -0.030964501202106476 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.11380887776613235, + 0.7624368071556091, + -0.6369754672050476, + -0.018917083740234375 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.11918839067220688, + 0.8394197821617126, + -0.5302532911300659, + -0.017449526116251945 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.6565588116645813, + -0.013122377917170525, + 0.7541606426239014, + -0.01278510969132185 + ] + }, + { + "index_base": 178, + "num_vertices": 3, + "plane": [ + 0.6690284013748169, + 0.0547332689166069, + 0.7412188053131104, + -0.01296029519289732 + ] + }, + { + "index_base": 181, + "num_vertices": 3, + "plane": [ + 0.5190467238426208, + 0.5018815994262695, + 0.6918854713439941, + -0.012673563323915005 + ] + }, + { + "index_base": 184, + "num_vertices": 3, + "plane": [ + 0.37752199172973633, + 0.4901893436908722, + 0.7856153845787048, + -0.012492992915213108 + ] + }, + { + "index_base": 187, + "num_vertices": 3, + "plane": [ + 0.4331280589103699, + 0.0018945846240967512, + 0.9013304710388184, + -0.012595577165484428 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 20, + 19 + ], + [ + 22, + 19, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 0 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 0 + ], + [ + 5, + 0, + 2 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 10, + 4, + 11 + ], + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 12, + 13, + 14 + ], + [ + 15, + 16, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 6, + 5 + ], + [ + 17, + 5, + 2 + ], + [ + 17, + 2, + 16 + ], + [ + 17, + 16, + 18 + ], + [ + 19, + 20, + 8 + ], + [ + 19, + 8, + 6 + ], + [ + 19, + 6, + 17 + ], + [ + 19, + 17, + 18 + ], + [ + 21, + 1, + 10 + ], + [ + 21, + 10, + 11 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 13 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 26 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 12 + ], + [ + 27, + 12, + 3 + ], + [ + 27, + 3, + 0 + ], + [ + 27, + 0, + 7 + ], + [ + 28, + 26, + 23 + ], + [ + 28, + 23, + 15 + ], + [ + 28, + 15, + 1 + ], + [ + 28, + 1, + 21 + ], + [ + 28, + 21, + 26 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 20 + ], + [ + 30, + 14, + 31 + ], + [ + 30, + 31, + 11 + ], + [ + 30, + 11, + 4 + ], + [ + 30, + 4, + 3 + ], + [ + 30, + 3, + 12 + ], + [ + 30, + 12, + 14 + ], + [ + 32, + 31, + 25 + ], + [ + 32, + 25, + 26 + ], + [ + 32, + 26, + 21 + ], + [ + 32, + 21, + 11 + ], + [ + 32, + 11, + 31 + ], + [ + 33, + 13, + 24 + ], + [ + 33, + 24, + 25 + ], + [ + 33, + 25, + 31 + ], + [ + 33, + 31, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 34, + 16, + 15 + ], + [ + 34, + 15, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 18 + ], + [ + 34, + 18, + 16 + ] + ], + "raw_bounds": [ + [ + -0.012784999795258045, + -0.018400000408291817, + -0.024327000603079796 + ], + [ + 0.03685100004076958, + 0.018400000408291817, + 0.012799999676644802 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.006576542276889086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_041.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_041.json new file mode 100644 index 0000000000000000000000000000000000000000..a2cd352c8454fa484b5fa5a34fcd4575bbf28c8a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_041.json @@ -0,0 +1,1337 @@ +{ + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9595400858670473, + "parts": [ + { + "vertices_raw": [ + [ + 0.004881000146269798, + -0.021114999428391457, + 0.0008929999894462526 + ], + [ + 0.00469100009649992, + 0.019923999905586243, + -0.0017300000181421638 + ], + [ + 0.0033489998895674944, + 0.02449999935925007, + 0.0021879998967051506 + ], + [ + -0.016958000138401985, + -0.020500000566244125, + 0.013813000172376633 + ], + [ + -0.0011149999918416142, + -0.020500000566244125, + 0.007065999787300825 + ], + [ + -0.00979200005531311, + 0.021794000640511513, + 0.011417999863624573 + ], + [ + 0.0015670000575482845, + -0.02500000037252903, + 0.0016840000171214342 + ], + [ + -0.024754999205470085, + -0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03359999880194664, + -0.02500000037252903, + 0.008762000128626823 + ], + [ + 0.0014359999913722277, + -0.023600000888109207, + -0.004265000112354755 + ], + [ + -0.03095399960875511, + 0.02449999935925007, + 0.013713999651372433 + ], + [ + -0.024754999205470085, + 0.025499999523162842, + 0.009882999584078789 + ], + [ + -0.03551800176501274, + 0.02449999935925007, + 0.009996999986469746 + ], + [ + -0.034042999148368835, + 0.020500000566244125, + 0.014074999839067459 + ], + [ + -0.0137320002540946, + -0.024035999551415443, + 0.01143999956548214 + ], + [ + 0.003662999952211976, + 0.02449999935925007, + -0.0016070000128820539 + ], + [ + -0.0006580000044777989, + 0.02449999935925007, + -0.003945999778807163 + ], + [ + -0.021220000460743904, + 0.020500000566244125, + 0.0145650003105402 + ], + [ + -0.031286999583244324, + -0.023600000888109207, + 0.014248000457882881 + ], + [ + -0.0340769998729229, + -0.021375000476837158, + 0.013964000158011913 + ], + [ + -0.03274000063538551, + 0.02449999935925007, + 0.005944000091403723 + ], + [ + -0.033351998776197433, + 0.021788999438285828, + 0.005282999947667122 + ], + [ + -0.03579099848866463, + -0.023600000888109207, + 0.011188000440597534 + ], + [ + 0.0043230000883340836, + -0.023600000888109207, + -0.0012489999644458294 + ], + [ + 0.0020200000144541264, + 0.020500000566244125, + -0.0045739999040961266 + ], + [ + -0.03513399884104729, + -0.023600000888109207, + 0.007065999787300825 + ], + [ + -0.036518000066280365, + -0.020500000566244125, + 0.010017000138759613 + ], + [ + -0.03340199962258339, + -0.020500000566244125, + 0.005121000111103058 + ], + [ + -0.014038000255823135, + 0.02483000047504902, + 0.010449999943375587 + ], + [ + 0.0029899999499320984, + -0.023600000888109207, + 0.0033629999961704016 + ], + [ + -0.03604299947619438, + 0.020500000566244125, + 0.007612000219523907 + ], + [ + 0.00022200000239536166, + 0.020500000566244125, + 0.006147000007331371 + ], + [ + -0.0010679999832063913, + -0.020500000566244125, + -0.004885000176727772 + ], + [ + -0.036079999059438705, + 0.020500000566244125, + 0.011818000115454197 + ] + ], + "indices_raw": [ + 32, + 27, + 21, + 16, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 7, + 6, + 14, + 4, + 3, + 15, + 16, + 11, + 15, + 11, + 2, + 15, + 2, + 1, + 17, + 10, + 13, + 17, + 3, + 5, + 18, + 7, + 14, + 18, + 14, + 3, + 18, + 3, + 17, + 18, + 17, + 13, + 18, + 13, + 19, + 18, + 8, + 7, + 20, + 12, + 11, + 20, + 11, + 16, + 20, + 16, + 21, + 22, + 8, + 18, + 22, + 18, + 19, + 23, + 6, + 9, + 23, + 1, + 0, + 24, + 16, + 15, + 24, + 15, + 1, + 24, + 1, + 23, + 24, + 23, + 9, + 25, + 8, + 22, + 25, + 22, + 26, + 25, + 27, + 9, + 25, + 9, + 8, + 28, + 5, + 2, + 28, + 2, + 11, + 28, + 11, + 10, + 28, + 10, + 17, + 28, + 17, + 5, + 29, + 4, + 14, + 29, + 14, + 6, + 29, + 6, + 23, + 29, + 23, + 0, + 29, + 0, + 2, + 30, + 21, + 27, + 30, + 27, + 25, + 30, + 25, + 26, + 30, + 12, + 20, + 30, + 20, + 21, + 31, + 4, + 29, + 31, + 29, + 2, + 31, + 2, + 5, + 31, + 5, + 4, + 32, + 16, + 24, + 32, + 24, + 9, + 32, + 9, + 27, + 33, + 12, + 30, + 33, + 30, + 26, + 33, + 26, + 22, + 19, + 33, + 19, + 13, + 33, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2837983965873718, + 0.004008793272078037, + -0.9588755965232849, + -0.004486851394176483 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.9538896679878235, + 0.023541664704680443, + 0.2992326617240906, + -0.004426068160682917 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.3917756676673889, + -0.014285339042544365, + 0.9199498891830444, + -0.006356386002153158 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.03416293114423752, + -0.9848969578742981, + -0.1697382926940918, + -0.024283049628138542 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.0458645299077034, + -0.9726089835166931, + -0.22787760198116302, + -0.02385961078107357 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.09076569974422455, + 0.9896164536476135, + 0.11144871264696121, + -0.028583571314811707 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5515294075012207, + 0.48703670501708984, + 0.677207887172699, + -0.03829167038202286 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.09394942224025726, + -0.9655330181121826, + 0.24273337423801422, + -0.024694306775927544 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.3792104721069336, + -0.25161007046699524, + 0.8904447555541992, + -0.011027069762349129 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.02012530155479908, + 0.9991059899330139, + -0.0371788889169693, + -0.024611562490463257 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.03638264909386635, + 0.999333381652832, + 0.0030103176832199097, + -0.024612098932266235 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.9729765057563782, + 0.216415673494339, + 0.08050452917814255, + -0.008736825548112392 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.03791423141956329, + 0.11882458627223969, + 0.9921911358833313, + -0.017691709101200104 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.2644491493701935, + 0.009802224114537239, + 0.9643497467041016, + -0.008635088801383972 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.05209881067276001, + -0.8847787976264954, + 0.4630899131298065, + -0.0258488729596138 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.12808160483837128, + -0.4694364368915558, + 0.873627245426178, + -0.019518854096531868 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.03354852646589279, + -0.014841711148619652, + 0.9993269443511963, + -0.013539042323827744 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.03818470984697342, + 0.0015337229706346989, + 0.9992694854736328, + -0.01539608184248209 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.10328322649002075, + -0.0025526918470859528, + 0.9946486353874207, + -0.01746341958642006 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.08969464898109436, + -0.9553270936012268, + 0.2816115617752075, + -0.02936439774930477 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.09299364686012268, + 0.9936243891716003, + -0.06373956799507141, + -0.027009541168808937 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.0475323349237442, + 0.9868972301483154, + -0.1541893184185028, + -0.02481869049370289 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.28220677375793457, + 0.28691232204437256, + -0.9154456257820129, + -0.010827393271028996 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.22302483022212982, + -0.9178776741027832, + 0.3282690942287445, + -0.033316873013973236 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.48207712173461914, + -0.5139225721359253, + 0.7095668911933899, + -0.03732122853398323 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.23763298988342285, + -0.9443454742431641, + -0.22746899724006653, + -0.023597950115799904 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.9706486463546753, + -0.01086210273206234, + -0.24025662243366241, + -0.004752540495246649 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.43300625681877136, + 0.41548582911491394, + -0.7999231815338135, + -0.013050980865955353 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7348579168319702, + 0.1826428771018982, + -0.6531657576560974, + -0.008216172456741333 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.7274712920188904, + -0.013732098042964935, + -0.686000645160675, + -0.004325751215219498 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.7223119139671326, + -0.014409931376576424, + -0.6914172768592834, + -0.0043262094259262085 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.6101171970367432, + -0.786320686340332, + -0.09724568575620651, + -0.03930589184165001 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.9481901526451111, + -0.27945470809936523, + -0.15113064646720886, + -0.03884095326066017 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.2715010344982147, + -0.39808598160743713, + -0.8762503862380981, + -0.012742162682116032 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + -0.16558584570884705, + -0.8288426995277405, + -0.5344165563583374, + -0.021602194756269455 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.3284822404384613, + 0.6712574362754822, + 0.6644644141197205, + -0.018999742344021797 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.05786185339093208, + 0.9949489831924438, + 0.08202731609344482, + -0.024749504402279854 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.04252167418599129, + 0.9477416276931763, + 0.3161925673484802, + -0.02623971924185753 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.14933736622333527, + 0.5396801829338074, + 0.8285189867019653, + -0.0199618861079216 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.17383377254009247, + 0.5114371180534363, + 0.8415545225143433, + -0.01905294880270958 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.40118324756622314, + -0.4329771101474762, + 0.8072068691253662, + -0.014132436364889145 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + 0.2549504041671753, + -0.8379132747650146, + 0.48259902000427246, + -0.022160036489367485 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.5830668807029724, + -0.79475337266922, + 0.16852304339408875, + -0.021066294983029366 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.8744012713432312, + -0.4141877293586731, + 0.25272703170776367, + -0.013239211402833462 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.7895487546920776, + 0.009096799418330193, + 0.6136204600334167, + -0.004209672100841999 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + -0.6554164290428162, + 0.003668168094009161, + -0.7552587389945984, + -0.017949342727661133 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + -0.7412555813789368, + -0.006969014648348093, + -0.6711868047714233, + -0.021465137600898743 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + -0.9107304215431213, + -0.013661650940775871, + -0.41277554631233215, + -0.02940334752202034 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + -0.7534950971603394, + 0.4068348705768585, + -0.5164594650268555, + -0.0315670520067215 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + -0.7028453350067139, + 0.3142618238925934, + -0.6381598114967346, + -0.02691735327243805 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.6676843166351318, + -0.005086960736662149, + 0.7444272041320801, + -0.004619937390089035 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.7800334692001343, + 0.009462078101933002, + 0.6256662607192993, + -0.004213110543787479 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + 0.46558624505996704, + 0.4115085005760193, + 0.7835114002227783, + -0.013355529867112637 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.46624213457107544, + 0.004624944180250168, + 0.8846451044082642, + -0.005636231042444706 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + -0.1966385543346405, + 0.022245602682232857, + -0.9802235960960388, + -0.004542367532849312 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.2288264036178589, + -0.009850801900029182, + -0.9734174013137817, + -0.004712698981165886 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + -0.2715972363948822, + -0.39491158723831177, + -0.8776558041572571, + -0.01267310418188572 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + -0.9907751083374023, + 0.13523544371128082, + -0.008715703152120113, + -0.03841649368405342 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + -0.9999001026153564, + 0.011068263091146946, + -0.008795978501439095, + -0.03619934618473053 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + -0.8549159169197083, + -0.013646861538290977, + 0.5185871124267578, + -0.03669426590204239 + ] + }, + { + "index_base": 182, + "num_vertices": 3, + "plane": [ + -0.7423605918884277, + -0.0011732283746823668, + 0.6699994206428528, + -0.034678373485803604 + ] + }, + { + "index_base": 185, + "num_vertices": 3, + "plane": [ + -0.6870352029800415, + 0.3788135051727295, + 0.6200668215751648, + -0.039881862699985504 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 32, + 27, + 21 + ], + [ + 32, + 21, + 16 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 7, + 6 + ], + [ + 14, + 4, + 3 + ], + [ + 15, + 16, + 11 + ], + [ + 15, + 11, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 17, + 10, + 13 + ], + [ + 17, + 3, + 5 + ], + [ + 18, + 7, + 14 + ], + [ + 18, + 14, + 3 + ], + [ + 18, + 3, + 17 + ], + [ + 18, + 17, + 13 + ], + [ + 18, + 13, + 19 + ], + [ + 18, + 8, + 7 + ], + [ + 20, + 12, + 11 + ], + [ + 20, + 11, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 8, + 18 + ], + [ + 22, + 18, + 19 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 1, + 0 + ], + [ + 24, + 16, + 15 + ], + [ + 24, + 15, + 1 + ], + [ + 24, + 1, + 23 + ], + [ + 24, + 23, + 9 + ], + [ + 25, + 8, + 22 + ], + [ + 25, + 22, + 26 + ], + [ + 25, + 27, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 28, + 5, + 2 + ], + [ + 28, + 2, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 17 + ], + [ + 28, + 17, + 5 + ], + [ + 29, + 4, + 14 + ], + [ + 29, + 14, + 6 + ], + [ + 29, + 6, + 23 + ], + [ + 29, + 23, + 0 + ], + [ + 29, + 0, + 2 + ], + [ + 30, + 21, + 27 + ], + [ + 30, + 27, + 25 + ], + [ + 30, + 25, + 26 + ], + [ + 30, + 12, + 20 + ], + [ + 30, + 20, + 21 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 2 + ], + [ + 31, + 2, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 16, + 24 + ], + [ + 32, + 24, + 9 + ], + [ + 32, + 9, + 27 + ], + [ + 33, + 12, + 30 + ], + [ + 33, + 30, + 26 + ], + [ + 33, + 26, + 22 + ], + [ + 33, + 22, + 19 + ], + [ + 33, + 19, + 13 + ], + [ + 33, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.036518000066280365, + -0.025499999523162842, + -0.004885000176727772 + ], + [ + 0.004881000146269798, + 0.025499999523162842, + 0.0145650003105402 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0044302246533334255, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_042.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_042.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d9e6b9d9a0c949ce3ef64a5a3361309856ac2a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_042.json @@ -0,0 +1,696 @@ +{ + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.0420130547136068, + "parts": [ + { + "vertices_raw": [ + [ + 0.016158558428287506, + 0.005249989219009876, + -0.02026689052581787 + ], + [ + 0.016393516212701797, + -0.005355285946279764, + -0.020274700596928596 + ], + [ + -0.010551173239946365, + 0.001936863991431892, + -0.0015893022064119577 + ], + [ + 0.021058708429336548, + 0.004999947268515825, + -0.019783440977334976 + ], + [ + -0.0038393354043364525, + 0.00549997016787529, + -0.002347175031900406 + ], + [ + -0.004447362385690212, + 0.005432975012809038, + 0.0016682108398526907 + ], + [ + 0.0016016149893403053, + 0.005432975012809038, + 0.004471834748983383 + ], + [ + 0.021798528730869293, + 0.004999947268515825, + -0.012355390004813671 + ], + [ + 0.023115016520023346, + 0.004999947268515825, + -0.015911880880594254 + ], + [ + -0.004105887375771999, + -0.005463290028274059, + -0.0022624770645052195 + ], + [ + 0.022002436220645905, + -0.005192446056753397, + -0.018826300278306007 + ], + [ + 0.022146016359329224, + -0.005355285946279764, + -0.013035180978477001 + ], + [ + 0.0021148710511624813, + -0.0053552258759737015, + 0.004366633482277393 + ], + [ + -0.0035197939723730087, + -0.0053552258759737015, + 0.003339346731081605 + ], + [ + 0.012750902213156223, + -0.004999982658773661, + -0.0036200531758368015 + ], + [ + 0.014267423190176487, + 0.004999947268515825, + -0.0049940370954573154 + ], + [ + -0.0013361778110265732, + -0.004999982658773661, + 0.004818137735128403 + ], + [ + -0.0021025147289037704, + 0.004999947268515825, + 0.004536387510597706 + ], + [ + 0.019002286717295647, + -0.004999982658773661, + -0.0206608809530735 + ], + [ + 0.023111678659915924, + -0.004999982658773661, + -0.015489219687879086 + ], + [ + -0.004848381504416466, + -0.0053552258759737015, + 0.00018208869732916355 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 6, + 7, + 8, + 0, + 1, + 2, + 9, + 2, + 1, + 1, + 10, + 11, + 12, + 13, + 9, + 3, + 8, + 10, + 4, + 0, + 2, + 6, + 12, + 14, + 15, + 2, + 13, + 16, + 17, + 7, + 6, + 15, + 16, + 12, + 6, + 16, + 6, + 17, + 16, + 13, + 12, + 18, + 1, + 0, + 18, + 0, + 3, + 18, + 3, + 10, + 18, + 10, + 1, + 19, + 11, + 10, + 19, + 10, + 8, + 8, + 7, + 11, + 19, + 5, + 2, + 17, + 5, + 17, + 6, + 5, + 4, + 2, + 11, + 7, + 15, + 14, + 14, + 12, + 11, + 20, + 9, + 13, + 20, + 13, + 2, + 20, + 2, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.024926021695137024, + 0.9995930790901184, + 0.0138723598793149, + -0.0053694723173975945 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.5720188021659851, + -0.01206897757947445, + -0.8201516270637512, + -0.007315563037991524 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.5878245234489441, + -0.4508727192878723, + -0.6716964840888977, + -0.006396487355232239 + ] + }, + { + "index_base": 13, + "num_vertices": 6, + "plane": [ + -0.0013195722131058574, + -0.9999979734420776, + -0.0015155008295550942, + -0.0053458064794540405 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.8825312852859497, + 0.037696633487939835, + -0.4687402844429016, + -0.02804674580693245 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.44759711623191833, + 0.7347155213356018, + -0.5097549557685852, + -0.006955873221158981 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.5999221205711365, + 0.01986261084675789, + 0.799811840057373, + -0.004654874559491873 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + -0.5799010396003723, + -0.008559993468225002, + 0.8146418929100037, + -0.004807344637811184 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.14219406247138977, + 0.979090690612793, + 0.14547306299209595, + -0.00619764719158411 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.12936897575855255, + -0.003514686366543174, + 0.9915902614593506, + -0.004622332286089659 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.014000588096678257, + 0.029233338311314583, + 0.9994745850563049, + -0.004650732968002558 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.05684167146682739, + -0.9484537839889526, + 0.31177639961242676, + -0.006320384796708822 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.14610104262828827, + -0.002508311765268445, + -0.9892665147781372, + -0.017675407230854034 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.10131581127643585, + 0.06626430153846741, + -0.9926449656486511, + -0.022102832794189453 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.5199259519577026, + -0.03201968967914581, + -0.8536109328269958, + -0.027676235884428024 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.09352345764636993, + -0.9626887440681458, + -0.2539363205432892, + -0.011837136000394821 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.2684996426105499, + -0.9626891016960144, + -0.033726710826158524, + -0.011541307903826237 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9490957856178284, + -0.013617747463285923, + -0.3146931529045105, + -0.026877637952566147 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + 0.9346911907196045, + 0.008036171086132526, + 0.35536983609199524, + -0.016024339944124222 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.615143358707428, + 0.5307285189628601, + 0.5830315947532654, + -0.006591819692403078 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.10882923752069473, + 0.9659310579299927, + 0.23480524122714996, + -0.006123586557805538 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.47314247488975525, + 0.8791415095329285, + -0.05697713792324066, + -0.006785539910197258 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.698914647102356, + -0.015754459425807, + 0.715031623840332, + -0.006322044413536787 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + 0.23055244982242584, + -0.9361693859100342, + 0.2653910517692566, + -0.0066598523408174515 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.06087936460971832, + -0.9978163838386536, + 0.0256182961165905, + -0.005643363576382399 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.7810485363006592, + -0.5309804081916809, + 0.3286685347557068, + -0.0066901883110404015 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.7478764653205872, + -0.6332581043243408, + -0.19916075468063354, + -0.006980965379625559 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 9, + 2, + 1 + ], + [ + 1, + 10, + 11 + ], + [ + 1, + 11, + 12 + ], + [ + 1, + 12, + 13 + ], + [ + 1, + 13, + 9 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 0, + 2 + ], + [ + 6, + 12, + 14 + ], + [ + 6, + 14, + 15 + ], + [ + 2, + 13, + 16 + ], + [ + 2, + 16, + 17 + ], + [ + 7, + 6, + 15 + ], + [ + 16, + 12, + 6 + ], + [ + 16, + 6, + 17 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 0 + ], + [ + 18, + 0, + 3 + ], + [ + 18, + 3, + 10 + ], + [ + 18, + 10, + 1 + ], + [ + 19, + 11, + 10 + ], + [ + 19, + 10, + 8 + ], + [ + 8, + 7, + 11 + ], + [ + 8, + 11, + 19 + ], + [ + 5, + 2, + 17 + ], + [ + 5, + 17, + 6 + ], + [ + 5, + 4, + 2 + ], + [ + 11, + 7, + 15 + ], + [ + 11, + 15, + 14 + ], + [ + 14, + 12, + 11 + ], + [ + 20, + 9, + 13 + ], + [ + 20, + 13, + 2 + ], + [ + 20, + 2, + 9 + ] + ], + "raw_bounds": [ + [ + -0.010551173239946365, + -0.005463290028274059, + -0.0206608809530735 + ], + [ + 0.023115016520023346, + 0.00549997016787529, + 0.004818137735128403 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0068624126724898815, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_043.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_043.json new file mode 100644 index 0000000000000000000000000000000000000000..066f9e87f846c6db8166fbdda9e64e9a11e0f4cf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_043.json @@ -0,0 +1,1205 @@ +{ + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.1290351087227464, + "parts": [ + { + "vertices_raw": [ + [ + 0.028950780630111694, + -0.029400473460555077, + -0.02203785441815853 + ], + [ + 0.036072637885808945, + -0.026561623439192772, + -0.020194698125123978 + ], + [ + 0.035480648279190063, + -0.02661014348268509, + -0.013627173379063606 + ], + [ + -0.00460543017834425, + -0.009999943897128105, + 0.001946689561009407 + ], + [ + 3.609992563724518e-05, + -0.009999943897128105, + 0.00499982014298439 + ], + [ + -0.0035099005326628685, + 0.009999975562095642, + 0.003560960292816162 + ], + [ + 0.008276081643998623, + 0.01903347671031952, + 0.004414379596710205 + ], + [ + -0.0046807704493403435, + 0.0189999770373106, + -0.008486798964440823 + ], + [ + -0.0036362605169415474, + 0.0189999770373106, + -0.013943399302661419 + ], + [ + -0.004708371125161648, + -0.018999943509697914, + -0.012313536368310452 + ], + [ + 0.01342473179101944, + 0.029035257175564766, + -0.013558654114603996 + ], + [ + 0.015564174391329288, + 0.02856985665857792, + -0.000364840030670166 + ], + [ + 0.023319818079471588, + 0.030190685763955116, + -0.01600485108792782 + ], + [ + 0.026709288358688354, + -0.029557593166828156, + -0.007937004789710045 + ], + [ + 0.02281275950372219, + -0.030186964198946953, + -0.015777219086885452 + ], + [ + 0.012838222086429596, + -0.028245043009519577, + -0.016035547479987144 + ], + [ + 0.010475315153598785, + 0.025810696184635162, + 0.002504950389266014 + ], + [ + 0.028200238943099976, + 0.02951512672007084, + -0.009176663123071194 + ], + [ + 0.03589693084359169, + 0.02626756578683853, + -0.013896823860704899 + ], + [ + 0.02922419086098671, + 0.029354676604270935, + -0.02211921289563179 + ], + [ + 0.03862079977989197, + -0.02263910323381424, + -0.022213149815797806 + ], + [ + 0.03854474797844887, + 0.02276269719004631, + -0.022212615236639977 + ], + [ + 0.04762116074562073, + -0.0003336999798193574, + -0.02146296575665474 + ], + [ + -0.0020220493897795677, + -0.018999943509697914, + -0.015038898214697838 + ], + [ + 0.007897652685642242, + -0.01619626395404339, + 0.004695599898695946 + ], + [ + 0.009390807710587978, + -0.023656973615288734, + 0.003474060446023941 + ], + [ + 0.012203431688249111, + -0.027437103912234306, + 0.0014214599505066872 + ], + [ + -0.0046807704493403435, + -0.018999943509697914, + -0.008486798964440823 + ], + [ + 0.04063883796334267, + -0.019555572420358658, + -0.017124822363257408 + ], + [ + 0.04063883796334267, + 0.019555605947971344, + -0.017124822363257408 + ], + [ + 0.03459319844841957, + 0.027717577293515205, + -0.020184028893709183 + ], + [ + 0.012706197798252106, + 0.028179867193102837, + -0.016031434759497643 + ], + [ + 0.017847036942839622, + -0.029356664046645164, + -0.002421730197966099 + ], + [ + 0.034339819103479385, + -0.027275454252958298, + -0.022182276472449303 + ] + ], + "indices_raw": [ + 6, + 24, + 25, + 26, + 13, + 2, + 22, + 18, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 3, + 5, + 10, + 8, + 7, + 10, + 11, + 12, + 13, + 14, + 0, + 13, + 0, + 2, + 15, + 0, + 14, + 16, + 11, + 10, + 7, + 16, + 7, + 5, + 16, + 5, + 6, + 16, + 6, + 11, + 17, + 11, + 18, + 17, + 19, + 12, + 17, + 12, + 11, + 20, + 21, + 22, + 23, + 8, + 19, + 0, + 23, + 0, + 15, + 23, + 15, + 9, + 23, + 9, + 8, + 24, + 6, + 4, + 27, + 3, + 7, + 9, + 27, + 9, + 15, + 26, + 28, + 2, + 1, + 28, + 1, + 20, + 28, + 20, + 22, + 28, + 22, + 2, + 29, + 22, + 21, + 29, + 21, + 18, + 29, + 18, + 22, + 30, + 18, + 21, + 30, + 21, + 19, + 30, + 19, + 17, + 30, + 17, + 18, + 31, + 8, + 10, + 31, + 10, + 12, + 19, + 31, + 19, + 8, + 25, + 24, + 4, + 25, + 4, + 3, + 25, + 3, + 27, + 25, + 27, + 26, + 32, + 14, + 13, + 32, + 13, + 26, + 32, + 26, + 15, + 32, + 15, + 14, + 21, + 20, + 33, + 0, + 19, + 33, + 20, + 1, + 33, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 9, + "plane": [ + 0.5554140210151672, + 0.0006718943477608263, + 0.8315737247467041, + -0.008280322887003422 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.3643476068973541, + -0.930901050567627, + 0.02596452087163925, + -0.03734487667679787 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.5491702556610107, + -0.03730444982647896, + 0.8348774909973145, + -0.004527455195784569 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.11144143342971802, + 0.05163991078734398, + 0.9924284219741821, + -0.004441544413566589 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.9819781184196472, + 0.019642703235149384, + -0.1879715919494629, + -0.006564902141690254 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.9906697869300842, + 0.04385059326887131, + 0.12903651595115662, + -0.004375150892883539 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.503027617931366, + 0.858889639377594, + -0.09629024565219879, + -0.019490636885166168 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.10318870842456818, + 0.9933136105537415, + 0.05177085101604462, + -0.026753893122076988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.13802313804626465, + -0.9903689622879028, + 0.010905110277235508, + -0.032872870564460754 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.3438694477081299, + -0.9379761219024658, + 0.04421054199337959, + -0.03655792772769928 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.17561694979667664, + -0.940667986869812, + -0.2903486490249634, + -0.028970498591661453 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.4611877501010895, + 0.8818241357803345, + 0.09844843298196793, + -0.01807783916592598 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.630448579788208, + 0.591249406337738, + 0.5029498934745789, + -0.0099162757396698 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.3350372314453125, + 0.35465607047080994, + 0.8729084134101868, + -0.007830891758203506 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + 0.44392943382263184, + 0.10660851746797562, + 0.889697253704071, + -0.009630588814616203 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.5595239400863647, + 0.13832393288612366, + 0.8171899914741516, + -0.012362278997898102 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.13888423144817352, + 0.9903077483177185, + -0.0012890974758192897, + -0.033157456666231155 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.003859607269987464, + 0.9948599338531494, + 0.10118690133094788, + -0.028326019644737244 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.08269260078668594, + 0.00015025108586996794, + -0.9965750575065613, + -0.025327324867248535 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.2312798649072647, + -0.00027092683012597263, + -0.9728872776031494, + -0.014752579852938652 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.3391564190387726, + -0.4564746022224426, + -0.8225593566894531, + -0.02172916941344738 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + -0.4865109920501709, + -0.7303057909011841, + -0.47954192757606506, + -0.022071298211812973 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + -0.7121536731719971, + -0.010015242733061314, + -0.7019522190093994, + -0.012186886742711067 + ] + }, + { + "index_base": 77, + "num_vertices": 3, + "plane": [ + 0.04456556588411331, + 0.007495600264519453, + 0.998978316783905, + -0.004921365063637495 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9999739527702332, + -5.147759907231375e-07, + 0.00721751106902957, + -0.004619385115802288 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.4626477062702179, + -0.8863064050674438, + 0.020445959642529488, + -0.01876632682979107 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.8214462399482727, + -0.5659905076026917, + 0.06986282020807266, + -0.04325450211763382 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.8381461501121521, + -0.545442521572113, + -0.00187135289888829, + -0.04475977271795273 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.9195113778114319, + -0.3662273585796356, + -0.1427454799413681, + -0.046974148601293564 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.5914568305015564, + -0.03301825746893883, + 0.8056604266166687, + -0.010885016992688179 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.921284019947052, + 0.3570431172847748, + -0.1541299670934677, + -0.047061555087566376 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.8213423490524292, + 0.5700390338897705, + 0.021267056465148926, + -0.04416166618466377 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + 0.5942230820655823, + 0.03332866355776787, + 0.8036093711853027, + -0.01103863026946783 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.7783727049827576, + 0.6275811195373535, + -0.016667159274220467, + -0.04465784132480621 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.4266154170036316, + 0.6126290559768677, + -0.6653458476066589, + -0.0451679490506649 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + 0.2880397439002991, + 0.9575562477111816, + 0.01091738697141409, + -0.036284998059272766 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + 0.44422733783721924, + 0.8887767791748047, + 0.11286143958568573, + -0.03772398456931114 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.49871116876602173, + 0.8536246418952942, + -0.15037348866462708, + -0.0201290100812912 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + -0.18242937326431274, + 0.9379465579986572, + -0.29491662979125977, + -0.028783127665519714 + ] + }, + { + "index_base": 128, + "num_vertices": 3, + "plane": [ + -0.34054145216941833, + 0.41426199674606323, + -0.8440488576889038, + -0.020878177136182785 + ] + }, + { + "index_base": 131, + "num_vertices": 3, + "plane": [ + -0.10489723086357117, + -0.18109753727912903, + 0.97785484790802, + -0.0066962772980332375 + ] + }, + { + "index_base": 134, + "num_vertices": 3, + "plane": [ + -0.4974029064178467, + -0.4251880347728729, + 0.7561782002449036, + -0.00801465567201376 + ] + }, + { + "index_base": 137, + "num_vertices": 3, + "plane": [ + -0.6283305883407593, + -0.5868178606033325, + 0.5107303261756897, + -0.009756111539900303 + ] + }, + { + "index_base": 140, + "num_vertices": 3, + "plane": [ + -0.5935026407241821, + -0.6775025129318237, + 0.4344478249549866, + -0.011963488534092903 + ] + }, + { + "index_base": 143, + "num_vertices": 3, + "plane": [ + 0.020784344524145126, + -0.9973492622375488, + 0.06973227113485336, + -0.029480915516614914 + ] + }, + { + "index_base": 146, + "num_vertices": 3, + "plane": [ + 0.5194249749183655, + -0.15523900091648102, + 0.8402966856956482, + -0.01179252564907074 + ] + }, + { + "index_base": 149, + "num_vertices": 3, + "plane": [ + -0.3015376627445221, + -0.9528783559799194, + 0.033135946840047836, + -0.022511528804898262 + ] + }, + { + "index_base": 152, + "num_vertices": 3, + "plane": [ + -0.19084253907203674, + -0.9815703630447388, + -0.009933975525200367, + -0.02543371543288231 + ] + }, + { + "index_base": 155, + "num_vertices": 5, + "plane": [ + -0.012869753874838352, + -9.784484063857235e-06, + -0.9999171495437622, + -0.02171449363231659 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + 0.6820499300956726, + -0.6322193145751953, + -0.3675685524940491, + -0.04881905019283295 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.3671211302280426, + -0.9300682544708252, + 0.013965248130261898, + -0.03766512870788574 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 24, + 25 + ], + [ + 6, + 25, + 26 + ], + [ + 6, + 26, + 13 + ], + [ + 6, + 13, + 2 + ], + [ + 6, + 2, + 22 + ], + [ + 6, + 22, + 18 + ], + [ + 6, + 18, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 3, + 5 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 11, + 12 + ], + [ + 13, + 14, + 0 + ], + [ + 13, + 0, + 2 + ], + [ + 15, + 0, + 14 + ], + [ + 16, + 11, + 10 + ], + [ + 16, + 10, + 7 + ], + [ + 16, + 7, + 5 + ], + [ + 16, + 5, + 6 + ], + [ + 16, + 6, + 11 + ], + [ + 17, + 11, + 18 + ], + [ + 17, + 19, + 12 + ], + [ + 17, + 12, + 11 + ], + [ + 20, + 21, + 22 + ], + [ + 23, + 8, + 19 + ], + [ + 23, + 19, + 0 + ], + [ + 23, + 0, + 15 + ], + [ + 23, + 15, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 24, + 6, + 4 + ], + [ + 27, + 3, + 7 + ], + [ + 27, + 7, + 9 + ], + [ + 27, + 9, + 15 + ], + [ + 27, + 15, + 26 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 20 + ], + [ + 28, + 20, + 22 + ], + [ + 28, + 22, + 2 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 18 + ], + [ + 29, + 18, + 22 + ], + [ + 30, + 18, + 21 + ], + [ + 30, + 21, + 19 + ], + [ + 30, + 19, + 17 + ], + [ + 30, + 17, + 18 + ], + [ + 31, + 8, + 10 + ], + [ + 31, + 10, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 8 + ], + [ + 25, + 24, + 4 + ], + [ + 25, + 4, + 3 + ], + [ + 25, + 3, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 32, + 14, + 13 + ], + [ + 32, + 13, + 26 + ], + [ + 32, + 26, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 21, + 20, + 33 + ], + [ + 21, + 33, + 0 + ], + [ + 21, + 0, + 19 + ], + [ + 33, + 20, + 1 + ], + [ + 33, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.004708371125161648, + -0.030186964198946953, + -0.022213149815797806 + ], + [ + 0.04762116074562073, + 0.030190685763955116, + 0.00499982014298439 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.008862974587827921, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_044.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_044.json new file mode 100644 index 0000000000000000000000000000000000000000..b4596c450910a06c48ffa6a053d918cb0a0ca821 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/COLLIDER_044.json @@ -0,0 +1,8 @@ +{ + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/INPUT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/INPUT.json new file mode 100644 index 0000000000000000000000000000000000000000..42eaddc18b6adc0eccf973c8397dfd6042c8ce88 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/INPUT.json @@ -0,0 +1,6572 @@ +{ + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "root_layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "request_frame": 14739, + "request_tick": 44220, + "stage_meters_per_unit": 1.0, + "stage_up_axis": "Z", + "physics_scenes": { + "/World/PhysicsScene": { + "physics:gravityDirection": [ + 0.0, + 0.0, + -1.0 + ], + "physics:gravityMagnitude": 9.8100004196167, + "physxScene:bounceThreshold": 0.0, + "physxScene:broadphaseType": "MBP", + "physxScene:collisionSystem": "PCM", + "physxScene:enableCCD": true, + "physxScene:enableEnhancedDeterminism": false, + "physxScene:enableExternalForcesEveryIteration": false, + "physxScene:enableGPUDynamics": false, + "physxScene:enableResidualReporting": false, + "physxScene:enableSceneQuerySupport": true, + "physxScene:enableStabilization": false, + "physxScene:frictionCorrelationDistance": 0.02500000037252903, + "physxScene:frictionOffsetThreshold": 0.03999999910593033, + "physxScene:frictionType": "patch", + "physxScene:gpuCollisionStackSize": 67108864, + "physxScene:gpuFoundLostAggregatePairsCapacity": 1024, + "physxScene:gpuFoundLostPairsCapacity": 262144, + "physxScene:gpuHeapCapacity": 67108864, + "physxScene:gpuMaxDeformableSurfaceContacts": 1048576, + "physxScene:gpuMaxNumPartitions": 8, + "physxScene:gpuMaxParticleContacts": 1048576, + "physxScene:gpuMaxRigidContactCount": 524288, + "physxScene:gpuMaxRigidPatchCount": 81920, + "physxScene:gpuMaxSoftBodyContacts": 1048576, + "physxScene:gpuTempBufferCapacity": 16777216, + "physxScene:gpuTotalAggregatePairsCapacity": 1024, + "physxScene:invertCollisionGroupFilter": false, + "physxScene:maxBiasCoefficient": "inf", + "physxScene:maxPositionIterationCount": 255, + "physxScene:maxVelocityIterationCount": 255, + "physxScene:minPositionIterationCount": 1, + "physxScene:minVelocityIterationCount": 0, + "physxScene:reportKinematicKinematicPairs": false, + "physxScene:reportKinematicStaticPairs": false, + "physxScene:solverType": "TGS", + "physxScene:timeStepsPerSecond": 240, + "physxScene:updateType": "Synchronous" + } + }, + "context": { + "settings": { + "/physics/addMenuSelectionLimit": 1000, + "/physics/addMenuSubtreeLimit": 100000, + "/persistent/physics/autocreatePhysicsScene": true, + "/physics/autoPopupSimulationOutputWindow": false, + "/physics/collisionApproximateCones": false, + "/physics/collisionApproximateCylinders": false, + "/physics/cudaDevice": 0, + "/persistent/physics/visualizationQueryUsdrtForTraversal": false, + "/persistent/physics/visualizationSimplifyAtDistance": 2500.0, + "/physics/defaultSimulator": "PhysX", + "/physics/demoAssetsPath": "", + "/physics/disableContactProcessing": false, + "/physics/disableSleeping": false, + "/persistent/physics/visualizationDisplayAttachments": 0, + "/persistent/physics/visualizationDisplayAttachmentsHideActor0": false, + "/persistent/physics/visualizationDisplayAttachmentsHideActor1": false, + "/persistent/physics/visualizationDisplayColliders": 0, + "/persistent/physics/visualizationDisplayColliderNormals": false, + "/persistent/physics/visualizationDisplayDeformables": 0, + "/persistent/physics/visualizationDisplayDeformableAttachments": 0, + "/persistent/physics/visualizationDisplayDeformableBodies": 0, + "/persistent/physics/visualizationDisplayDeformableBodyType": 0, + "/persistent/physics/visualizationDisplayDeformableMeshType": 0, + "/persistent/physics/visualizationDisplayDeformableSurfaces": 0, + "/persistent/physics/visualizationDisplayJoints": false, + "/persistent/physics/visualizationDisplayMassProperties": 0, + "/persistent/physics/visualizationDisplayParticles": 0, + "/persistent/physics/visualizationDisplayParticlesParticlePositions": 0, + "/persistent/physics/visualizationDisplayParticlesParticleRadius": 2, + "/persistent/physics/visualizationDisplayParticlesShowDeformableMesh": false, + "/persistent/physics/visualizationDisplayParticlesClothMeshLines": false, + "/persistent/physics/visualizationDisplayParticlesShowDeformableParticles": true, + "/persistent/physics/visualizationDisplayParticlesShowDiffuseParticles": false, + "/persistent/physics/visualizationDisplayParticlesShowFluidSurface": false, + "/persistent/physics/visualizationDisplayParticlesShowParticleSetParticles": true, + "/persistent/physics/visualizationSimulationDataVisualizer": false, + "/persistent/physics/visualizationSimulationOutput": false, + "/persistent/physics/visualizationDisplayTendons": 0, + "/physics/enableAttachmentAuthoring": true, + "/persistent/physics/enableDeformableBeta": 0, + "/physics/enableExtendedJointAngles": false, + "/physics/enableParticleAuthoring": true, + "/physics/enableSynchronousKernelLaunches": false, + "/physics/exposePrimPathNames": true, + "/physics/exposeProfilerData": true, + "/physics/forceParseOnlySingleScene": null, + "/simulation/jointBodyTransformCheckTolerance": 0.0010000000474974513, + "/persistent/physics/localMeshCacheSizeMB": 1024, + "/physics/logRobotics": false, + "/physics/logSceneMultiGPU": false, + "/persistent/physics/massDistributionManipulator": false, + "/physics/maxNumberOfPhysXErrors": 1000, + "/persistent/simulation/minFrameRate": 60, + "/physics/mouseGrab": true, + "/physics/mouseGrabIgnoreInvisible": true, + "/physics/forceGrab": true, + "/physics/mouseInteractionEnabled": true, + "/physics/pickingForce": 1.0, + "/physics/mousePush": 1000.0, + "/physics/numEventPumpsForTestStageSetup": 3, + "/persistent/physics/numThreads": 8, + "/physics/omniPvdOutputEnabled": false, + "/physics/omniPvdIsOVDStage": false, + "/physics/omniPvdIsRecording": false, + "/persistent/physics/omniPvdOvdRecordingDirectory": "", + "/physics/outputVelocitiesLocalSpace": false, + "/persistent/physics/overrideGPUSettings": -1, + "/physics/developmentMode": false, + "/physics/sceneMultiGPUMode": 0, + "/physics/physxDispatcher": false, + "/persistent/physics/pvdDebug": true, + "/persistent/physics/pvdEnabled": false, + "/persistent/physics/pvdIP": "127.0.0.1", + "/persistent/physics/pvdMemory": true, + "/persistent/physics/pvdOutputDirectory": "", + "/persistent/physics/pvdProfile": true, + "/persistent/physics/pvdStreamToFile": false, + "/physics/resetOnStop": true, + "/physics/showCollisionGroupsWindow": false, + "/physics/simulateEmptyScene": false, + "/physics/suppressReadback": false, + "/physics/testsAssetsPath": "", + "/persistent/physics/testRunnerFilter": "", + "/physics/testRunnerRepeats": 1, + "/persistent/physics/testRunnerSelection": {}, + "/physics/testRunnerStatus": {}, + "/physics/cooking/ujitsoCollisionCooking": true, + "/physics/cooking/ujitsoCookingDevKey": 0, + "/persistent/physics/cooking/ujitsoCookingMaxProcessCount": 16, + "/physics/cooking/ujitsoRemoteCacheEnabled": false, + "/physics/updateParticlesToUsd": true, + "/physics/updateResidualsToUsd": true, + "/physics/updateToUsd": true, + "/physics/updateVelocitiesToUsd": true, + "/persistent/physics/useActiveCudaContext": false, + "/persistent/physics/useLocalMeshCache": true, + "/persistent/physics/visualizationCollisionMesh": null, + "/persistent/physics/visualizationGap": 0.20000000298023224 + }, + "versions": { + "omni.physx": { + "id": "omni.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.cooking": { + "id": "omni.physx.cooking-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.cooking-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.convexdecomposition": { + "id": "omni.convexdecomposition-107.3.26", + "path": "/isaac-sim/extscache/omni.convexdecomposition-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.usd.schema.physx": { + "id": "omni.usd.schema.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.usd.schema.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.foundation": { + "id": "omni.physx.foundation-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.foundation-107.3.26+107.3.3.lx64.r.cp311.u353" + } + }, + "binding_module": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353/omni/physx/bindings/_physx.cpython-311-x86_64-linux-gnu.so" + }, + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.09134995937347412 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0542692169547081 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.0017106436425819993 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0013720927527174354 + ], + [ + 0.0, + 0.0, + 1.0, + 0.028225021436810493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.03568002537838812, + -0.03962613239295971, + 0.9985773407305882, + -1.7491630398777893 + ], + [ + -0.6681773243934643, + 0.7420887875363568, + 0.053322552257106234, + 0.5368698940728868 + ], + [ + -0.7431460145593121, + -0.669129285747079, + 4.636539252533822e-07, + 0.8615691363811493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_base_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_base_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_end_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.04600000008940697 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.030799949541687965 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.9999999999999967, + -8.742277657347538e-08, + 7.496549290623157e-15, + -4.552953760139644e-05 + ], + [ + -8.74227765734757e-08, + 0.9999999999999923, + -8.742277657347538e-08, + -0.0023004747927188873 + ], + [ + 1.4619257319269486e-16, + -8.74227765734757e-08, + -0.9999999999999967, + -0.022499999031424522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.12970776557222213, + 0.001509539613910392, + -0.9915511166048959, + -1.4747772156876282 + ], + [ + 0.9915522050604447, + -0.00015217043480603113, + -0.12970813962095287, + 0.31550862207955954 + ], + [ + -0.00034668433955060973, + -0.9999988490664942, + -0.0014770496457141569, + 0.673850029706955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_end_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_end_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.16642063856124878 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.055792681872844696 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.3090170209353076, + 0.951056507665169, + 0.0, + 0.002681443467736244 + ], + [ + -0.951056507665169, + 0.3090170209353076, + 0.0, + 0.0006133774877525866 + ], + [ + 0.0, + 0.0, + 1.0, + -0.04071124643087387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.04905813249567999, + 0.020894860986931937, + 0.9985773402297758, + -1.5635273676771742 + ], + [ + -0.9187185258600489, + -0.39129653034746026, + 0.05332256163744381, + 0.5467824963504062 + ], + [ + 0.391854016028388, + -0.9200274072669664, + 2.1885307865954218e-07, + 0.8615692555904388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link1/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link1/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18085919320583344 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.06302423030138016 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.0440620519220829 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + 0.0009765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.3529091703397006, + -0.9343706075192467, + -0.04905797890515134, + -1.5635273676771742 + ], + [ + -0.38296431358598726, + 0.09640836574118711, + 0.9187185431538474, + 0.5467824963504062 + ], + [ + -0.8536940037330463, + 0.3430116540574497, + -0.39185399471105886, + 0.8615692555904388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link3", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.22069887816905975 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.054232582449913025 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.809017027134356, + 0.587785207203011, + -5.138581586749737e-08, + -0.0027450521010905504 + ], + [ + 0.5877852072030132, + 0.8090170271343526, + -7.07265128963581e-08, + 0.0006360082770697773 + ], + [ + 1.9524636976919085e-15, + -8.742277562996412e-08, + -0.9999999999999962, + -0.07223940640687943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.2294843100361662, + -0.272559197671121, + 0.9343706091332817, + -1.2785442348119318 + ], + [ + -0.8992659658400212, + 0.42664517375681354, + -0.09640860123366876, + 0.5173778869603328 + ], + [ + -0.3723676598860848, + -0.8623719496104296, + -0.34301158347214455, + 0.7569508254528046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link3/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link3/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link4", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1549554020166397 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05789170786738396 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.038178950548172 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + -0.00439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.9581626868335024, + 0.08738303926707136, + 0.27255911286994877, + -1.2785442348119318 + ], + [ + 0.038958435210901775, + 0.9035795894986447, + -0.42664524580426166, + 0.5173778869603328 + ], + [ + -0.28356040958836615, + 0.4194140315844361, + 0.8623719407681164, + 0.7569508254528046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link4/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link4/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link5", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.13452400267124176 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0456145778298378 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.809017084600562, + 0.5877851281075485, + 0.0, + 0.0001316195266554132 + ], + [ + -0.5877851281075485, + 0.809017084600562, + 0.0, + -5.835551564814523e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.033305805176496506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9946985994386733, + -0.0542116088532983, + -0.08738305179083146, + -1.295802176716529 + ], + [ + 0.05623122425179048, + 0.42471392108331274, + -0.9035796227545101, + 0.33892085301128005 + ], + [ + 0.08609730363888857, + -0.9037030412162919, + -0.4194139573291982, + 0.6741165816783905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link5/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link5/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_l_link6", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1816599816083908 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.048507388681173325 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.00027327360928564026, + 0.9999954012543582, + -0.003020395945894261, + 0.0002549462369643152 + ], + [ + -0.09013086403208842, + 0.003032733112308783, + 0.9959253134039212, + -0.05547768622636795 + ], + [ + 0.9959298934515239, + 7.079134950460642e-08, + 0.09013127830909373, + -0.0019394331611692905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.11784474507568839, + 0.9915511552246252, + -0.05421183109578855, + -1.295802176716529 + ], + [ + 0.895987813208456, + 0.12970784341059885, + 0.4247136846626215, + 0.33892085301128005 + ], + [ + 0.4281570443657037, + 0.0014771359056811526, + -0.9037031389950696, + 0.6741165816783905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_l_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_l_link6/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_l_link6/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.09134995937347412 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05447215214371681 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0011635494884103537 + ], + [ + 0.0, + 1.0, + 0.0, + -0.002049230271950364 + ], + [ + 0.0, + 0.0, + 1.0, + 0.030325019732117653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.03568049533063334, + -0.03962593467214059, + -0.9985773317847346, + -1.799091963037617 + ], + [ + 0.6681772906813004, + 0.7420888058534589, + -0.053322719780448447, + 0.5342036455266245 + ], + [ + 0.7431460223070279, + -0.6691292771418289, + -9.465022245969124e-07, + 0.8615691363811493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_base_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_base_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_base_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_end_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.04600000008940697 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.030799949541687965 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -0.9999999999999967, + -8.742277657347538e-08, + 7.496549290623157e-15, + -4.552953760139644e-05 + ], + [ + -8.74227765734757e-08, + 0.9999999999999923, + -8.742277657347538e-08, + -0.0023004747927188873 + ], + [ + 1.4619257319269486e-16, + -8.74227765734757e-08, + -0.9999999999999967, + -0.022499999031424522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.19578514510213735, + -0.051706730883449986, + 0.9792826920448873, + -2.0541608451034055 + ], + [ + -0.9319655195668874, + 0.3205365759771442, + -0.1694006310474393, + 0.22658034374948643 + ], + [ + -0.3051367681806917, + -0.9458238300244899, + -0.11094519035112738, + 0.6315166652202606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_end_link/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_end_link/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_end_link/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.16642716526985168 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05483904853463173 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.3090170163305389, + 0.9510565091613457, + 8.31440019148514e-08, + 0.00018724019173532724 + ], + [ + 0.9510565091613492, + -0.30901701633053813, + -2.701512688035179e-08, + -0.002004870679229498 + ], + [ + -8.67870295246446e-16, + 8.742277812320035e-08, + -0.9999999999999964, + -0.04071185737848282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.050600662611252754, + 0.016819868592331172, + -0.998577320473402, + -1.9868245175770425 + ], + [ + 0.9476009046368856, + -0.3149749045488161, + -0.053322931613146274, + 0.524178962963079 + ], + [ + -0.3154236809034132, + -0.9489509479024725, + -5.838178804840055e-07, + 0.8615690171718597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link1/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link1/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link1/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18085919320583344 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.06302423030138016 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.0440620519220829 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + 0.0009765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6303166404047642, + 0.7746873899658923, + -0.05060020411704103, + -1.9868243983681309 + ], + [ + 0.21468143925359773, + 0.2365677915904821, + 0.947600949567911, + 0.5241789626628154 + ], + [ + 0.7460648848919613, + 0.5864257223296376, + -0.3154236194727784, + 0.8615691363811493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link3", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.22061403095722198 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.0521615631878376 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0006559932371601462 + ], + [ + 0.0, + 1.0, + 0.0, + -2.2628975784755312e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.07219302654266357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.25334690695901996, + 0.5793743538052899, + -0.7746874872405006, + -2.2231039992809793 + ], + [ + 0.965814357846805, + 0.10601082824741163, + -0.23656781368407173, + 0.45202574886978186 + ], + [ + -0.05493606202906763, + -0.8081380219040564, + -0.5864255849140092, + 0.6827093064785004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link3/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link3/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link3/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link4", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.1549554020166397 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.05789170786738396 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -3.422854177870249e-08, + -0.9999999999999993, + -0.038178950548172 + ], + [ + 0.0, + 0.9999999999999993, + -3.422854177870249e-08, + -0.00439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.814100026706624, + 0.03957977517235264, + -0.5793743072604964, + -2.223104237698802 + ], + [ + -0.12341550276966606, + 0.986676365478096, + -0.10601114791872202, + 0.45202574947030916 + ], + [ + 0.5674590383387903, + 0.15780744977421265, + 0.8081380133389189, + 0.6827093064785004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link4/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link4/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link4/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link5", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.13423806428909302 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.04562028497457504 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00022255509975366294 + ], + [ + 0.0, + 1.0, + 0.0, + -4.2274765291949734e-05 + ], + [ + 0.0, + 0.0, + 1.0, + -0.03344946354627609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9957106508600948, + -0.0836285524980915, + -0.039579855619253604, + -2.230921267263789 + ], + [ + 0.025728090590652168, + 0.16064816949169733, + -0.9866763557486956, + 0.25715712310650307 + ], + [ + 0.08887274676933432, + -0.9834624704817367, + -0.1578074904294251, + 0.6515422761440277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link5/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link5/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link5/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/arm_r_link6", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.18272487819194794 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.04857149347662926 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.00015882917060983104, + 0.9999983407170049, + -0.0018147552262917088, + -1.7782549548428506e-05 + ], + [ + -0.08717470775990088, + 0.0018216924098864995, + 0.9961913730622944, + -0.05507596954703331 + ], + [ + 0.9961930260247108, + -2.3493044287725695e-08, + 0.08717485245028533, + -0.001744715729728341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.18442195989515742, + -0.9792827745804743, + -0.08362887132083649, + -2.230921267263789 + ], + [ + -0.9723660044287125, + 0.16940030946112797, + 0.16064833826036273, + 0.25715712310650307 + ], + [ + -0.14315339374171604, + 0.11094495285700098, + -0.9834624158023464, + 0.6515422761440277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/arm_r_link6/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/arm_r_link6/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/arm_r_link6/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.29833984375, + 0.0, + 0.0, + -0.109130859375 + ], + [ + 0.0, + 0.3376392126083374, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.811718761920929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.05332241625684231, + 0.9985773479928607, + -2.797318310501516e-07, + -1.793198598409092 + ], + [ + -0.9985773479928792, + 0.053322416256896016, + 1.881940311766182e-07, + 0.8926874985489381 + ], + [ + 2.0284227369599294e-07, + 2.692989095317996e-07, + 0.9999999999999432, + 0.0013678837567567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/base_link/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/base_link/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/base_link/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/base_link/mesh_0/box" + } + ] + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/base_link", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.599609375, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.4490000009536743, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.302734375, + 0.15000000596046448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.05332241625684231, + 0.9985773479928607, + -2.797318310501516e-07, + -1.793198598409092 + ], + [ + -0.9985773479928792, + 0.053322416256896016, + 1.881940311766182e-07, + 0.8926874985489381 + ], + [ + 2.0284227369599294e-07, + 2.692989095317996e-07, + 0.9999999999999432, + 0.0013678837567567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/base_link/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/base_link/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/base_link/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/base_link/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.16064453125, + 0.0, + 0.0, + 0.102783203125 + ], + [ + 0.0, + 0.05555534362792969, + 0.0, + 0.10397815704345703 + ], + [ + 0.0, + 0.0, + 0.1328125, + -0.013671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.053322598607504525, + 0.9985773382556116, + -2.85099674483834e-07, + -1.7931988366767828 + ], + [ + -0.9985773382556191, + 0.053322598607574045, + 2.420489393885154e-07, + 0.8926875587539213 + ], + [ + 2.569068411278291e-07, + 2.717873956452244e-07, + 0.9999999999999301, + 0.6574845016002655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link1/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link1/collisions/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link1/mesh_0/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link1/mesh_0/box" + } + ] + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link1", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 0.16259765625, + 0.0, + 0.0, + 0.101806640625 + ], + [ + 0.0, + 0.04375648498535156, + 0.0, + -0.1098775863647461 + ], + [ + 0.0, + 0.0, + 0.16015625, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.053322598607504525, + 0.9985773382556116, + -2.85099674483834e-07, + -1.7931988366767828 + ], + [ + -0.9985773382556191, + 0.053322598607574045, + 2.420489393885154e-07, + 0.8926875587539213 + ], + [ + 2.569068411278291e-07, + 2.717873956452244e-07, + 0.9999999999999301, + 0.6574845016002655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link1/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link1/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link1/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link1/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "type": "Cylinder", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "axis": { + "authored": true, + "value": "Z" + }, + "height": { + "authored": true, + "value": 0.08697056770324707 + }, + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.09662318229675293 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0068359375 + ], + [ + 0.0, + 1.0, + 0.0, + -0.00034356117248535156 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.035679888145976606, + -0.03962616123589995, + 0.9985773444894481, + -1.7862135058581994 + ], + [ + -0.668177373992976, + 0.7420887479348839, + 0.05332248186541903, + 0.7618739511504484 + ], + [ + -0.7431459765522129, + -0.6691293279584622, + 3.3916467800931827e-07, + 0.657484620809555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link2/collisions/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link2/mesh_0/cylinder" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link2/mesh_0/cylinder" + } + ] + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "type": "Cube", + "instance_proxy": false, + "rigid_owner": "/World/Robot/body_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "size": { + "authored": true, + "value": 1.0 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -1.2357367778150115e-06, + 0.18107724189642618, + 0.0, + 0.00800000037997961 + ], + [ + -0.34570312499779143, + -6.472715785781474e-07, + 0.0, + -0.24799999594688416 + ], + [ + 0.0, + 0.0, + 0.3125, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.035679888145976606, + -0.03962616123589995, + 0.9985773444894481, + -1.7862135058581994 + ], + [ + -0.668177373992976, + 0.7420887479348839, + 0.05332248186541903, + 0.7618739511504484 + ], + [ + -0.7431459765522129, + -0.6691293279584622, + 3.3916467800931827e-07, + 0.657484620809555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/body_link2/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/body_link2/collisions/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/body_link2/mesh_1/box" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/body_link2/mesh_1/box" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 2380, + 3 + ], + "sha256": "a4d39237cfc95e4316463307ae9cfb4e72faff31d23064dd629f7baa25c24b72" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 14268 + ], + "sha256": "21fa20cdaf793bbfbf597b8ce3bbd2d58007a00088a8fd31a502036a1ad69419" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 4756 + ], + "sha256": "c791d6d48990761b03d29c9aaedd949798ae9744664eaa8702bb53f6a579c633" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_l_base_link/Cam/Looks/Material__72" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.220446049250313e-16, + -1.0000000000000002, + -2.474078692528459e-16, + 4.0169941095680173e-07 + ], + [ + -1.478279469192841e-16, + -2.4740786925284597e-16, + 1.0000000000000004, + 1.5376787357301858e-07 + ], + [ + -1.0000000000000002, + -2.2204460492503128e-16, + -1.4782794691928414e-16, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.0015094090031603754, + 0.12970763234445404, + -0.9915511342316428, + -1.4747773348965394 + ], + [ + -0.00015215288542931585, + -0.9915522225004154, + -0.12970800632183976, + 0.31550862237982313 + ], + [ + -0.9999988492663182, + 0.00034664979864834633, + -0.0014769224612223297, + 0.6738499104976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/NONE" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(1, 0, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0199999809265137 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 3.430589146091734e-14, + 4.5075054799781356e-14, + 0.00022551183775573747 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1712, + 3 + ], + "sha256": "18935e63bfcb5ab660622fcf64dcf455d7e1f58ba94df065c0ffbd12ad930317" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 10416 + ], + "sha256": "2653bde5c5134d017c8267742181b152b1f1dc1424f1d660e8dc99352d1a69f6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 3472 + ], + "sha256": "4bc24312eafe22c56b193c93557fe25a23128de059c08698e69faaf9c25ce09b" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_l_base_link/Cam/Looks/wire_221221227" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -2.220446049250313e-16, + -1.0000000000000002, + -2.5235602191897224e-16, + 4.0169936588169113e-07 + ], + [ + -1.478279469192841e-16, + -2.4740786925284597e-16, + 1.0199999809265141, + 0.0002256656056293106 + ], + [ + -1.0000000000000002, + -2.2204460492503128e-16, + -1.507845030380755e-16, + -3.430592479786934e-14 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.0015094090031603754, + 0.12970763234445404, + -0.9915511342316428, + -1.4747773348965394 + ], + [ + -0.00015215288542931585, + -0.9915522225004154, + -0.12970800632183976, + 0.31550862237982313 + ], + [ + -0.9999988492663182, + 0.00034664979864834633, + -0.0014769224612223297, + 0.6738499104976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/cam" + } + ] + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_base_link", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxConvexDecompositionCollisionAPI", + "PhysxConvexHullCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 101697, + 3 + ], + "sha256": "55cbb8fdbf7e59b27c74ea93c62eb55e73326cda937fab21aedcd88d623f34ee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 101697 + ], + "sha256": "fc804009fb1240ab8f56c29b2c1f814963e7dc6e4c70deed924b54a1870cf53c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 33899 + ], + "sha256": "2b6559cf9f2370c4b1bbbb50b7bf5d0214b793fd0833cd2c023d00257a503b2a" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/PhysicsMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.0015094090031603754, + 0.12970763234445404, + -0.9915511342316428, + -1.4747773348965394 + ], + [ + -0.00015215288542931585, + -0.9915522225004154, + -0.12970800632183976, + 0.31550862237982313 + ], + [ + -0.9999988492663182, + 0.00034664979864834633, + -0.0014769224612223297, + 0.6738499104976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_base_link/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/gripper_base_link/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "8d139b926ae65232c100f49f3467481b40fab7a2d3f24580a759cfa7615a3777" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.792880691529506, + -0.6093768707244276, + 0.00019602499030737684, + -1.5333292265150051 + ], + [ + 0.6093243000580039, + -0.7928164346214563, + -0.012884034808472809, + 0.32751531917520027 + ], + [ + 0.00800664464780396, + -0.010096059638619228, + 0.999916978164316, + 0.673759788274765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link1/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 30906, + 3 + ], + "sha256": "21db449287a063cf9bfef1719f462f98fba79ae5cbdf6445607fd20eaaa34438" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 30906 + ], + "sha256": "fa0e91dc01e3743eaa5b8d201d67390cdf68c8ef8c33ce2fd05c761e5a951e7b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 10302 + ], + "sha256": "3fea498b5b7f3f2c5ea27a2bc616f0ae0b31e6ccb8222598086fdab2ae70f00f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.5347701893402972, + 0.8449975184417117, + -0.00019601095087367205, + -1.5755767813988601 + ], + [ + 0.8449260488922, + 0.5347279473183215, + 0.012883875975426652, + 0.3495439730658748 + ], + [ + 0.010991655760558891, + 0.006724298036554518, + -0.9999169802136365, + 0.6740518510341644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link2/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link3", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "f36c1c7eed91d2488ca1f79f30f22e08749a1d0a54b7f94813c341e804bb7acd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8305888816930137, + 0.55688604864498, + -0.00019604216324217385, + -1.5464866403071784 + ], + [ + 0.556837739280693, + 0.8305213644160843, + 0.012883918705616839, + 0.3610217599262615 + ], + [ + 0.0073376917839330785, + 0.01059207595453852, + -0.9999169796569398, + 0.6741940677165985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link3/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_inner_link4", + "applied_schemas": [ + "PhysxContactReportAPI", + "PhysxConvexDecompositionCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxContactReport:threshold": { + "authored": true, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 47898, + 3 + ], + "sha256": "dc8a917e54f94e36c020f8a2c32423be06758f646f5094e0cc4ccb7fffbdfff3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 47898 + ], + "sha256": "10a9f1bb85d3d5feceb5ede8327436cbca9ba1b0685195183621057ed1966962" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 15966 + ], + "sha256": "4e8e7c254eba202f53cc5e219e7daa9e5a975f02107e493c19f0501d36002d16" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "physxContactReport:reportPairs": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8494837119892589, + 0.5276148070741363, + -0.00019601293739291277, + -1.5703005645131978 + ], + [ + 0.5275688789582227, + 0.8494145521364109, + 0.0128839657584407, + 0.35803814085973884 + ], + [ + 0.006964267349418014, + 0.010841308731981027, + -0.9999169790563931, + 0.6741602122783661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_inner_link4/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link1", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "ba5d079a48219a1771f285756ea5221d2870685be807fbae98bf7ea77c4420ae" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6094415518360634, + 0.792830976048382, + 0.0001957391679342868, + -1.5282706925911311 + ], + [ + -0.7927667234706913, + -0.6093889806613805, + -0.012883804020129124, + 0.28884478984722195 + ], + [ + -0.010095397624472051, + -0.008007101014397347, + 0.9999169811940134, + 0.6737732589244843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link1/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25476, + 3 + ], + "sha256": "f3312dedfc62b83954882f9095314227e73372710bfe89389534da9ca765b1a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 25476 + ], + "sha256": "1803b061fbd2252ba101527337a3559c65ae50aee91f74da3bbf67c048351a05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 8492 + ], + "sha256": "e815a1d1169e002fe41c9439e6a6421dcfb8ecae46ad8e2165b6e65b710f51c5" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.2997395716321386, + -0.954021043201594, + -0.0001957711023520719, + -1.5634386475830166 + ], + [ + -0.953942634648713, + 0.2997122929741971, + 0.012883758753605248, + 0.25669716946750976 + ], + [ + -0.012232701960488118, + 0.004048526730983271, + -0.9999169817710138, + 0.6733659207820892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link2/collisions/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link2/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link3", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "05c73ad1e3db3391c5e451dbbd4e4b7c5543cfb8d66f5692c09a53a125a13ddc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6598451851416367, + -0.7514015526708674, + -0.0001956762865711987, + -1.5323653237709185 + ], + [ + -0.7513408650831216, + 0.6597885370614017, + 0.012883742411375063, + 0.2530815934416497 + ], + [ + -0.009551759081264308, + 0.008648294987179589, + -0.9999169820001403, + 0.6733132302761078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link3/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_l_outer_link4", + "applied_schemas": [ + "PhysxContactReportAPI", + "PhysxConvexDecompositionCollisionAPI", + "PhysxConvexHullCollisionAPI", + "PhysxSDFMeshCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxContactReport:threshold": { + "authored": true, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxSDFMeshCollision:sdfBitsPerSubgridPixel": { + "authored": false, + "value": "BitsPerPixel16" + }, + "physxSDFMeshCollision:sdfEnableRemeshing": { + "authored": false, + "value": false + }, + "physxSDFMeshCollision:sdfMargin": { + "authored": false, + "value": 0.009999999776482582 + }, + "physxSDFMeshCollision:sdfNarrowBandThickness": { + "authored": false, + "value": 0.009999999776482582 + }, + "physxSDFMeshCollision:sdfResolution": { + "authored": false, + "value": 256 + }, + "physxSDFMeshCollision:sdfSubgridResolution": { + "authored": false, + "value": 6 + }, + "physxSDFMeshCollision:sdfTriangleCountReductionFactor": { + "authored": false, + "value": 1.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 81039, + 3 + ], + "sha256": "ed5d59c1ef2c8ea1ab2559a47a43f09039dab776f5bfb4bb66d746fb325db0d7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 81039 + ], + "sha256": "d350b13247c46a312498a228e9f7a4c3f3df7989897663667960c5d0f7d1b740" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 27013 + ], + "sha256": "3724838fc1d680d91c40b846f8029572b81e07501e50b93ff0dc53e35f0fbc69" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "physxContactReport:reportPairs": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6843878312027646, + -0.729118137347842, + -0.0001956833916819679, + -1.5561474379428955 + ], + [ + -0.729059361392627, + 0.684329203296605, + 0.012883674988500026, + 0.2498538124573202 + ], + [ + -0.00925980925028202, + 0.008960095191875635, + -0.9999169828674783, + 0.673276275396347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_l_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_l_outer_link4/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 2380, + 3 + ], + "sha256": "a4d39237cfc95e4316463307ae9cfb4e72faff31d23064dd629f7baa25c24b72" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 14268 + ], + "sha256": "21fa20cdaf793bbfbf597b8ce3bbd2d58007a00088a8fd31a502036a1ad69419" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 4756 + ], + "sha256": "c791d6d48990761b03d29c9aaedd949798ae9744664eaa8702bb53f6a579c633" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_r_base_link/Cam/Looks/Material__72" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -3.422854177870249e-08, + 0.9999999999999993, + 2.2204460492503116e-16, + 0.0 + ], + [ + 0.0, + 2.220446049250313e-16, + -1.0, + 0.0 + ], + [ + -0.9999999999999993, + -3.422854177870249e-08, + -7.600263036411923e-24, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.05170643536846714, + -0.1957847632899711, + 0.9792827839827355, + -2.0541608451034055 + ], + [ + -0.3205365854992511, + -0.9319655660505167, + -0.16940035729779868, + 0.22658034374948643 + ], + [ + 0.9458238429527818, + -0.3051368711900127, + -0.11094479682437464, + 0.6315166652202606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/NONE" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(1, 0, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0199999809265137 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 3.430589146091734e-14, + 4.5075054799781356e-14, + 0.00022551183775573747 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1712, + 3 + ], + "sha256": "18935e63bfcb5ab660622fcf64dcf455d7e1f58ba94df065c0ffbd12ad930317" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 10416 + ], + "sha256": "2653bde5c5134d017c8267742181b152b1f1dc1424f1d660e8dc99352d1a69f6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 3472 + ], + "sha256": "4bc24312eafe22c56b193c93557fe25a23128de059c08698e69faaf9c25ce09b" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/gripper_r_base_link/Cam/Looks/wire_221221227" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + -3.422854177870249e-08, + 0.9999999999999993, + 2.2648549278836705e-16, + 4.507510369922761e-14 + ], + [ + 0.0, + 2.220446049250313e-16, + -1.0199999809265137, + -0.00022551183775573747 + ], + [ + -0.9999999999999993, + -3.422854177870249e-08, + -7.752268152176649e-24, + -3.4305893003772423e-14 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.05170643536846714, + -0.1957847632899711, + 0.9792827839827355, + -2.0541608451034055 + ], + [ + -0.3205365854992511, + -0.9319655660505167, + -0.16940035729779868, + 0.22658034374948643 + ], + [ + 0.9458238429527818, + -0.3051368711900127, + -0.11094479682437464, + 0.6315166652202606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_base_link/Cam/Cam/cam" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/Cam.usd", + "path": "/World/Cam/cam" + } + ] + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_base_link", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 101697, + 3 + ], + "sha256": "55cbb8fdbf7e59b27c74ea93c62eb55e73326cda937fab21aedcd88d623f34ee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 101697 + ], + "sha256": "fc804009fb1240ab8f56c29b2c1f814963e7dc6e4c70deed924b54a1870cf53c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 33899 + ], + "sha256": "2b6559cf9f2370c4b1bbbb50b7bf5d0214b793fd0833cd2c023d00257a503b2a" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.05170643536846714, + -0.1957847632899711, + 0.9792827839827355, + -2.0541608451034055 + ], + [ + -0.3205365854992511, + -0.9319655660505167, + -0.16940035729779868, + 0.22658034374948643 + ], + [ + 0.9458238429527818, + -0.3051368711900127, + -0.11094479682437464, + 0.6315166652202606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_base_link/collisions/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_base_link/gripper_base_link/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/gripper_base_link/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "8d139b926ae65232c100f49f3467481b40fab7a2d3f24580a759cfa7615a3777" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8309421158560815, + 0.5537050810990775, + -0.05427599157716113, + -1.9950134774652442 + ], + [ + 0.5413807786298837, + -0.7822308365647824, + 0.30825601511935136, + 0.23518254493644686 + ], + [ + 0.1282265675541528, + -0.2855268840095905, + -0.9497538343597545, + 0.6311984956264496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link1/collisions/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link1/inner_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link2", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 30906, + 3 + ], + "sha256": "21db449287a063cf9bfef1719f462f98fba79ae5cbdf6445607fd20eaaa34438" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 30906 + ], + "sha256": "fa0e91dc01e3743eaa5b8d201d67390cdf68c8ef8c33ce2fd05c761e5a951e7b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 10302 + ], + "sha256": "3fea498b5b7f3f2c5ea27a2bc616f0ae0b31e6ccb8222598086fdab2ae70f00f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5998025402350925, + -0.7983050966387666, + 0.054276011350319654, + -1.951190697412509 + ], + [ + 0.7704983324127426, + 0.5579520209764379, + -0.30825616301623465, + 0.2538040559470178 + ], + [ + 0.21579905578271963, + 0.22671240585569666, + 0.9497537852277339, + 0.6347380578517914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link2/collisions/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link2/inner_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link3", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "f36c1c7eed91d2488ca1f79f30f22e08749a1d0a54b7f94813c341e804bb7acd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8759447851993283, + -0.47934835109071644, + 0.05427606828717582, + -1.9796490769678945 + ], + [ + 0.4713066917265509, + 0.8263462277435892, + -0.3082562476702041, + 0.26639644758437697 + ], + [ + 0.10291129974826266, + 0.2955961268361811, + 0.949753754498276, + 0.6404514014720917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link3/collisions/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link3/inner_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_inner_link4", + "applied_schemas": [ + "PhysxConvexDecompositionCollisionAPI", + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 47898, + 3 + ], + "sha256": "dc8a917e54f94e36c020f8a2c32423be06758f646f5094e0cc4ccb7fffbdfff3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 47898 + ], + "sha256": "10a9f1bb85d3d5feceb5ede8327436cbca9ba1b0685195183621057ed1966962" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 15966 + ], + "sha256": "4e8e7c254eba202f53cc5e219e7daa9e5a975f02107e493c19f0501d36002d16" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.8618259148026681, + -0.5042917851082362, + 0.054276035659330354, + -1.9562337526885776 + ], + [ + 0.494829879838501, + 0.8124786088229641, + -0.3082562249559866, + 0.2619288570832685 + ], + [ + 0.11135296400886215, + 0.29252060726972684, + 0.9497537637351017, + 0.6376632153987885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_inner_link4/collisions/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_inner_link4/inner_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/inner_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link1", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 35514, + 3 + ], + "sha256": "ba5d079a48219a1771f285756ea5221d2870685be807fbae98bf7ea77c4420ae" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 35514 + ], + "sha256": "f846202ed93681906a010600ec70538f5aba79f887c9bc9d755cfacd97f52aa0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 11838 + ], + "sha256": "fdaddcef9cb08697dce7475a59650c09daebc39d6bdd575e4ef451277655e32d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.5553132358164407, + -0.8298682600676927, + -0.05427597128835816, + -2.0026490622457684 + ], + [ + -0.781180835944889, + -0.5428945691913437, + 0.30825636780931365, + 0.19883591465374106 + ], + [ + -0.28527830565873674, + -0.12877949244645243, + -0.9497537210486282, + 0.6192981898784637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link1/collisions/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link1/outer_link1/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link1/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "type": "Mesh", + "instance_proxy": true, + "rigid_owner": "/World/Robot/gripper_r_outer_link2", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25476, + 3 + ], + "sha256": "f3312dedfc62b83954882f9095314227e73372710bfe89389534da9ca765b1a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 25476 + ], + "sha256": "1803b061fbd2252ba101527337a3559c65ae50aee91f74da3bbf67c048351a05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 8492 + ], + "sha256": "e815a1d1169e002fe41c9439e6a6421dcfb8ecae46ad8e2165b6e65b710f51c5" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.23602665407440868, + 0.9702296324619313, + 0.0542759510209298, + -1.9697234731429472 + ], + [ + -0.9202411766979092, + 0.24111029671400747, + -0.3082563892738186, + 0.166664004045614 + ], + [ + -0.3121659739242702, + 0.022809759123459346, + 0.9497537152402414, + 0.6069746911525726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/Flattened_Prototype_226/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link2/outer_link2/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link2/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link3", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": "-inf" + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 95778, + 3 + ], + "sha256": "05c73ad1e3db3391c5e451dbbd4e4b7c5543cfb8d66f5692c09a53a125a13ddc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 95778 + ], + "sha256": "12c3c23bedc8f3d3424cfd46b573dd9cadc7ed2a9717de1fda954d083e7475c6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 31926 + ], + "sha256": "153f894aef51771b1353b988e666c077de752dfe031246d480aa990bbdbef3b7" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Robot/GripperMaterial" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.6074618159369994, + 0.7924924437519778, + 0.05427585811889261, + -2.00091146589147 + ], + [ + -0.7447030519009459, + 0.5919419876575838, + -0.30825646422647335, + 0.16466366303498225 + ], + [ + -0.2764190779739001, + 0.1468346343476501, + 0.9497536962223684, + 0.6081077754497528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link3/collisions/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link3/outer_link3/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link3/mesh" + } + ] + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Robot/gripper_r_outer_link4", + "applied_schemas": [ + "PhysxConvexDecompositionCollisionAPI", + "PhysxCollisionAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexDecomposition" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.0010000000474974513 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": false, + "value": "-inf" + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxConvexDecompositionCollision:errorPercentage": { + "authored": false, + "value": 10.0 + }, + "physxConvexDecompositionCollision:hullVertexLimit": { + "authored": false, + "value": 64 + }, + "physxConvexDecompositionCollision:maxConvexHulls": { + "authored": false, + "value": 32 + }, + "physxConvexDecompositionCollision:minThickness": { + "authored": false, + "value": 0.0010000000474974513 + }, + "physxConvexDecompositionCollision:shrinkWrap": { + "authored": false, + "value": false + }, + "physxConvexDecompositionCollision:voxelResolution": { + "authored": false, + "value": 500000 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:orient": { + "authored": true, + "value": "(0.70711, 0.70711, 0, 0)" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 1.0 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.0, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:orient", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 81039, + 3 + ], + "sha256": "ed5d59c1ef2c8ea1ab2559a47a43f09039dab776f5bfb4bb66d746fb325db0d7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 81039 + ], + "sha256": "d350b13247c46a312498a228e9f7a4c3f3df7989897663667960c5d0f7d1b740" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 27013 + ], + "sha256": "3724838fc1d680d91c40b846f8029572b81e07501e50b93ff0dc53e35f0fbc69" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 9.104200000109586e-06, + -0.9999999999585567, + 0.0 + ], + [ + 0.0, + 0.9999999999585567, + 9.104200000109586e-06, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.6347470257719111, + 0.7708114851196448, + 0.05427584804828622, + -1.977431538891096 + ], + [ + -0.7235927661702649, + 0.6175689526854403, + -0.30825654482114895, + 0.16048833112727579 + ], + [ + -0.2711267637467344, + 0.15639131397445366, + 0.9497536706396909, + 0.6054107844829559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/gripper_r_outer_link4/collisions/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/gripper_r_outer_link4/outer_link4/mesh" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/meshes/outer_link4/mesh" + } + ] + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "type": "Sphere", + "instance_proxy": false, + "rigid_owner": "/World/Robot/head_link2", + "applied_schemas": [ + "PhysicsCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "radius": { + "authored": true, + "value": 0.11257068812847137 + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": {}, + "relationships": { + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.011500973254442215 + ], + [ + 0.0, + 1.0, + 0.0, + -0.025260014459490776 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0008537154062651098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 0.015591632189544647, + -0.05099340278452381, + 0.998577274865657, + -1.7645656057043333 + ], + [ + -0.2919450720209948, + 0.9549474586617069, + 0.053323785670226956, + 0.3564711489079857 + ], + [ + -0.9563079921909692, + -0.2923611192823069, + 1.9168872700259243e-06, + 0.9554279744625092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/robot.usda", + "path": "/G01/head_link2/collisions/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_physics.usd", + "path": "/colliders/head_link2/mesh_0/sphere" + }, + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/runs/family3_repair/lanes/gpu2/source/geniesim/assets/robot/G1_omnipicker/configuration/robot_base.usd", + "path": "/colliders/head_link2/mesh_0/sphere" + } + ] + } + ], + "lineage": "Contemporary actual cached USD stage request. No live PxShape identity claim.", + "run_asynchronously": false, + "coordinate_rule": "Raw only. External version-bound calibration must be independently checked before mapping.", + "analytic_policy": "Preserve Cube/Cylinder/Sphere analytic attributes and affine transforms exactly; no tessellation substitute." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/RESULT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/RESULT.json new file mode 100644 index 0000000000000000000000000000000000000000..c642ef2dd8852412c6a68cc0562fe7b5dd0e1c6d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback/RESULT.json @@ -0,0 +1,534 @@ +{ + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/base_link/collisions/mesh_0/box": 0.0, + "/World/Robot/base_link/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_0/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/body_link2/collisions/mesh_1/box": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/head_link2/collisions/mesh_0/sphere": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009119945112615824, + "request_call_wall_s": 0.0032972395420074463, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018046656157821417, + "request_call_wall_s": 0.010842571035027504, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13394736405462027, + "request_call_wall_s": 0.010109494905918837, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17324086371809244, + "request_call_wall_s": 0.00621609715744853, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20518156606703997, + "request_call_wall_s": 0.004209449980407953, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.28692090697586536, + "request_call_wall_s": 0.006484715733677149, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33439944591373205, + "request_call_wall_s": 0.017279790714383125, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3782900390215218, + "request_call_wall_s": 0.004688612651079893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4022866580635309, + "request_call_wall_s": 0.003941190894693136, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4852591627277434, + "request_call_wall_s": 0.007088662125170231, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5699186767451465, + "request_call_wall_s": 0.0077462210319936275, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5802017208188772, + "request_call_wall_s": 0.0025171288289129734, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5885110730305314, + "request_call_wall_s": 0.0078093367628753185, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6867602807469666, + "request_call_wall_s": 0.007872321177273989, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7206469611264765, + "request_call_wall_s": 0.0048623657785356045, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.750443525146693, + "request_call_wall_s": 0.0043985978700220585, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.839538003783673, + "request_call_wall_s": 0.007977438159286976, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8883249727077782, + "request_call_wall_s": 0.015389184933155775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9338998170569539, + "request_call_wall_s": 0.006576542276889086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9595400858670473, + "request_call_wall_s": 0.0044302246533334255, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.0420130547136068, + "request_call_wall_s": 0.0068624126724898815, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 1.1290351087227464, + "request_call_wall_s": 0.008862974587827921, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 14739, + "first_observed_tick": 44220 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json new file mode 100644 index 0000000000000000000000000000000000000000..3a0156271e7ce502da31be4a956c9823ef265e65 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.002267109230160713, + "parts": [ + { + "vertices_raw": [ + [ + 0.04715624824166298, + 0.12340264767408371, + 0.1340000033378601 + ], + [ + 0.05299999937415123, + 0.12332426756620407, + 0.1340000033378601 + ], + [ + 0.05299999937415123, + 0.12332426756620407, + 0.004000000189989805 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.1340000033378601 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + 0.11785423755645752, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + 0.11785423755645752, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.013411430642008781, + 0.9999100565910339, + 0.0, + -0.12402398139238358 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9766836762428284, + 0.21468359231948853, + 0.0, + 0.01956421509385109 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013461139984428883, + -0.9999094009399414, + 0.0, + 0.118537038564682 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.965175449848175, + -0.2616034150123596, + 0.0, + -0.01889224722981453 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.04595312476158142, + 0.11785423755645752, + 0.004000000189989805 + ], + [ + 0.05299999937415123, + 0.12340264767408371, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013479790650308132, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json new file mode 100644 index 0000000000000000000000000000000000000000..ece6b4d83d450f0d291810768aea14afd6d8c4c1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.004380383063107729, + "parts": [ + { + "vertices_raw": [ + [ + 0.03996875137090683, + 0.12371616810560226, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.1340000033378601 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.1340000033378601 + ], + [ + 0.04715624824166298, + 0.12340264767408371, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.04595312476158142, + 0.11792914569377899, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9879579544067383, + 0.15472273528575897, + 0.0, + 0.020345741882920265 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.04357880726456642, + 0.9990499019622803, + 0.0, + -0.12534041702747345 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.043736767023801804, + -0.9990430474281311, + 0.0, + 0.11982613056898117 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9766836762428284, + -0.21468359231948853, + 0.0, + -0.01956421323120594 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.039109375327825546, + 0.11792914569377899, + 0.004000000189989805 + ], + [ + 0.04715624824166298, + 0.12371616810560226, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001020096242427826, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json new file mode 100644 index 0000000000000000000000000000000000000000..de06593e49fa75b071e1e426cd5020cbf4f37bea --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006413411349058151, + "parts": [ + { + "vertices_raw": [ + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.1340000033378601 + ], + [ + 0.03996875137090683, + 0.12371616810560226, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.039109375327825546, + 0.11822875589132309, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9956179261207581, + 0.09351518005132675, + 0.0, + 0.021063541993498802 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.007022807840257883, + 0.999975323677063, + 0.0, + -0.12399380654096603 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.007048958446830511, + -0.9999750852584839, + 0.0, + 0.11850149929523468 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9879579544067383, + -0.15472273528575897, + 0.0, + -0.020345741882920265 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.03226562589406967, + 0.11822875589132309, + 0.004000000189989805 + ], + [ + 0.03996875137090683, + 0.12376664578914642, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009904778562486172, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json new file mode 100644 index 0000000000000000000000000000000000000000..7d06ec6a20aa5cb27a6e532424cab13490f2182b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008318986278027296, + "parts": [ + { + "vertices_raw": [ + [ + 0.025593750178813934, + 0.12376143038272858, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.004000000189989805 + ], + [ + 0.03226562589406967, + 0.11827699840068817, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9995101690292358, + 0.03129502013325691, + 0.0, + 0.02170809544622898 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.0007256215321831405, + 0.9999997019767761, + 0.0, + -0.12374281883239746 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0007283195154741406, + -0.9999997615814209, + 0.0, + 0.11825346946716309 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9956179261207581, + -0.09351518005132675, + 0.0, + -0.021063541993498802 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.03278125077486038, + 0.12376664578914642, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010250941850245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json new file mode 100644 index 0000000000000000000000000000000000000000..9fc075181551cc5b2ab204ec434a119c55b4ee15 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01036550011485815, + "parts": [ + { + "vertices_raw": [ + [ + 0.018406249582767487, + 0.12390545010566711, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.1340000033378601 + ], + [ + 0.025593750178813934, + 0.12376143038272858, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025421874597668648, + 0.11827201396226883, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9995113015174866, + -0.03125869482755661, + 0.0, + 0.022270377725362778 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02003350295126438, + 0.9997993111610413, + 0.0, + -0.12424932420253754 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.020106924697756767, + -0.9997978210449219, + 0.0, + 0.11875925958156586 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9995101690292358, + -0.03129502013325691, + 0.0, + -0.02170809730887413 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.018406249582767487, + 0.11827201396226883, + 0.004000000189989805 + ], + [ + 0.025593750178813934, + 0.12390545010566711, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010330760851502419, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json new file mode 100644 index 0000000000000000000000000000000000000000..369bde64a0ba49ccc047857f09b6fda7147bca1b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012257101014256477, + "parts": [ + { + "vertices_raw": [ + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.1340000033378601 + ], + [ + 0.018406249582767487, + 0.12390545010566711, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.1184096485376358, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9956342577934265, + -0.09334075450897217, + 0.0, + 0.02274402603507042 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.013153348118066788, + 0.9999135136604309, + 0.0, + -0.12413684278726578 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.013201141729950905, + -0.9999128580093384, + 0.0, + 0.1186445876955986 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9995113015174866, + 0.03125869482755661, + 0.0, + -0.022270377725362778 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.011218749918043613, + 0.1184096485376358, + 0.004000000189989805 + ], + [ + 0.018578125163912773, + 0.12399999797344208, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009088269434869289, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json new file mode 100644 index 0000000000000000000000000000000000000000..e2739cffe408f26f6b104442fcbd7d3c23df0346 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01393565023317933, + "parts": [ + { + "vertices_raw": [ + [ + 0.004031249787658453, + 0.12345390021800995, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.1185000017285347, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9879076480865479, + -0.15504328906536102, + 0.0, + 0.023123200982809067 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07576045393943787, + 0.997126042842865, + 0.0, + -0.12279368937015533 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07603617012500763, + -0.997105062007904, + 0.0, + 0.11726471781730652 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9956342577934265, + 0.09334075450897217, + 0.0, + -0.02274402603507042 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.004031249787658453, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.011734374798834324, + 0.12399999797344208, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008144252933561802, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0513c2a4c96756bc825547c59f6e2978e9face --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0155613929964602, + "parts": [ + { + "vertices_raw": [ + [ + -0.003156250109896064, + 0.12325476855039597, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.1340000033378601 + ], + [ + 0.004031249787658453, + 0.12345390021800995, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.11797811836004257, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9766296148300171, + -0.21492944657802582, + 0.0, + 0.023408591747283936 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.02769464999437332, + 0.9996165037155151, + 0.0, + -0.12329491972923279 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.027794959023594856, + -0.9996135830879211, + 0.0, + 0.11779659986495972 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9879076480865479, + 0.15504328906536102, + 0.0, + -0.023123200982809067 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.003156250109896064, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + 0.004890624899417162, + 0.12345390021800995, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007481519132852554, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6eee4d655f8b4d050dcfc7171bcfe96bd5764c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.017163756303489208, + "parts": [ + { + "vertices_raw": [ + [ + -0.01034375000745058, + 0.12289352715015411, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.1340000033378601 + ], + [ + -0.003156250109896064, + 0.12325476855039597, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.11778782308101654, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9620134234428406, + -0.2730020582675934, + 0.0, + 0.02359936013817787 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.05019631236791611, + 0.9987393617630005, + 0.0, + -0.12325781583786011 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0503794327378273, + -0.9987301826477051, + 0.0, + 0.11773665249347687 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9766296148300171, + 0.21492944657802582, + 0.0, + -0.023408593609929085 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.01034375000745058, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.001953125, + 0.12325476855039597, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007696542888879776, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c56c0a14af3f4ca9ba8ad9800ef43d72edb1d0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018751089926809072, + "parts": [ + { + "vertices_raw": [ + [ + -0.017531249672174454, + 0.12237901240587234, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.1340000033378601 + ], + [ + -0.01034375000745058, + 0.12289352715015411, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.11744260042905807, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9443570375442505, + -0.3289220929145813, + 0.0, + 0.023697402328252792 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07140195369720459, + 0.9974476099014282, + 0.0, + -0.12331841886043549 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07166092097759247, + -0.9974290132522583, + 0.0, + 0.11777105182409286 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9620134234428406, + 0.2730020582675934, + 0.0, + -0.02359936013817787 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.017531249672174454, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.00879687536507845, + 0.12289352715015411, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007595410570502281, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json new file mode 100644 index 0000000000000000000000000000000000000000..d857e642943ce565e93de59e3d8a3afd50662731 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020145772024989128, + "parts": [ + { + "vertices_raw": [ + [ + -0.0247187502682209, + 0.12138984352350235, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.1340000033378601 + ], + [ + -0.017531249672174454, + 0.12237901240587234, + 0.004000000189989805 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.1340000033378601 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.11695090681314468, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.13633839786052704, + 0.9906622767448425, + 0.0, + -0.1236264556646347 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9236274361610413, + -0.383291631937027, + 0.0, + 0.023696796968579292 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.13682588934898376, + -0.9905951619148254, + 0.0, + 0.11799104511737823 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9443570375442505, + 0.3289220929145813, + 0.0, + -0.023697400465607643 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.0247187502682209, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.0156406257301569, + 0.12237901240587234, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006308630108833313, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d5bd1eefb7ac5d7f2ad1da6b8238e0b0b5d5a2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0214322442188859, + "parts": [ + { + "vertices_raw": [ + [ + -0.03190625086426735, + 0.12039849907159805, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.1340000033378601 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.1340000033378601 + ], + [ + -0.0247187502682209, + 0.12138984352350235, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.11600561439990997, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9005469083786011, + -0.4347589313983917, + 0.0, + 0.023611245676875114 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.13663266599178314, + 0.9906217455863953, + 0.0, + -0.12362881004810333 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.13712111115455627, + -0.9905543327331543, + 0.0, + 0.11799293756484985 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9236274361610413, + 0.383291631937027, + 0.0, + -0.023696795105934143 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03190625086426735, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.022484375163912773, + 0.12138984352350235, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006754999049007893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json new file mode 100644 index 0000000000000000000000000000000000000000..627c7ac0e4d007bdb06588195e9d322304a1721b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0227740160189569, + "parts": [ + { + "vertices_raw": [ + [ + -0.0390937514603138, + 0.11871090531349182, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.1340000033378601 + ], + [ + -0.03190625086426735, + 0.12039849907159805, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.11505824327468872, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.8743933439254761, + -0.4852176308631897, + 0.0, + 0.023417305201292038 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.22857947647571564, + 0.9735252857208252, + 0.0, + -0.12450409680604935 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.2293696105480194, + -0.9733394384384155, + 0.0, + 0.11871770024299622 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.9005469083786011, + 0.4347589313983917, + 0.0, + -0.023611243814229965 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0390937514603138, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.029328124597668648, + 0.12039849907159805, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006154179573059082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json new file mode 100644 index 0000000000000000000000000000000000000000..dc02c814ec6fa65dd246d050fab11adc3c4e6342 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.023987170308828354, + "parts": [ + { + "vertices_raw": [ + [ + -0.046281248331069946, + 0.11651945859193802, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.1340000033378601 + ], + [ + -0.0390937514603138, + 0.11871090531349182, + 0.004000000189989805 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.1340000033378601 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11344549804925919, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.29164236783981323, + 0.9565273523330688, + 0.0, + -0.12495161592960358 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.8453783392906189, + -0.534168004989624, + 0.0, + 0.023115798830986023 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.29261380434036255, + -0.9562307596206665, + 0.0, + 0.11906446516513824 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.8743933439254761, + 0.4852176308631897, + 0.0, + -0.023417312651872635 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.046281248331069946, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.03617187589406967, + 0.11871090531349182, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005795946344733238, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json new file mode 100644 index 0000000000000000000000000000000000000000..5c67fb4d88f4b575f20c2bd3aaefb40643b26549 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.025163921993225813, + "parts": [ + { + "vertices_raw": [ + [ + -0.053468748927116394, + 0.1134982481598854, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.1340000033378601 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.1340000033378601 + ], + [ + -0.046281248331069946, + 0.11651945859193802, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11135125905275345, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.812700092792511, + -0.5826821327209473, + 0.0, + 0.022679343819618225 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.38750067353248596, + 0.9218693375587463, + 0.0, + -0.1253497302532196 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.38870108127593994, + -0.9213639497756958, + 0.0, + 0.1193152517080307 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.8453783392906189, + 0.534168004989624, + 0.0, + -0.023115798830986023 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.053468748927116394, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.043015625327825546, + 0.11651945859193802, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005989656783640385, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3369c009a9798403266f246c91e5105fefb5d0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.026319198310375214, + "parts": [ + { + "vertices_raw": [ + [ + -0.06065624952316284, + 0.10931654274463654, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.1340000033378601 + ], + [ + -0.053468748927116394, + 0.1134982481598854, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.10846404731273651, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.7750535011291504, + -0.6318955421447754, + 0.0, + 0.022064797580242157 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.5028833746910095, + 0.8643541932106018, + 0.0, + -0.12499123811721802 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.5042509436607361, + -0.8635571599006653, + 0.0, + 0.11880654096603394 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.812700092792511, + 0.5826821327209473, + 0.0, + -0.022679343819618225 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.06065624952316284, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.04985937476158142, + 0.1134982481598854, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005430802702903748, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json new file mode 100644 index 0000000000000000000000000000000000000000..17f587784106ad852b7d9696530fdbbd4779a411 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02751016104593873, + "parts": [ + { + "vertices_raw": [ + [ + -0.06784375011920929, + 0.10389421880245209, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.1340000033378601 + ], + [ + -0.06065624952316284, + 0.10931654274463654, + 0.004000000189989805 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.1340000033378601 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10446782410144806, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.602250874042511, + 0.7983068823814392, + 0.0, + -0.1237984299659729 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7313810586929321, + -0.6819690465927124, + 0.0, + 0.02123301476240158 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.6036469340324402, + -0.7972517609596252, + 0.0, + 0.11751581728458405 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.7750535011291504, + 0.6318955421447754, + 0.0, + -0.022064797580242157 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.06784375011920929, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.056703124195337296, + 0.10931654274463654, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000643744133412838, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json new file mode 100644 index 0000000000000000000000000000000000000000..427338335fe9c924f6af2c4bcfedda64e510c990 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02888651704415679, + "parts": [ + { + "vertices_raw": [ + [ + -0.07503125071525574, + 0.09618797898292542, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.1340000033378601 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.1340000033378601 + ], + [ + -0.06784375011920929, + 0.10389421880245209, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.09928601235151291, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6768013834953308, + -0.7361658215522766, + 0.0, + 0.020029041916131973 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7312914729118347, + 0.6820651888847351, + 0.0, + -0.12047618627548218 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7325282096862793, + -0.6807366013526917, + 0.0, + 0.11413750052452087 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.7313810586929321, + 0.6819690465927124, + 0.0, + -0.021232999861240387 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07503125071525574, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.06354687362909317, + 0.10389421880245209, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010386547073721886, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json new file mode 100644 index 0000000000000000000000000000000000000000..c76c8b46f926425c46253117719e2f5c96e5643c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03099652100354433, + "parts": [ + { + "vertices_raw": [ + [ + -0.08221875131130219, + 0.08447074145078659, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.1340000033378601 + ], + [ + -0.07503125071525574, + 0.09618797898292542, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09192157536745071, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6008614897727966, + -0.7993531823158264, + 0.0, + 0.018119875341653824 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.8524078130722046, + 0.5228776335716248, + 0.0, + -0.1142517700791359 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.8532540202140808, + -0.5214954614639282, + 0.0, + 0.10799777507781982 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6768013834953308, + 0.7361658215522766, + 0.0, + -0.02002904936671257 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.08221875131130219, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07039062678813934, + 0.09618797898292542, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007735388353466988, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json new file mode 100644 index 0000000000000000000000000000000000000000..dbfb8ddee7842d78cfea05e105f5be52aa7990dd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.032363499980419874, + "parts": [ + { + "vertices_raw": [ + [ + -0.08940625190734863, + 0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.1340000033378601 + ], + [ + -0.08221875131130219, + 0.08447074145078659, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08072406053543091, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.448366641998291, + -0.8938497304916382, + 0.0, + 0.01377328485250473 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9586594104766846, + 0.28455594182014465, + 0.0, + -0.10285642743110657 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9589409828186035, + -0.2836056351661682, + 0.0, + 0.0969569981098175 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6008614897727966, + 0.7993531823158264, + 0.0, + -0.018119875341653824 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.08940625190734863, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.07723437249660492, + 0.08447074145078659, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007218010723590851, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json new file mode 100644 index 0000000000000000000000000000000000000000..8cdef80c964d25f9a3ea514e4b3e7a934e8f3e4a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03378182416781783, + "parts": [ + { + "vertices_raw": [ + [ + -0.09120312333106995, + -0.04302716255187988, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.004000000189989805 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.1340000033378601 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.057583633810281754, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9998486638069153, + 0.017394844442605972, + 0.0, + -0.09044086933135986 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.3324510157108307, + -0.9431204795837402, + 0.0, + -0.010259225964546204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9998497366905212, + -0.017331700772047043, + 0.0, + 0.08506351709365845 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.448366641998291, + 0.8938497304916382, + 0.0, + -0.01377328485250473 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.08407812565565109, + 0.060256291180849075, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006141369231045246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json new file mode 100644 index 0000000000000000000000000000000000000000..a645fee9585ad3c26cf92a25bad505c901a4b980 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03499388508498669, + "parts": [ + { + "vertices_raw": [ + [ + -0.0840156227350235, + -0.08044398576021194, + 0.1340000033378601 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.1340000033378601 + ], + [ + -0.09120312333106995, + -0.04302716255187988, + 0.004000000189989805 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.1340000033378601 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.1340000033378601 + ], + [ + -0.08578906208276749, + -0.04111870005726814, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.004000000189989805 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 4, + 6, + 2, + 1, + 7, + 6, + 4, + 5, + 7, + 5, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9820456504821777, + -0.18864385783672333, + 0.0, + -0.09768243134021759 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.3324510157108307, + 0.9431204795837402, + 0.0, + 0.010259222239255905 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9821723699569702, + 0.1879829317331314, + 0.0, + 0.09198926389217377 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.5755016803741455, + -0.8178005814552307, + 0.0, + -0.017436005175113678 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.09120312333106995, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.04111870005726814, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006465772166848183, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json new file mode 100644 index 0000000000000000000000000000000000000000..07bb35ca7e8c27e4eea46456a72e2bc6a0674cd3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03627979522570968, + "parts": [ + { + "vertices_raw": [ + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.1340000033378601 + ], + [ + -0.0840156227350235, + -0.08044398576021194, + 0.004000000189989805 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.1340000033378601 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.1340000033378601 + ], + [ + -0.07894530892372131, + -0.07687591016292572, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.004000000189989805 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 5, + 4, + 6, + 2, + 1, + 7, + 6, + 4, + 5, + 7, + 5, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.8800228238105774, + -0.4749312996864319, + 0.0, + -0.11214102804660797 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.5755016803741455, + 0.8178005814552307, + 0.0, + 0.017436005175113678 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.8807434439659119, + 0.4735935628414154, + 0.0, + 0.10593850165605545 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.6605768799781799, + -0.7507583498954773, + 0.0, + -0.019641757011413574 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 4, + 6, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0840156227350235, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.07687591016292572, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006412952207028866, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json new file mode 100644 index 0000000000000000000000000000000000000000..5fef23f5d36b7d912f7443ec72c1209ead958e57 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03745628194883466, + "parts": [ + { + "vertices_raw": [ + [ + -0.0696406215429306, + -0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.1340000033378601 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.004000000189989805 + ], + [ + -0.07210156321525574, + -0.0896032452583313, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.7188802361488342, + -0.6951340436935425, + 0.0, + -0.020971089601516724 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7608045339584351, + -0.6489810943603516, + 0.0, + -0.11930098384618759 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7619690299034119, + 0.647613525390625, + 0.0, + 0.11296743899583817 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.6605768799781799, + 0.7507583498954773, + 0.0, + 0.019641757011413574 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.07682812213897705, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.0896032452583313, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006120395846664906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json new file mode 100644 index 0000000000000000000000000000000000000000..cf4f4fab62b7c03b00149019ea974678f0bd7148 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03905403334647417, + "parts": [ + { + "vertices_raw": [ + [ + -0.062453124672174454, + -0.10817618668079376, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.004000000189989805 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.1340000033378601 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.004000000189989805 + ], + [ + -0.06525781005620956, + -0.09765546768903732, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.6400964856147766, + -0.7682945132255554, + 0.0, + -0.12308719754219055 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7650271654129028, + -0.6439980864524841, + 0.0, + -0.021886922419071198 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.6414709687232971, + 0.7671473622322083, + 0.0, + 0.11677712947130203 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7188802361488342, + 0.6951340436935425, + 0.0, + 0.020971093326807022 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.0696406215429306, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.09765546768903732, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008294307626783848, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json new file mode 100644 index 0000000000000000000000000000000000000000..e17708227af02f437c3b3591544d2499f3076efa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.040414232295006514, + "parts": [ + { + "vertices_raw": [ + [ + -0.055265624076128006, + -0.11266520619392395, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.1340000033378601 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.1340000033378601 + ], + [ + -0.062453124672174454, + -0.10817618668079376, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.004000000189989805 + ], + [ + -0.05841406434774399, + -0.1033780500292778, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8040456175804138, + -0.5945675373077393, + 0.0, + -0.02255098894238472 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.5297300815582275, + -0.8481663465499878, + 0.0, + -0.12483470141887665 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.5311170816421509, + 0.8472984433174133, + 0.0, + 0.11861677467823029 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7650271654129028, + 0.6439980864524841, + 0.0, + 0.0218869149684906 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.062453124672174454, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1033780500292778, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000652015209197998, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json new file mode 100644 index 0000000000000000000000000000000000000000..e1677d8d846e761019030ee0c58638c472d2c925 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0418510353192687, + "parts": [ + { + "vertices_raw": [ + [ + -0.04807812348008156, + -0.11593497544527054, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.1340000033378601 + ], + [ + -0.055265624076128006, + -0.11266520619392395, + 0.004000000189989805 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.1340000033378601 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.004000000189989805 + ], + [ + -0.051570311188697815, + -0.1076679602265358, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.41408878564834595, + -0.9102365374565125, + 0.0, + -0.12543685734272003 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.8377670645713806, + -0.5460279583930969, + 0.0, + -0.02302546799182892 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.41533809900283813, + 0.9096671342849731, + 0.0, + 0.11936111748218536 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8040456175804138, + 0.5945675373077393, + 0.0, + 0.02255099266767502 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + -0.055265624076128006, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.1076679602265358, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006777523085474968, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json new file mode 100644 index 0000000000000000000000000000000000000000..65130b131fb39cb5074209aa6bb325d0c89850f9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.043122952338308096, + "parts": [ + { + "vertices_raw": [ + [ + -0.04089062660932541, + -0.11818911880254745, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.1340000033378601 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.1340000033378601 + ], + [ + -0.04807812348008156, + -0.11593497544527054, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.004000000189989805 + ], + [ + -0.04472656175494194, + -0.11079269647598267, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8673695921897888, + -0.4976646602153778, + 0.0, + -0.023351263254880905 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.29924851655960083, + -0.9541752338409424, + 0.0, + -0.12500958144664764 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.30024150013923645, + 0.9538631439208984, + 0.0, + 0.11910983920097351 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8377670645713806, + 0.5460279583930969, + 0.0, + 0.02302546799182892 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04807812348008156, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11079269647598267, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000604292843490839, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json new file mode 100644 index 0000000000000000000000000000000000000000..3f319ed57867b7375ace563ee3a05d816a6b5915 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.044305913150310516, + "parts": [ + { + "vertices_raw": [ + [ + -0.03370312601327896, + -0.12013746798038483, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.1340000033378601 + ], + [ + -0.04089062660932541, + -0.11818911880254745, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.004000000189989805 + ], + [ + -0.037882812321186066, + -0.11294686049222946, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.8944456577301025, + -0.4471765160560608, + 0.0, + -0.023577043786644936 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.2616324722766876, + -0.9651675820350647, + 0.0, + -0.12477061152458191 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.26252061128616333, + 0.9649263620376587, + 0.0, + 0.11893042922019958 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8673695921897888, + 0.4976646602153778, + 0.0, + 0.023351263254880905 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04089062660932541, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11294686049222946, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005821357481181622, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json new file mode 100644 index 0000000000000000000000000000000000000000..ad51139e65c8db838336fc022c9729a15843fd2d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.045501881279051304, + "parts": [ + { + "vertices_raw": [ + [ + -0.026515625417232513, + -0.12128067016601562, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.004000000189989805 + ], + [ + -0.03103906288743019, + -0.11480879038572311, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9182239174842834, + -0.3960614800453186, + 0.0, + -0.023687321692705154 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.15707969665527344, + -0.9875859618186951, + 0.0, + -0.12394014745950699 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.157637819647789, + 0.9874969124794006, + 0.0, + 0.118266262114048 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.8944456577301025, + 0.4471765160560608, + 0.0, + 0.02357703633606434 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03370312601327896, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11480879038572311, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000584769994020462, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json new file mode 100644 index 0000000000000000000000000000000000000000..434c3765cf9b53e24cfcfdfa5098ac2a6222a474 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0466698850505054, + "parts": [ + { + "vertices_raw": [ + [ + -0.019328124821186066, + -0.1221856027841568, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.1340000033378601 + ], + [ + -0.026515625417232513, + -0.12128067016601562, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.004000000189989805 + ], + [ + -0.024195311591029167, + -0.11590128391981125, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9394686222076416, + -0.3426351249217987, + 0.0, + -0.023706912994384766 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.12491746991872787, + -0.9921671748161316, + 0.0, + -0.1236429512500763 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.1253660023212433, + 0.9921104907989502, + 0.0, + 0.11802015453577042 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9182239174842834, + 0.3960614800453186, + 0.0, + 0.023687323555350304 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.026515625417232513, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.11590128391981125, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005609928630292416, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json new file mode 100644 index 0000000000000000000000000000000000000000..28b0b0c5266077764a5dcb2478590c362f9349f8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04790984932333231, + "parts": [ + { + "vertices_raw": [ + [ + -0.012140625156462193, + -0.12273577600717545, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.1340000033378601 + ], + [ + -0.019328124821186066, + -0.1221856027841568, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.004000000189989805 + ], + [ + -0.017351562157273293, + -0.1167660802602768, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9578440189361572, + -0.2872886657714844, + 0.0, + -0.02363177388906479 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.07632257789373398, + -0.9970832467079163, + 0.0, + -0.12330438196659088 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.07659842818975449, + 0.9970619678497314, + 0.0, + 0.11775211989879608 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9394686222076416, + 0.3426351249217987, + 0.0, + 0.023706912994384766 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.019328124821186066, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.1167660802602768, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006079147569835186, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json new file mode 100644 index 0000000000000000000000000000000000000000..e88fb35ef3c4968abbe72b4a038a685698a745ab --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04912217007949948, + "parts": [ + { + "vertices_raw": [ + [ + -0.004953125026077032, + -0.12315323948860168, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.1340000033378601 + ], + [ + -0.012140625156462193, + -0.12273577600717545, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.004000000189989805 + ], + [ + -0.010507812723517418, + -0.11729184538125992, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9732666611671448, + -0.2296779304742813, + 0.0, + -0.0234648697078228 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.05798415467143059, + -0.998317539691925, + 0.0, + -0.12323324382305145 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.05819617211818695, + 0.9983052015304565, + 0.0, + 0.11770457029342651 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9578440189361572, + 0.2872886657714844, + 0.0, + 0.02363177388906479 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.012140625156462193, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.11729184538125992, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005325917154550552, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json new file mode 100644 index 0000000000000000000000000000000000000000..079998d2ded0ebc197ca8d58d45c6960a4ff24b2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.050380191300064325, + "parts": [ + { + "vertices_raw": [ + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.1340000033378601 + ], + [ + -0.004953125026077032, + -0.12315323948860168, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.004000000189989805 + ], + [ + -0.0036640625912696123, + -0.1176908016204834, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9854162931442261, + -0.17016080021858215, + 0.0, + -0.02320345863699913 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.037435516715049744, + -0.9992989897727966, + 0.0, + -0.12325233221054077 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.03757064789533615, + 0.9992939233779907, + 0.0, + 0.11774536222219467 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9732666611671448, + 0.2296779304742813, + 0.0, + 0.0234648697078228 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.004953125026077032, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.1176908016204834, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005959048867225647, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json new file mode 100644 index 0000000000000000000000000000000000000000..36e8977fe8e51e8b58aed307b7f0064fa7755b61 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05156424129381776, + "parts": [ + { + "vertices_raw": [ + [ + 0.009421874769032001, + -0.1239117830991745, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.1340000033378601 + ], + [ + 0.0022343751043081284, + -0.12342249602079391, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.004000000189989805 + ], + [ + 0.0031796875409781933, + -0.11794810742139816, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9940633177757263, + -0.10880301147699356, + 0.0, + -0.022847913205623627 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.06791753321886063, + -0.9976909160614014, + 0.0, + -0.12298574298620224 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.06816379725933075, + 0.9976741671562195, + 0.0, + 0.11745703965425491 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9854162931442261, + 0.17016080021858215, + 0.0, + 0.02320345863699913 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1339999884366989 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.0022343751043081284, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11794810742139816, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0021862867288291454, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc47287e243c43687ac67ff2e4b4c244c6b9cc7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05444594891741872, + "parts": [ + { + "vertices_raw": [ + [ + 0.016609374433755875, + -0.12372803688049316, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.1340000033378601 + ], + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.004000000189989805 + ], + [ + 0.010023437440395355, + -0.11841569095849991, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9988983273506165, + -0.04692629724740982, + 0.0, + -0.022397175431251526 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02555634267628193, + -0.9996733665466309, + 0.0, + -0.1241120994091034 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.02564823068678379, + 0.9996709823608398, + 0.0, + 0.11863381415605545 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9940633177757263, + 0.10880301147699356, + 0.0, + 0.022847915068268776 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.009421874769032001, + -0.1239117830991745, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006201840005815029, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json new file mode 100644 index 0000000000000000000000000000000000000000..01103420e9789f55358e55621a73661829d0d100 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05565872695297003, + "parts": [ + { + "vertices_raw": [ + [ + 0.023796875029802322, + -0.12373429536819458, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.1340000033378601 + ], + [ + 0.016609374433755875, + -0.12372803688049316, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.004000000189989805 + ], + [ + 0.01686718687415123, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.999877393245697, + 0.01565653085708618, + 0.0, + -0.021856706589460373 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.0008707457454875112, + -0.9999996423721313, + 0.0, + -0.12371353060007095 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0008742008940316737, + 0.9999995827674866, + 0.0, + 0.11822530627250671 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9988983273506165, + 0.04692629724740982, + 0.0, + 0.022397175431251526 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.016609374433755875, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023796875029802322, + -0.1182401031255722, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006134966388344765, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json new file mode 100644 index 0000000000000000000000000000000000000000..0b99b56a5c30731e7555ef87cdd7d6056090d66b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05691195512190461, + "parts": [ + { + "vertices_raw": [ + [ + 0.03098437562584877, + -0.12383213639259338, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.1340000033378601 + ], + [ + 0.023796875029802322, + -0.12373429536819458, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.004000000189989805 + ], + [ + 0.023710938170552254, + -0.11824608594179153, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9969539642333984, + 0.07799272239208221, + 0.0, + -0.021231990307569504 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.013611401431262493, + -0.9999073147773743, + 0.0, + -0.12339891493320465 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.013660437427461147, + 0.9999066591262817, + 0.0, + 0.11791114509105682 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.999877393245697, + -0.01565653085708618, + 0.0, + 0.021856708452105522 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023710938170552254, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03098437562584877, + -0.11824608594179153, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007046000100672245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json new file mode 100644 index 0000000000000000000000000000000000000000..a2225f3fbd326f7bc9cd3da5d2e404c2902f57f1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05844196630641818, + "parts": [ + { + "vertices_raw": [ + [ + 0.03817187622189522, + -0.12381499260663986, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.1340000033378601 + ], + [ + 0.03098437562584877, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.1340000033378601 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.004000000189989805 + ], + [ + 0.03055468760430813, + -0.11833958327770233, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 5, + 3, + 2, + 7, + 4, + 5, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.002385215600952506, + -0.9999971985816956, + 0.0, + -0.12390569597482681 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9902278780937195, + 0.13945886492729187, + 0.0, + -0.020531758666038513 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.0023939763195812702, + 0.999997079372406, + 0.0, + 0.11841238290071487 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9969539642333984, + -0.07799272239208221, + 0.0, + 0.021231990307569504 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.03055468760430813, + -0.12383213639259338, + 0.004000000189989805 + ], + [ + 0.03817187622189522, + -0.1183231994509697, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000655102077871561, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json new file mode 100644 index 0000000000000000000000000000000000000000..abde0c834018d220a8407ed79891a5234f662efe --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05982919689267874, + "parts": [ + { + "vertices_raw": [ + [ + 0.045359376817941666, + -0.12350311875343323, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.1340000033378601 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.1340000033378601 + ], + [ + 0.03817187622189522, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.004000000189989805 + ], + [ + 0.03739843890070915, + -0.1183231994509697, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9798306822776794, + 0.19982914626598358, + 0.0, + -0.019764987751841545 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.04335034638643265, + -0.9990598559379578, + 0.0, + -0.1253533512353897 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004000000189989805 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.043507713824510574, + 0.9990530610084534, + 0.0, + 0.11983828246593475 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9902278780937195, + -0.13945886492729187, + 0.0, + 0.020531758666038513 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.03739843890070915, + -0.12381499260663986, + 0.004000000189989805 + ], + [ + 0.045359376817941666, + -0.11802516132593155, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007190187461674213, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json new file mode 100644 index 0000000000000000000000000000000000000000..4af6646b324dfd48ae95176bb3dd9bdd7d28bd22 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06112827733159065, + "parts": [ + { + "vertices_raw": [ + [ + 0.052546873688697815, + -0.12334326654672623, + 0.1340000033378601 + ], + [ + 0.052546873688697815, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.004000000189989805 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.1340000033378601 + ], + [ + 0.045359376817941666, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.004000000189989805 + ], + [ + 0.04424218833446503, + -0.11802516132593155, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 4, + 5, + 1, + 6, + 2, + 1, + 5, + 7, + 3, + 2, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9661453366279602, + 0.2579984664916992, + 0.0, + -0.018945541232824326 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.02223481610417366, + -0.9997527599334717, + 0.0, + -0.12448113411664963 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.022316521033644676, + 0.9997510313987732, + 0.0, + 0.11898311227560043 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9798306822776794, + -0.19982914626598358, + 0.0, + 0.019764982163906097 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1340000033378601 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 1 + ], + [ + 6, + 2, + 1 + ], + [ + 6, + 1, + 5 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.04424218833446503, + -0.12350311875343323, + 0.004000000189989805 + ], + [ + 0.052546873688697815, + -0.11787239462137222, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000620504841208458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json new file mode 100644 index 0000000000000000000000000000000000000000..dee72e7d82fdeb6573fdccb96b01a9822c6bedd2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json @@ -0,0 +1,172 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06238347105681896, + "parts": [ + { + "vertices_raw": [ + [ + 0.052546873688697815, + -0.12334326654672623, + 0.1340000033378601 + ], + [ + 0.0510859377682209, + -0.11787239462137222, + 0.004000000189989805 + ], + [ + 0.052546873688697815, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0536762997508049, + -0.12314366549253464, + 0.004000000189989805 + ], + [ + 0.051517389714717865, + -0.11785423755645752, + 0.1340000033378601 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 0, + 2, + 3, + 2, + 1, + 4, + 0, + 3, + 4, + 3, + 1, + 4, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + -0.9661453366279602, + -0.2579984664916992, + 0.0, + 0.018945541232824326 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.17403100430965424, + -0.984740138053894, + 0.0, + -0.13060584664344788 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.003999999724328518 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.9828245043754578, + 0.1843317151069641, + 0.008821695111691952, + -0.030090386047959328 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.897485077381134, + 0.44103431701660156, + -0.0030402271077036858, + 0.006149068474769592 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.9828574657440186, + -0.18433788418769836, + 0.0032877137418836355, + 0.028468700125813484 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 1 + ], + [ + 4, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.0510859377682209, + -0.12334326654672623, + 0.004000000189989805 + ], + [ + 0.0536762997508049, + -0.11785423755645752, + 0.1340000033378601 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005759131163358688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json new file mode 100644 index 0000000000000000000000000000000000000000..360ee8d8bb1bb0891fce50b44bccd9f798280c67 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json @@ -0,0 +1,1570 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06574500119313598, + "parts": [ + { + "vertices_raw": [ + [ + 0.13340625166893005, + -0.05999645218253136, + 0.1340000033378601 + ], + [ + 0.13699999451637268, + 0.024415651336312294, + 0.1340000033378601 + ], + [ + 0.13449999690055847, + -0.023923400789499283, + 0.257999986410141 + ], + [ + 0.12981249392032623, + -0.07589410245418549, + 0.2540000081062317 + ], + [ + -0.08760937303304672, + -0.06937939673662186, + 0.2540000081062317 + ], + [ + -0.07682812213897705, + -0.09376204758882523, + 0.1340000033378601 + ], + [ + -0.0696406215429306, + -0.10218799859285355, + 0.2540000081062317 + ], + [ + -0.03370312601327896, + -0.12013746798038483, + 0.2540000081062317 + ], + [ + -0.04268750175833702, + -0.11790874600410461, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + -0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.011453124694526196, + -0.12150000035762787, + 0.257999986410141 + ], + [ + 0.07231249660253525, + -0.12148725241422653, + 0.2540000081062317 + ], + [ + 0.08309374749660492, + -0.11938485503196716, + 0.1340000033378601 + ], + [ + 0.10824999958276749, + -0.107428640127182, + 0.2540000081062317 + ], + [ + 0.13520312309265137, + 0.045220986008644104, + 0.2540000081062317 + ], + [ + 0.12981249392032623, + 0.07589410245418549, + 0.1340000033378601 + ], + [ + -0.08760937303304672, + 0.06937939673662186, + 0.1340000033378601 + ], + [ + -0.09300000220537186, + 0.020077358931303024, + 0.1340000033378601 + ], + [ + -0.09300000220537186, + 0.020077358931303024, + 0.2540000081062317 + ], + [ + -0.08940625190734863, + 0.060256291180849075, + 0.2540000081062317 + ], + [ + -0.07323437184095383, + 0.09834851324558258, + 0.2540000081062317 + ], + [ + -0.0696406215429306, + 0.10218799859285355, + 0.1340000033378601 + ], + [ + -0.04268750175833702, + 0.11790874600410461, + 0.1340000033378601 + ], + [ + -0.03370312601327896, + 0.12013746798038483, + 0.2540000081062317 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.07231249660253525, + 0.12148725241422653, + 0.1340000033378601 + ], + [ + 0.08848437666893005, + 0.11779563128948212, + 0.2540000081062317 + ], + [ + 0.10824999958276749, + 0.107428640127182, + 0.1340000033378601 + ], + [ + -0.08940625190734863, + -0.060256291180849075, + 0.1340000033378601 + ], + [ + -0.05358593910932541, + 0.11039372533559799, + 0.257999986410141 + ], + [ + 0.03782031312584877, + 0.12131872028112411, + 0.257999986410141 + ], + [ + 0.1274687498807907, + 0.07436398416757584, + 0.257999986410141 + ], + [ + 0.12082812190055847, + 0.09423449635505676, + 0.2540000081062317 + ], + [ + 0.11867968738079071, + -0.09233461320400238, + 0.257999986410141 + ], + [ + 0.11723437160253525, + -0.09878461062908173, + 0.1340000033378601 + ], + [ + -0.05358593910932541, + -0.11039372533559799, + 0.257999986410141 + ], + [ + 0.10461718589067459, + 0.10660891979932785, + 0.257999986410141 + ], + [ + -0.08171093463897705, + 0.07882212847471237, + 0.257999986410141 + ], + [ + -0.07819531112909317, + -0.08613093942403793, + 0.257999986410141 + ], + [ + -0.09049999713897705, + -0.0196725744754076, + 0.257999986410141 + ], + [ + 0.08703906089067459, + -0.11542071402072906, + 0.257999986410141 + ], + [ + -0.06424999982118607, + -0.10694726556539536, + 0.1340000033378601 + ], + [ + 0.10106249898672104, + -0.11226283013820648, + 0.1340000033378601 + ], + [ + 0.011218749918043613, + 0.12399999797344208, + 0.2540000081062317 + ], + [ + 0.12801562249660492, + -0.08082769811153412, + 0.1340000033378601 + ], + [ + 0.12082812190055847, + 0.09423449635505676, + 0.1340000033378601 + ], + [ + -0.05885937437415123, + 0.11050029844045639, + 0.2540000081062317 + ] + ], + "indices_raw": [ + 45, + 15, + 1, + 0, + 44, + 34, + 42, + 12, + 9, + 8, + 41, + 5, + 28, + 17, + 16, + 21, + 22, + 24, + 25, + 27, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 9, + 10, + 11, + 10, + 9, + 11, + 9, + 12, + 11, + 12, + 13, + 14, + 1, + 15, + 14, + 2, + 1, + 16, + 17, + 18, + 19, + 16, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 5, + 4, + 29, + 30, + 23, + 31, + 2, + 14, + 31, + 14, + 15, + 31, + 15, + 32, + 33, + 13, + 34, + 33, + 34, + 3, + 33, + 3, + 2, + 35, + 8, + 7, + 35, + 7, + 10, + 36, + 26, + 30, + 36, + 31, + 32, + 36, + 32, + 27, + 36, + 27, + 26, + 37, + 29, + 20, + 37, + 20, + 16, + 37, + 16, + 19, + 38, + 6, + 35, + 38, + 39, + 4, + 38, + 4, + 6, + 40, + 13, + 33, + 40, + 33, + 2, + 31, + 36, + 30, + 29, + 37, + 39, + 38, + 35, + 10, + 40, + 10, + 11, + 40, + 11, + 13, + 41, + 8, + 35, + 41, + 35, + 6, + 41, + 6, + 5, + 42, + 13, + 12, + 42, + 34, + 13, + 43, + 24, + 23, + 43, + 23, + 30, + 43, + 30, + 26, + 43, + 26, + 25, + 43, + 25, + 24, + 44, + 0, + 3, + 44, + 3, + 34, + 18, + 39, + 37, + 18, + 37, + 19, + 18, + 17, + 28, + 18, + 28, + 4, + 18, + 4, + 39, + 45, + 32, + 15, + 45, + 27, + 32, + 46, + 20, + 29, + 46, + 29, + 23, + 46, + 23, + 22, + 46, + 22, + 21, + 46, + 21, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1340000480413437 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9990886449813843, + -0.04253498464822769, + 0.003561437362805009, + -0.13631385564804077 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9956772923469543, + -0.09117060154676437, + 0.017740201205015182, + -0.14067669212818146 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.8769172430038452, + -0.48027363419532776, + 0.01880067214369774, + -0.11492264270782471 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.11227691173553467, + -0.9936261773109436, + -0.010048153810203075, + -0.12060359120368958 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + -0.03194214031100273, + -0.9992854595184326, + 0.020207243040204048, + -0.12626081705093384 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.0015340592944994569, + -0.9997957348823547, + 0.020154256373643875, + -0.12669254839420319 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + 0.06407430768013, + -0.9978762269020081, + -0.011726091615855694, + -0.12288418412208557 + ] + }, + { + "index_base": 41, + "num_vertices": 3, + "plane": [ + 0.3642629086971283, + -0.9311515688896179, + 0.016412990167737007, + -0.143632709980011 + ] + }, + { + "index_base": 44, + "num_vertices": 3, + "plane": [ + 0.9903517365455627, + 0.1382744312286377, + -0.009144258685410023, + -0.13782891631126404 + ] + }, + { + "index_base": 47, + "num_vertices": 3, + "plane": [ + 0.999820351600647, + -0.009208685718476772, + 0.016567818820476532, + -0.13897064328193665 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.9949971437454224, + 0.0999031588435173, + 0.0, + -0.09454052150249481 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.8770201802253723, + 0.4803300201892853, + -0.010896419174969196, + -0.10870006680488586 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.11227691173553467, + 0.9936261773109436, + -0.010048153810203075, + -0.12060359120368958 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.36423584818840027, + 0.9310823678970337, + -0.02044312283396721, + -0.13671405613422394 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + -0.9361298084259033, + -0.35142505168914795, + -0.012699805200099945, + -0.10316965728998184 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.05693645402789116, + 0.47637075185775757, + 0.8773990273475647, + -0.28200826048851013 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5773522853851318, + 0.04130241274833679, + 0.8154498338699341, + -0.28705182671546936 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.9670435786247253, + 0.25370898842811584, + 0.021408934146165848, + -0.14765816926956177 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.9468802809715271, + 0.3208424746990204, + 0.02185622975230217, + -0.1501956731081009 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.8200240731239319, + -0.5719726085662842, + 0.020193777978420258, + -0.15534307062625885 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.8300408720970154, + -0.5573679804801941, + 0.019317351281642914, + -0.15495721995830536 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.47606194019317627, + -0.11009082943201065, + 0.87249356508255, + -0.291767418384552 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.43739572167396545, + -0.8991259932518005, + 0.016048548743128777, + -0.1268366575241089 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + -0.09065534174442291, + -0.5308834910392761, + 0.8425819277763367, + -0.2808501720428467 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.10167693346738815, + 0.46171265840530396, + 0.881182849407196, + -0.2872050106525421 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + 0.4488719403743744, + 0.3181096613407135, + 0.8350570797920227, + -0.2963177561759949 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.6101987361907959, + 0.791911244392395, + 0.023111971095204353, + -0.1542249619960785 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.5659916400909424, + 0.824116587638855, + 0.02202974073588848, + -0.1527543067932129 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + -0.3844875693321228, + 0.34251391887664795, + 0.8572360873222351, + -0.2795814275741577 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.9162352681159973, + 0.40042683482170105, + 0.013090602122247219, + -0.10980632156133652 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.9248278737068176, + 0.3800880014896393, + 0.015048160217702389, + -0.10941032320261002 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + -0.4164840877056122, + -0.42243343591690063, + 0.8050409555435181, + -0.2766522467136383 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.5326377749443054, + -0.09861724078655243, + 0.8405781388282776, + -0.26701292395591736 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + -0.8758652210235596, + -0.47969749569892883, + 0.05244443565607071, + -0.12333600968122482 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.3252246677875519, + -0.44573625922203064, + 0.8339953422546387, + -0.2949252426624298 + ] + }, + { + "index_base": 126, + "num_vertices": 12, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.2579999566078186 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.050906695425510406, + -0.6329411268234253, + 0.7725244164466858, + -0.2767966687679291 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.36339351534843445, + -0.9289292097091675, + 0.07096204906702042, + -0.15715532004833221 + ] + }, + { + "index_base": 144, + "num_vertices": 3, + "plane": [ + -0.45311883091926575, + -0.8913370370864868, + 0.014194592833518982, + -0.12634103000164032 + ] + }, + { + "index_base": 147, + "num_vertices": 3, + "plane": [ + -0.45795950293540955, + -0.8888518214225769, + 0.014679970219731331, + -0.1264512985944748 + ] + }, + { + "index_base": 150, + "num_vertices": 3, + "plane": [ + -0.7235589027404785, + -0.6902436017990112, + -0.005128155928105116, + -0.1196211576461792 + ] + }, + { + "index_base": 153, + "num_vertices": 3, + "plane": [ + 0.36842501163482666, + -0.9295302629470825, + 0.0153789222240448, + -0.14364643394947052 + ] + }, + { + "index_base": 156, + "num_vertices": 3, + "plane": [ + 0.6402133107185364, + -0.7681614756584167, + -0.00740079628303647, + -0.14994584023952484 + ] + }, + { + "index_base": 159, + "num_vertices": 3, + "plane": [ + -0.085667185485363, + 0.996323823928833, + 0.0, + -0.12258308380842209 + ] + }, + { + "index_base": 162, + "num_vertices": 3, + "plane": [ + -0.05384136736392975, + 0.6261842250823975, + 0.7778138518333435, + -0.27460750937461853 + ] + }, + { + "index_base": 165, + "num_vertices": 3, + "plane": [ + 0.07931289821863174, + 0.98771733045578, + 0.13462507724761963, + -0.1575615108013153 + ] + }, + { + "index_base": 168, + "num_vertices": 3, + "plane": [ + 0.08002573996782303, + 0.9965946674346924, + 0.019874026998877525, + -0.12952353060245514 + ] + }, + { + "index_base": 171, + "num_vertices": 3, + "plane": [ + 0.041094593703746796, + 0.9991552233695984, + 0.0, + -0.12435626983642578 + ] + }, + { + "index_base": 174, + "num_vertices": 3, + "plane": [ + 0.9681019186973572, + -0.2505216598510742, + -0.004196517635136843, + -0.14361894130706787 + ] + }, + { + "index_base": 177, + "num_vertices": 3, + "plane": [ + 0.8573135733604431, + -0.5147272348403931, + 0.008324782364070415, + -0.15246927738189697 + ] + }, + { + "index_base": 180, + "num_vertices": 3, + "plane": [ + -0.5510323643684387, + 0.04917074739933014, + 0.8330339789390564, + -0.26382386684417725 + ] + }, + { + "index_base": 183, + "num_vertices": 3, + "plane": [ + -0.5518094301223755, + 0.049355849623680115, + 0.8325085043907166, + -0.2637663781642914 + ] + }, + { + "index_base": 186, + "num_vertices": 3, + "plane": [ + -0.9990008473396301, + -0.044690608978271484, + 0.0, + -0.09200981259346008 + ] + }, + { + "index_base": 189, + "num_vertices": 3, + "plane": [ + -0.9981355667114258, + -0.06014726310968399, + 0.010373327881097794, + -0.09425383806228638 + ] + }, + { + "index_base": 192, + "num_vertices": 3, + "plane": [ + -0.9978488683700562, + -0.060129985213279724, + 0.026116197928786278, + -0.09822620451450348 + ] + }, + { + "index_base": 195, + "num_vertices": 3, + "plane": [ + 0.8980370759963989, + 0.43991968035697937, + 0.0, + -0.14996375143527985 + ] + }, + { + "index_base": 198, + "num_vertices": 3, + "plane": [ + 0.7238016724586487, + 0.6900081038475037, + 0.0, + -0.1524781584739685 + ] + }, + { + "index_base": 201, + "num_vertices": 3, + "plane": [ + -0.4867020845413208, + 0.5757459402084351, + 0.6569913029670715, + -0.2591428756713867 + ] + }, + { + "index_base": 204, + "num_vertices": 3, + "plane": [ + -0.32041803002357483, + 0.8363986611366272, + 0.44471272826194763, + -0.22423896193504333 + ] + }, + { + "index_base": 207, + "num_vertices": 3, + "plane": [ + -0.35772398114204407, + 0.9337797164916992, + 0.009439927525818348, + -0.1266360878944397 + ] + }, + { + "index_base": 210, + "num_vertices": 3, + "plane": [ + -0.5037720799446106, + 0.8637138605117798, + -0.014567984268069267, + -0.12139208614826202 + ] + }, + { + "index_base": 213, + "num_vertices": 3, + "plane": [ + -0.6455723643302917, + 0.7636821269989014, + 0.005101004149764776, + -0.12368074059486389 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 45, + 15, + 1 + ], + [ + 45, + 1, + 0 + ], + [ + 45, + 0, + 44 + ], + [ + 45, + 44, + 34 + ], + [ + 45, + 34, + 42 + ], + [ + 45, + 42, + 12 + ], + [ + 45, + 12, + 9 + ], + [ + 45, + 9, + 8 + ], + [ + 45, + 8, + 41 + ], + [ + 45, + 41, + 5 + ], + [ + 45, + 5, + 28 + ], + [ + 45, + 28, + 17 + ], + [ + 45, + 17, + 16 + ], + [ + 45, + 16, + 21 + ], + [ + 45, + 21, + 22 + ], + [ + 45, + 22, + 24 + ], + [ + 45, + 24, + 25 + ], + [ + 45, + 25, + 27 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 11, + 10, + 9 + ], + [ + 11, + 9, + 12 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 1, + 15 + ], + [ + 14, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 20, + 21 + ], + [ + 22, + 23, + 24 + ], + [ + 25, + 26, + 27 + ], + [ + 28, + 5, + 4 + ], + [ + 29, + 30, + 23 + ], + [ + 31, + 2, + 14 + ], + [ + 31, + 14, + 15 + ], + [ + 31, + 15, + 32 + ], + [ + 33, + 13, + 34 + ], + [ + 33, + 34, + 3 + ], + [ + 33, + 3, + 2 + ], + [ + 35, + 8, + 7 + ], + [ + 35, + 7, + 10 + ], + [ + 36, + 26, + 30 + ], + [ + 36, + 31, + 32 + ], + [ + 36, + 32, + 27 + ], + [ + 36, + 27, + 26 + ], + [ + 37, + 29, + 20 + ], + [ + 37, + 20, + 16 + ], + [ + 37, + 16, + 19 + ], + [ + 38, + 6, + 35 + ], + [ + 38, + 39, + 4 + ], + [ + 38, + 4, + 6 + ], + [ + 40, + 13, + 33 + ], + [ + 40, + 33, + 2 + ], + [ + 40, + 2, + 31 + ], + [ + 40, + 31, + 36 + ], + [ + 40, + 36, + 30 + ], + [ + 40, + 30, + 29 + ], + [ + 40, + 29, + 37 + ], + [ + 40, + 37, + 39 + ], + [ + 40, + 39, + 38 + ], + [ + 40, + 38, + 35 + ], + [ + 40, + 35, + 10 + ], + [ + 40, + 10, + 11 + ], + [ + 40, + 11, + 13 + ], + [ + 41, + 8, + 35 + ], + [ + 41, + 35, + 6 + ], + [ + 41, + 6, + 5 + ], + [ + 42, + 13, + 12 + ], + [ + 42, + 34, + 13 + ], + [ + 43, + 24, + 23 + ], + [ + 43, + 23, + 30 + ], + [ + 43, + 30, + 26 + ], + [ + 43, + 26, + 25 + ], + [ + 43, + 25, + 24 + ], + [ + 44, + 0, + 3 + ], + [ + 44, + 3, + 34 + ], + [ + 18, + 39, + 37 + ], + [ + 18, + 37, + 19 + ], + [ + 18, + 17, + 28 + ], + [ + 18, + 28, + 4 + ], + [ + 18, + 4, + 39 + ], + [ + 45, + 32, + 15 + ], + [ + 45, + 27, + 32 + ], + [ + 46, + 20, + 29 + ], + [ + 46, + 29, + 23 + ], + [ + 46, + 23, + 22 + ], + [ + 46, + 22, + 21 + ], + [ + 46, + 21, + 20 + ] + ], + "raw_bounds": [ + [ + -0.09300000220537186, + -0.12399999797344208, + 0.1340000033378601 + ], + [ + 0.13699999451637268, + 0.12399999797344208, + 0.257999986410141 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0023193988017737865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json new file mode 100644 index 0000000000000000000000000000000000000000..00fc8ed181d297b080b55d65b179c95cb9199ce5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json @@ -0,0 +1,1465 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06884511932730675, + "parts": [ + { + "vertices_raw": [ + [ + 0.07525712251663208, + -0.09197601675987244, + 0.03200000151991844 + ], + [ + 0.07525712251663208, + -0.09197601675987244, + 0.03699999675154686 + ], + [ + -0.019195377826690674, + 0.09700000286102295, + 0.03700000047683716 + ], + [ + -0.019195377826690674, + 0.09700000286102295, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + 0.09197604656219482, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + 0.09197604656219482, + 0.03700000047683716 + ], + [ + 0.05869537591934204, + 0.09700000286102295, + 0.03700000047683716 + ], + [ + 0.05869537591934204, + 0.09700000286102295, + 0.03200000524520874 + ], + [ + 0.07525712251663208, + 0.09197601675987244, + 0.03200000151991844 + ], + [ + 0.07525712251663208, + 0.09197601675987244, + 0.03699999675154686 + ], + [ + -0.03575712442398071, + -0.09197604656219482, + 0.03200000524520874 + ], + [ + -0.03575712442398071, + -0.09197604656219482, + 0.03700000047683716 + ], + [ + -0.0714760571718216, + 0.056257039308547974, + 0.03200000151991844 + ], + [ + -0.06537698209285736, + 0.06766769289970398, + 0.03200000524520874 + ], + [ + -0.06537698209285736, + 0.06766769289970398, + 0.03700000047683716 + ], + [ + -0.0714760571718216, + 0.056257039308547974, + 0.03699999675154686 + ], + [ + 0.11097607016563416, + -0.05625706911087036, + 0.03200000151991844 + ], + [ + 0.10487696528434753, + -0.06766766309738159, + 0.03200000524520874 + ], + [ + 0.10487696528434753, + -0.06766766309738159, + 0.03700000047683716 + ], + [ + 0.11097607016563416, + -0.05625706911087036, + 0.03699999675154686 + ], + [ + -0.06537698209285736, + -0.06766769289970398, + 0.03200000524520874 + ], + [ + -0.0714760571718216, + -0.056257039308547974, + 0.03200000151991844 + ], + [ + -0.0714760571718216, + -0.056257039308547974, + 0.03699999675154686 + ], + [ + -0.06537698209285736, + -0.06766769289970398, + 0.03700000047683716 + ], + [ + 0.10487696528434753, + 0.06766766309738159, + 0.03200000524520874 + ], + [ + 0.11097607016563416, + 0.05625706911087036, + 0.03200000151991844 + ], + [ + 0.11097607016563416, + 0.05625706911087036, + 0.03699999675154686 + ], + [ + 0.10487696528434753, + 0.06766766309738159, + 0.03700000047683716 + ], + [ + 0.09666907787322998, + -0.07766908407211304, + 0.03200000524520874 + ], + [ + 0.08666762709617615, + -0.08587697148323059, + 0.03200000524520874 + ], + [ + 0.08666762709617615, + -0.08587697148323059, + 0.03700000047683716 + ], + [ + 0.09666907787322998, + -0.07766908407211304, + 0.03700000047683716 + ], + [ + -0.057169049978256226, + 0.07766902446746826, + 0.03200000524520874 + ], + [ + -0.04716762900352478, + 0.08587701618671417, + 0.03200000524520874 + ], + [ + -0.04716762900352478, + 0.08587701618671417, + 0.03700000047683716 + ], + [ + -0.057169049978256226, + 0.07766902446746826, + 0.03700000047683716 + ], + [ + 0.08666762709617615, + 0.08587697148323059, + 0.03200000524520874 + ], + [ + 0.09666907787322998, + 0.07766908407211304, + 0.03200000524520874 + ], + [ + 0.09666907787322998, + 0.07766908407211304, + 0.03700000047683716 + ], + [ + 0.08666762709617615, + 0.08587697148323059, + 0.03700000047683716 + ], + [ + -0.04716762900352478, + -0.08587701618671417, + 0.03200000524520874 + ], + [ + -0.057169049978256226, + -0.07766902446746826, + 0.03200000524520874 + ], + [ + -0.057169049978256226, + -0.07766902446746826, + 0.03700000047683716 + ], + [ + -0.04716762900352478, + -0.08587701618671417, + 0.03700000047683716 + ], + [ + 0.1147318035364151, + 0.043875932693481445, + 0.03200000151991844 + ], + [ + 0.1147318035364151, + 0.043875932693481445, + 0.03699999675154686 + ], + [ + 0.11600000411272049, + 0.03099977970123291, + 0.03200000524520874 + ], + [ + 0.11473182588815689, + -0.04387599229812622, + 0.03200000524520874 + ], + [ + 0.11473182588815689, + -0.04387599229812622, + 0.03700000047683716 + ], + [ + 0.11600000411272049, + 0.03099977970123291, + 0.03700000047683716 + ], + [ + -0.07523181289434433, + -0.04387599229812622, + 0.03200000151991844 + ], + [ + -0.07523181289434433, + -0.04387599229812622, + 0.03699999675154686 + ], + [ + -0.07523183524608612, + 0.04387596249580383, + 0.03200000524520874 + ], + [ + -0.07649999856948853, + -0.03099989891052246, + 0.03200000524520874 + ], + [ + -0.07523183524608612, + 0.04387596249580383, + 0.03700000047683716 + ], + [ + -0.07649999856948853, + -0.03099989891052246, + 0.03700000047683716 + ], + [ + 0.06287598609924316, + -0.09573182463645935, + 0.03200000524520874 + ], + [ + 0.06287598609924316, + -0.09573182463645935, + 0.03700000047683716 + ], + [ + 0.049999892711639404, + -0.09700000286102295, + 0.03200000524520874 + ], + [ + -0.023375988006591797, + -0.09573183208703995, + 0.03200000524520874 + ], + [ + 0.049999892711639404, + -0.09700000286102295, + 0.03700000047683716 + ], + [ + -0.023375988006591797, + -0.09573183208703995, + 0.03700000047683716 + ] + ], + "indices_raw": [ + 52, + 12, + 13, + 32, + 33, + 4, + 3, + 7, + 8, + 36, + 37, + 24, + 25, + 44, + 46, + 47, + 16, + 17, + 28, + 29, + 0, + 56, + 58, + 59, + 10, + 40, + 41, + 20, + 21, + 50, + 53, + 2, + 6, + 7, + 3, + 60, + 57, + 1, + 30, + 31, + 18, + 19, + 48, + 49, + 45, + 26, + 27, + 38, + 39, + 9, + 6, + 2, + 5, + 34, + 35, + 14, + 15, + 54, + 55, + 51, + 22, + 23, + 42, + 43, + 11, + 61, + 18, + 31, + 28, + 17, + 14, + 35, + 32, + 13, + 24, + 37, + 38, + 27, + 20, + 41, + 42, + 23, + 4, + 33, + 34, + 5, + 0, + 29, + 30, + 1, + 11, + 43, + 40, + 10, + 9, + 39, + 36, + 8, + 54, + 15, + 12, + 52, + 48, + 19, + 16, + 47, + 50, + 21, + 22, + 51, + 44, + 25, + 26, + 45, + 56, + 0, + 1, + 57, + 2, + 3, + 4, + 5, + 7, + 6, + 9, + 8, + 61, + 11, + 10, + 59, + 13, + 12, + 15, + 14, + 17, + 16, + 19, + 18, + 21, + 20, + 23, + 22, + 25, + 24, + 27, + 26, + 29, + 28, + 31, + 30, + 33, + 32, + 35, + 34, + 37, + 36, + 39, + 38, + 41, + 40, + 43, + 42, + 46, + 44, + 45, + 49, + 47, + 46, + 49, + 48, + 53, + 50, + 51, + 55, + 52, + 53, + 55, + 54, + 58, + 56, + 57, + 60, + 59, + 58, + 60, + 61 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 31, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.03200000524520874 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + -0.0, + 1.0, + 0.0, + -0.09700000286102295 + ] + }, + { + "index_base": 35, + "num_vertices": 31, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.03700000047683716 + ] + }, + { + "index_base": 66, + "num_vertices": 4, + "plane": [ + 0.7730104923248291, + -0.6343932747840881, + 0.0, + -0.12399891018867493 + ] + }, + { + "index_base": 70, + "num_vertices": 4, + "plane": [ + -0.7730103731155396, + 0.6343933939933777, + 0.0, + -0.09346500039100647 + ] + }, + { + "index_base": 74, + "num_vertices": 4, + "plane": [ + 0.7730104923248291, + 0.6343932747840881, + 0.0, + -0.12399891018867493 + ] + }, + { + "index_base": 78, + "num_vertices": 4, + "plane": [ + -0.7730103731155396, + -0.6343933939933777, + 0.0, + -0.09346500039100647 + ] + }, + { + "index_base": 82, + "num_vertices": 4, + "plane": [ + -0.4713965654373169, + 0.8819213509559631, + 0.0, + -0.09797141700983047 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + 0.47139668464660645, + -0.8819212913513184, + 0.0, + -0.11659158766269684 + ] + }, + { + "index_base": 90, + "num_vertices": 4, + "plane": [ + -0.4713965654373169, + -0.8819213509559631, + 0.0, + -0.09797141700983047 + ] + }, + { + "index_base": 94, + "num_vertices": 4, + "plane": [ + 0.47139668464660645, + 0.8819212913513184, + 0.0, + -0.11659158766269684 + ] + }, + { + "index_base": 98, + "num_vertices": 4, + "plane": [ + -0.9569403529167175, + 0.2902846038341522, + 0.0, + -0.08472888916730881 + ] + }, + { + "index_base": 102, + "num_vertices": 4, + "plane": [ + 0.9569403529167175, + -0.2902846038341522, + 0.0, + -0.12252803146839142 + ] + }, + { + "index_base": 106, + "num_vertices": 4, + "plane": [ + -0.9569403529167175, + -0.2902846038341522, + 0.0, + -0.08472888916730881 + ] + }, + { + "index_base": 110, + "num_vertices": 4, + "plane": [ + 0.9569403529167175, + 0.2902846038341522, + 0.0, + -0.12252803146839142 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + 0.2902850806713104, + -0.9569401144981384, + 0.0, + -0.1098615825176239 + ] + }, + { + "index_base": 118, + "num_vertices": 4, + "plane": [ + -0.2902850806713104, + 0.9569401144981384, + 0.0, + -0.09839532524347305 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.2902850806713104, + 0.9569401144981384, + 0.0, + -0.1098615825176239 + ] + }, + { + "index_base": 126, + "num_vertices": 4, + "plane": [ + -0.2902850806713104, + -0.9569401144981384, + 0.0, + -0.09839532524347305 + ] + }, + { + "index_base": 130, + "num_vertices": 4, + "plane": [ + -0.8819212913513184, + 0.47139668464660645, + 0.0, + -0.08955565840005875 + ] + }, + { + "index_base": 134, + "num_vertices": 4, + "plane": [ + 0.8819212913513184, + -0.47139668464660645, + 0.0, + -0.12439154833555222 + ] + }, + { + "index_base": 138, + "num_vertices": 4, + "plane": [ + -0.8819212913513184, + -0.47139668464660645, + 0.0, + -0.08955565840005875 + ] + }, + { + "index_base": 142, + "num_vertices": 4, + "plane": [ + 0.8819212913513184, + 0.47139668464660645, + 0.0, + -0.12439154833555222 + ] + }, + { + "index_base": 146, + "num_vertices": 4, + "plane": [ + 0.6343932747840881, + -0.7730104923248291, + 0.0, + -0.12136518210172653 + ] + }, + { + "index_base": 150, + "num_vertices": 4, + "plane": [ + -0.6343933939933777, + 0.7730104327201843, + 0.0, + -0.09630665183067322 + ] + }, + { + "index_base": 154, + "num_vertices": 4, + "plane": [ + 0.6343932747840881, + 0.7730104923248291, + 0.0, + -0.12136518210172653 + ] + }, + { + "index_base": 158, + "num_vertices": 4, + "plane": [ + -0.6343933939933777, + -0.7730104327201843, + 0.0, + -0.09630665183067322 + ] + }, + { + "index_base": 162, + "num_vertices": 4, + "plane": [ + 0.9951847195625305, + 0.09801706671714783, + 0.0, + -0.11847994476556778 + ] + }, + { + "index_base": 166, + "num_vertices": 4, + "plane": [ + 0.9998565912246704, + -0.016934525221586227, + 0.0, + -0.11545838415622711 + ] + }, + { + "index_base": 170, + "num_vertices": 4, + "plane": [ + -0.9951847195625305, + -0.09801706671714783, + 0.0, + -0.07917015254497528 + ] + }, + { + "index_base": 174, + "num_vertices": 4, + "plane": [ + -0.9998565912246704, + 0.016934525221586227, + 0.0, + -0.07596405595541 + ] + }, + { + "index_base": 178, + "num_vertices": 4, + "plane": [ + 0.09801706671714783, + -0.9951847195625305, + 0.0, + -0.10143376886844635 + ] + }, + { + "index_base": 182, + "num_vertices": 4, + "plane": [ + -0.017280610278248787, + -0.9998507499694824, + 0.0, + -0.09612149745225906 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 52, + 12, + 13 + ], + [ + 52, + 13, + 32 + ], + [ + 52, + 32, + 33 + ], + [ + 52, + 33, + 4 + ], + [ + 52, + 4, + 3 + ], + [ + 52, + 3, + 7 + ], + [ + 52, + 7, + 8 + ], + [ + 52, + 8, + 36 + ], + [ + 52, + 36, + 37 + ], + [ + 52, + 37, + 24 + ], + [ + 52, + 24, + 25 + ], + [ + 52, + 25, + 44 + ], + [ + 52, + 44, + 46 + ], + [ + 52, + 46, + 47 + ], + [ + 52, + 47, + 16 + ], + [ + 52, + 16, + 17 + ], + [ + 52, + 17, + 28 + ], + [ + 52, + 28, + 29 + ], + [ + 52, + 29, + 0 + ], + [ + 52, + 0, + 56 + ], + [ + 52, + 56, + 58 + ], + [ + 52, + 58, + 59 + ], + [ + 52, + 59, + 10 + ], + [ + 52, + 10, + 40 + ], + [ + 52, + 40, + 41 + ], + [ + 52, + 41, + 20 + ], + [ + 52, + 20, + 21 + ], + [ + 52, + 21, + 50 + ], + [ + 52, + 50, + 53 + ], + [ + 2, + 6, + 7 + ], + [ + 2, + 7, + 3 + ], + [ + 60, + 57, + 1 + ], + [ + 60, + 1, + 30 + ], + [ + 60, + 30, + 31 + ], + [ + 60, + 31, + 18 + ], + [ + 60, + 18, + 19 + ], + [ + 60, + 19, + 48 + ], + [ + 60, + 48, + 49 + ], + [ + 60, + 49, + 45 + ], + [ + 60, + 45, + 26 + ], + [ + 60, + 26, + 27 + ], + [ + 60, + 27, + 38 + ], + [ + 60, + 38, + 39 + ], + [ + 60, + 39, + 9 + ], + [ + 60, + 9, + 6 + ], + [ + 60, + 6, + 2 + ], + [ + 60, + 2, + 5 + ], + [ + 60, + 5, + 34 + ], + [ + 60, + 34, + 35 + ], + [ + 60, + 35, + 14 + ], + [ + 60, + 14, + 15 + ], + [ + 60, + 15, + 54 + ], + [ + 60, + 54, + 55 + ], + [ + 60, + 55, + 51 + ], + [ + 60, + 51, + 22 + ], + [ + 60, + 22, + 23 + ], + [ + 60, + 23, + 42 + ], + [ + 60, + 42, + 43 + ], + [ + 60, + 43, + 11 + ], + [ + 60, + 11, + 61 + ], + [ + 18, + 31, + 28 + ], + [ + 18, + 28, + 17 + ], + [ + 14, + 35, + 32 + ], + [ + 14, + 32, + 13 + ], + [ + 24, + 37, + 38 + ], + [ + 24, + 38, + 27 + ], + [ + 20, + 41, + 42 + ], + [ + 20, + 42, + 23 + ], + [ + 4, + 33, + 34 + ], + [ + 4, + 34, + 5 + ], + [ + 0, + 29, + 30 + ], + [ + 0, + 30, + 1 + ], + [ + 11, + 43, + 40 + ], + [ + 11, + 40, + 10 + ], + [ + 9, + 39, + 36 + ], + [ + 9, + 36, + 8 + ], + [ + 54, + 15, + 12 + ], + [ + 54, + 12, + 52 + ], + [ + 48, + 19, + 16 + ], + [ + 48, + 16, + 47 + ], + [ + 50, + 21, + 22 + ], + [ + 50, + 22, + 51 + ], + [ + 44, + 25, + 26 + ], + [ + 44, + 26, + 45 + ], + [ + 56, + 0, + 1 + ], + [ + 56, + 1, + 57 + ], + [ + 2, + 3, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 7, + 6, + 9 + ], + [ + 7, + 9, + 8 + ], + [ + 61, + 11, + 10 + ], + [ + 61, + 10, + 59 + ], + [ + 13, + 12, + 15 + ], + [ + 13, + 15, + 14 + ], + [ + 17, + 16, + 19 + ], + [ + 17, + 19, + 18 + ], + [ + 21, + 20, + 23 + ], + [ + 21, + 23, + 22 + ], + [ + 25, + 24, + 27 + ], + [ + 25, + 27, + 26 + ], + [ + 29, + 28, + 31 + ], + [ + 29, + 31, + 30 + ], + [ + 33, + 32, + 35 + ], + [ + 33, + 35, + 34 + ], + [ + 37, + 36, + 39 + ], + [ + 37, + 39, + 38 + ], + [ + 41, + 40, + 43 + ], + [ + 41, + 43, + 42 + ], + [ + 46, + 44, + 45 + ], + [ + 46, + 45, + 49 + ], + [ + 47, + 46, + 49 + ], + [ + 47, + 49, + 48 + ], + [ + 53, + 50, + 51 + ], + [ + 53, + 51, + 55 + ], + [ + 52, + 53, + 55 + ], + [ + 52, + 55, + 54 + ], + [ + 58, + 56, + 57 + ], + [ + 58, + 57, + 60 + ], + [ + 59, + 58, + 60 + ], + [ + 59, + 60, + 61 + ] + ], + "raw_bounds": [ + [ + -0.07649999856948853, + -0.09700000286102295, + 0.03200000151991844 + ], + [ + 0.11600000411272049, + 0.09700000286102295, + 0.03700000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0020855851471424103, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json new file mode 100644 index 0000000000000000000000000000000000000000..4e4703767f8611205768eb95c2128a7fff27ee55 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json @@ -0,0 +1,1067 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07168718427419662, + "parts": [ + { + "vertices_raw": [ + [ + 0.07999999821186066, + -0.11949999630451202, + 0.03400000184774399 + ], + [ + 0.07999999821186066, + -0.11911570280790329, + 0.12990181148052216 + ], + [ + 0.06800000369548798, + -0.11911570280790329, + 0.12990181148052216 + ], + [ + 0.06800000369548798, + -0.11949999630451202, + 0.03400000184774399 + ], + [ + 0.07999999821186066, + 0.11949999630451202, + 0.12600000202655792 + ], + [ + 0.07999999821186066, + 0.11911570280790329, + 0.030098194256424904 + ], + [ + 0.06800000369548798, + 0.11911570280790329, + 0.030098194256424904 + ], + [ + 0.06800000369548798, + 0.11949999630451202, + 0.12600000202655792 + ], + [ + 0.06800000369548798, + -0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + -0.10340180993080139, + 0.014384293928742409 + ], + [ + 0.07999999821186066, + -0.10340180993080139, + 0.014384293928742409 + ], + [ + 0.07999999821186066, + -0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + 0.11797758936882019, + 0.1336536705493927 + ], + [ + 0.07999999821186066, + 0.11797758936882019, + 0.1336536705493927 + ], + [ + 0.06800000369548798, + -0.09950000047683716, + 0.1459999978542328 + ], + [ + 0.06800000369548798, + -0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + -0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + -0.09950000047683716, + 0.1459999978542328 + ], + [ + 0.07999999821186066, + 0.10340180993080139, + 0.14561571180820465 + ], + [ + 0.06800000369548798, + 0.10340180993080139, + 0.14561571180820465 + ], + [ + 0.06800000369548798, + 0.09950000047683716, + 0.014000000432133675 + ], + [ + 0.06800000369548798, + 0.10715366899967194, + 0.015522409230470657 + ], + [ + 0.07999999821186066, + 0.10715366899967194, + 0.015522409230470657 + ], + [ + 0.07999999821186066, + 0.09950000047683716, + 0.014000000432133675 + ], + [ + 0.06800000369548798, + -0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.06800000369548798, + -0.11612939089536667, + 0.02288859523832798 + ], + [ + 0.07999999821186066, + -0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.07999999821186066, + -0.1136421337723732, + 0.01985786482691765 + ], + [ + 0.06800000369548798, + 0.10715366899967194, + 0.14447759091854095 + ], + [ + 0.07999999821186066, + 0.11061140149831772, + 0.14262938499450684 + ], + [ + 0.06800000369548798, + 0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.07999999821186066, + 0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.06800000369548798, + 0.11061140149831772, + 0.01737060770392418 + ], + [ + 0.06800000369548798, + 0.11612939089536667, + 0.02288859523832798 + ], + [ + 0.07999999821186066, + 0.1136421337723732, + 0.01985786482691765 + ], + [ + 0.07999999821186066, + 0.11797758936882019, + 0.02634633146226406 + ], + [ + 0.07999999821186066, + -0.11612939089536667, + 0.13711141049861908 + ], + [ + 0.07999999821186066, + -0.1136421337723732, + 0.14014214277267456 + ], + [ + 0.06800000369548798, + -0.11612939089536667, + 0.13711141049861908 + ], + [ + 0.06800000369548798, + -0.11061140149831772, + 0.14262938499450684 + ] + ], + "indices_raw": [ + 36, + 1, + 0, + 26, + 27, + 11, + 10, + 23, + 22, + 34, + 35, + 5, + 4, + 13, + 31, + 29, + 18, + 17, + 16, + 37, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 4, + 7, + 14, + 15, + 16, + 17, + 14, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 20, + 23, + 10, + 9, + 24, + 25, + 26, + 24, + 26, + 0, + 3, + 27, + 26, + 25, + 27, + 25, + 8, + 27, + 8, + 11, + 28, + 29, + 30, + 28, + 19, + 18, + 28, + 18, + 29, + 31, + 13, + 12, + 30, + 31, + 30, + 29, + 32, + 33, + 34, + 32, + 34, + 22, + 32, + 22, + 21, + 35, + 34, + 33, + 35, + 33, + 6, + 35, + 6, + 5, + 36, + 37, + 38, + 36, + 38, + 2, + 1, + 39, + 15, + 14, + 19, + 28, + 30, + 12, + 7, + 6, + 33, + 32, + 21, + 20, + 9, + 8, + 25, + 24, + 3, + 2, + 38, + 39, + 38, + 37, + 39, + 37, + 16, + 39, + 16, + 15 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 1.0, + 0.0, + 0.0, + -0.08000000566244125 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9999920129776001, + 0.004007123410701752, + -0.11963527649641037 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9999920129776001, + -0.004007123410701752, + -0.11899413913488388 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + -0.38268378376960754, + -0.9238793253898621, + -0.026280846446752548 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9807853698730469, + 0.19509002566337585, + -0.1417851746082306 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.0, + -0.19509002566337585, + 0.9807853698730469, + -0.1626061201095581 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0018939473666250706, + 0.999998152256012, + -0.1458112895488739 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.0, + 0.19509024918079376, + -0.9807853102684021, + -0.005680485628545284 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.0, + -0.0018939839210361242, + -0.999998152256012, + 0.014188426546752453 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8819212913513184, + -0.4713967442512512, + -0.09162737429141998 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9807853698730469, + -0.19508998095989227, + -0.11057078093290329 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + 0.03200817108154297, + -0.831043541431427, + -0.555285632610321, + -0.08597542345523834 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.03200812637805939, + -0.7067443132400513, + -0.7067445516586304, + -0.06372085213661194 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6343931555747986, + -0.7730104923248291, + -0.056743454188108444 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.03200727328658104, + 0.5552850961685181, + 0.8310438990592957, + -0.17739157378673553 + ] + }, + { + "index_base": 71, + "num_vertices": 3, + "plane": [ + 0.0, + 0.2902863025665283, + 0.9569398164749146, + -0.16936160624027252 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.032008204609155655, + 0.3824891149997711, + 0.9234053492546082, + -0.17657305300235748 + ] + }, + { + "index_base": 77, + "num_vertices": 4, + "plane": [ + 0.0, + 0.8314697742462158, + 0.5555699467658997, + -0.1723487675189972 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6343909502029419, + 0.7730124592781067, + -0.18042516708374023 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.032008133828639984, + 0.7067443132400513, + -0.7067445516586304, + -0.06372085213661194 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.03200804814696312, + 0.5552857518196106, + -0.8310434818267822, + -0.04916175454854965 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.0, + 0.47139713168144226, + -0.8819210529327393, + -0.03682239353656769 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.03200817108154297, + 0.831043541431427, + -0.555285632610321, + -0.08597542345523834 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.032008204609155655, + 0.9234062433242798, + -0.38248714804649353, + -0.09630345553159714 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9569404721260071, + -0.29028427600860596, + -0.10524961352348328 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7730104923248291, + 0.6343931555747986, + -0.17675179243087769 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9238796234130859, + 0.38268327713012695, + -0.15975981950759888 + ] + }, + { + "index_base": 109, + "num_vertices": 20, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.06800000369548798 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.03200862184166908, + -0.7067435383796692, + 0.7067453861236572, + -0.1767999827861786 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.03200727328658104, + -0.5552850961685181, + 0.8310438990592957, + -0.1821286380290985 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.0, + -0.47139859199523926, + 0.8819202780723572, + -0.1779298186302185 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 36, + 1, + 0 + ], + [ + 36, + 0, + 26 + ], + [ + 36, + 26, + 27 + ], + [ + 36, + 27, + 11 + ], + [ + 36, + 11, + 10 + ], + [ + 36, + 10, + 23 + ], + [ + 36, + 23, + 22 + ], + [ + 36, + 22, + 34 + ], + [ + 36, + 34, + 35 + ], + [ + 36, + 35, + 5 + ], + [ + 36, + 5, + 4 + ], + [ + 36, + 4, + 13 + ], + [ + 36, + 13, + 31 + ], + [ + 36, + 31, + 29 + ], + [ + 36, + 29, + 18 + ], + [ + 36, + 18, + 17 + ], + [ + 36, + 17, + 16 + ], + [ + 36, + 16, + 37 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 4 + ], + [ + 12, + 4, + 7 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 20, + 23, + 10 + ], + [ + 20, + 10, + 9 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 0 + ], + [ + 24, + 0, + 3 + ], + [ + 27, + 26, + 25 + ], + [ + 27, + 25, + 8 + ], + [ + 27, + 8, + 11 + ], + [ + 28, + 29, + 30 + ], + [ + 28, + 19, + 18 + ], + [ + 28, + 18, + 29 + ], + [ + 31, + 13, + 12 + ], + [ + 31, + 12, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 32, + 33, + 34 + ], + [ + 32, + 34, + 22 + ], + [ + 32, + 22, + 21 + ], + [ + 35, + 34, + 33 + ], + [ + 35, + 33, + 6 + ], + [ + 35, + 6, + 5 + ], + [ + 36, + 37, + 38 + ], + [ + 36, + 38, + 2 + ], + [ + 36, + 2, + 1 + ], + [ + 39, + 15, + 14 + ], + [ + 39, + 14, + 19 + ], + [ + 39, + 19, + 28 + ], + [ + 39, + 28, + 30 + ], + [ + 39, + 30, + 12 + ], + [ + 39, + 12, + 7 + ], + [ + 39, + 7, + 6 + ], + [ + 39, + 6, + 33 + ], + [ + 39, + 33, + 32 + ], + [ + 39, + 32, + 21 + ], + [ + 39, + 21, + 20 + ], + [ + 39, + 20, + 9 + ], + [ + 39, + 9, + 8 + ], + [ + 39, + 8, + 25 + ], + [ + 39, + 25, + 24 + ], + [ + 39, + 24, + 3 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 38 + ], + [ + 39, + 38, + 37 + ], + [ + 39, + 37, + 16 + ], + [ + 39, + 16, + 15 + ] + ], + "raw_bounds": [ + [ + 0.06800000369548798, + -0.11949999630451202, + 0.014000000432133675 + ], + [ + 0.07999999821186066, + 0.11949999630451202, + 0.1459999978542328 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014782268553972244, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json new file mode 100644 index 0000000000000000000000000000000000000000..58ce060d8d9f82c41702f104ef034b63979ec4a8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07399952597916126, + "parts": [ + { + "vertices_raw": [ + [ + 0.07599999755620956, + 0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.07599999755620956, + -0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.07599999755620956, + -0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.07599999755620956, + 0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.13199999928474426, + -0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.13199999928474426, + 0.017500000074505806, + 0.13950000703334808 + ], + [ + 0.12356434762477875, + -0.017500000074505806, + 0.11662311851978302 + ], + [ + 0.12356434762477875, + 0.017500000074505806, + 0.11662311851978302 + ], + [ + 0.13151057064533234, + 0.017500000074505806, + 0.12340983003377914 + ], + [ + 0.13199999928474426, + -0.017500000074505806, + 0.1264999955892563 + ], + [ + 0.12907107174396515, + 0.017500000074505806, + 0.11942893266677856 + ], + [ + 0.12907107174396515, + -0.017500000074505806, + 0.11942893266677856 + ], + [ + 0.13151057064533234, + -0.017500000074505806, + 0.12340983003377914 + ] + ], + "indices_raw": [ + 12, + 9, + 4, + 2, + 1, + 6, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 1, + 0, + 7, + 8, + 5, + 4, + 9, + 10, + 11, + 6, + 7, + 10, + 7, + 0, + 3, + 5, + 8, + 12, + 11, + 10, + 8, + 12, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.017500000074505806 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -1.0, + 0.0, + 0.0, + 0.07599999755620956 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13950000703334808 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.002588502364233136, + 0.0, + -0.9999966621398926, + 0.11630288511514664 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9998584985733032, + 0.0, + -0.016822144389152527, + -0.12963463366031647 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.45399025082588196, + 0.0, + -0.8910066485404968, + 0.04781495779752731 + ] + }, + { + "index_base": 27, + "num_vertices": 6, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.017500000074505806 + ] + }, + { + "index_base": 33, + "num_vertices": 4, + "plane": [ + 0.85263991355896, + 0.0, + -0.5224988460540771, + -0.04764966666698456 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.9876886010169983, + 0.0, + -0.15643274784088135, + -0.11058616638183594 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 9, + 4 + ], + [ + 12, + 4, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 6 + ], + [ + 12, + 6, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 7 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 9 + ], + [ + 10, + 11, + 6 + ], + [ + 10, + 6, + 7 + ], + [ + 10, + 7, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 5 + ], + [ + 10, + 5, + 8 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 8 + ], + [ + 12, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + 0.07599999755620956, + -0.017500000074505806, + 0.11649999767541885 + ], + [ + 0.13199999928474426, + 0.017500000074505806, + 0.13950000703334808 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009238426573574543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json new file mode 100644 index 0000000000000000000000000000000000000000..0a0840aa9dbefb968e0f8b44c12289275969cd71 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json @@ -0,0 +1,651 @@ +{ + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07571077113971114, + "parts": [ + { + "vertices_raw": [ + [ + 0.12579524517059326, + 0.016891036182641983, + 0.1306668072938919 + ], + [ + 0.1486836075782776, + 0.017346281558275223, + 0.1333826184272766 + ], + [ + 0.1672937572002411, + 0.017346281558275223, + 0.032971203327178955 + ], + [ + 0.14467889070510864, + 0.017346281558275223, + 0.028779787942767143 + ], + [ + 0.1486836075782776, + -0.017346281558275223, + 0.1333826184272766 + ], + [ + 0.12606874108314514, + -0.017346281558275223, + 0.12919120490550995 + ], + [ + 0.14467889070510864, + -0.017346281558275223, + 0.028779787942767143 + ], + [ + 0.1672937572002411, + -0.017346281558275223, + 0.032971203327178955 + ], + [ + 0.1458243429660797, + -0.011060722172260284, + 0.0225994810461998 + ], + [ + 0.14585235714912415, + 0.009499999694526196, + 0.022448336705565453 + ], + [ + 0.1684672236442566, + 0.009499999694526196, + 0.026639753952622414 + ], + [ + 0.16843920946121216, + -0.011060722172260284, + 0.02679089829325676 + ], + [ + 0.12492328882217407, + 0.011060722172260284, + 0.13537150621414185 + ], + [ + 0.12489527463912964, + -0.009499999694526196, + 0.13552264869213104 + ], + [ + 0.14751014113426208, + -0.009499999694526196, + 0.1397140622138977 + ], + [ + 0.14753815531730652, + 0.011060722172260284, + 0.1395629197359085 + ], + [ + 0.1680402159690857, + 0.015156853944063187, + 0.028943663462996483 + ], + [ + 0.1479371339082718, + -0.015156853944063187, + 0.13741016387939453 + ], + [ + 0.14560666680335999, + 0.013944561593234539, + 0.023774003610014915 + ], + [ + 0.1251409649848938, + -0.013944561593234539, + 0.13419698178768158 + ], + [ + 0.1479371339082718, + 0.015156853944063187, + 0.13741016387939453 + ], + [ + 0.1680402159690857, + -0.015156853944063187, + 0.028943663462996483 + ], + [ + 0.14542534947395325, + -0.015156853944063187, + 0.024752246215939522 + ], + [ + 0.12532228231430054, + 0.015156853944063187, + 0.13321873545646667 + ] + ], + "indices_raw": [ + 20, + 15, + 14, + 17, + 4, + 7, + 21, + 11, + 10, + 16, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 3, + 2, + 17, + 5, + 4, + 18, + 3, + 16, + 18, + 16, + 10, + 18, + 10, + 9, + 19, + 5, + 17, + 19, + 17, + 14, + 19, + 14, + 13, + 20, + 1, + 0, + 22, + 8, + 11, + 21, + 22, + 21, + 7, + 6, + 23, + 12, + 15, + 20, + 23, + 20, + 0, + 23, + 0, + 3, + 18, + 9, + 8, + 22, + 6, + 5, + 19, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 12, + "plane": [ + 0.9832549095153809, + -7.603194518424061e-08, + 0.1822354793548584, + -0.17050093412399292 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.009730438701808453, + 0.9999510049819946, + -0.0018034294480457902, + -0.015658129006624222 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + -0.017346281558275223 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.18223042786121368, + -0.007476119790226221, + -0.9832274913787842, + -0.004435893148183823 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.18223027884960175, + 0.007476028986275196, + 0.9832274913787842, + -0.11041887104511261 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.08590520173311234, + 0.881921112537384, + -0.46350324153900146, + -0.014387198723852634 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.0859050378203392, + -0.8819215297698975, + 0.46350255608558655, + -0.06434857845306396 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.08176673203706741, + 0.8313068151473999, + -0.5497663021087646, + -0.01042784471064806 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.18778878450393677, + 0.3826085329055786, + -0.9046248197555542, + -0.011172054335474968 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.17438849806785583, + 0.2902844548225403, + -0.9409162998199463, + -0.0070706699043512344 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.12068308144807816, + -0.8313065767288208, + 0.5425541996955872, + -0.06929895281791687 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.148872971534729, + -0.3826066553592682, + 0.911838173866272, + -0.10907110571861267 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.1743883639574051, + -0.29028448462486267, + 0.9409163594245911, + -0.108492910861969 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.07281919568777084, + 0.881843626499176, + 0.4658854603767395, + -0.06661070883274078 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.16071736812591553, + -0.47139665484428406, + -0.8671534657478333, + -0.009053273126482964 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.08590522408485413, + -0.8819212317466736, + -0.4635031521320343, + -0.014387203380465508 + ] + }, + { + "index_base": 63, + "num_vertices": 4, + "plane": [ + -0.16071727871894836, + 0.4713961184024811, + 0.8671537041664124, + -0.10252455621957779 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.1012449562549591, + 0.8314695358276367, + 0.5462671518325806, + -0.07268723100423813 + ] + }, + { + "index_base": 70, + "num_vertices": 12, + "plane": [ + -0.9832549691200256, + -1.7553021791627543e-07, + -0.18223556876182556, + 0.14750096201896667 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 20, + 15, + 14 + ], + [ + 20, + 14, + 17 + ], + [ + 20, + 17, + 4 + ], + [ + 20, + 4, + 7 + ], + [ + 20, + 7, + 21 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 20, + 10, + 16 + ], + [ + 20, + 16, + 2 + ], + [ + 20, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 3, + 2 + ], + [ + 17, + 5, + 4 + ], + [ + 18, + 3, + 16 + ], + [ + 18, + 16, + 10 + ], + [ + 18, + 10, + 9 + ], + [ + 19, + 5, + 17 + ], + [ + 19, + 17, + 14 + ], + [ + 19, + 14, + 13 + ], + [ + 20, + 1, + 0 + ], + [ + 22, + 8, + 11 + ], + [ + 22, + 11, + 21 + ], + [ + 22, + 21, + 7 + ], + [ + 22, + 7, + 6 + ], + [ + 23, + 12, + 15 + ], + [ + 23, + 15, + 20 + ], + [ + 23, + 20, + 0 + ], + [ + 23, + 0, + 3 + ], + [ + 23, + 3, + 18 + ], + [ + 23, + 18, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 8, + 22 + ], + [ + 23, + 22, + 6 + ], + [ + 23, + 6, + 5 + ], + [ + 23, + 5, + 19 + ], + [ + 23, + 19, + 13 + ], + [ + 23, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + 0.12489527463912964, + -0.017346281558275223, + 0.022448336705565453 + ], + [ + 0.1684672236442566, + 0.017346281558275223, + 0.1397140622138977 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001147670205682516, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json new file mode 100644 index 0000000000000000000000000000000000000000..22ab58577ec58c80f54af8d13d1748f04c9c24c2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0775318299420178, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + -0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9759815335273743, + -0.21785302460193634, + 0.0, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.975981593132019, + 0.21785305440425873, + 0.0, + -0.00765971839427948 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + -0.032999999821186066, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006421948783099651, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json new file mode 100644 index 0000000000000000000000000000000000000000..d461ceb9be443ca0f6cd8a5298f52c5f8b4c3187 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07891504606232047, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.21785302460193634, + -0.9759815335273743, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.21785305440425873, + 0.975981593132019, + -0.00765971839427948 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.032999999821186066 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007101777009665966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json new file mode 100644 index 0000000000000000000000000000000000000000..faf0ac1eae7fc7cdd741aa5b833c724a0f9db185 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08027488924562931, + "parts": [ + { + "vertices_raw": [ + [ + 0.03999999910593033, + 0.18299999833106995, + -0.03999999910593033 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + -0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + -0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9759815335273743, + -0.21785302460193634, + 0.0, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + 0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.975981593132019, + 0.21785305440425873, + 0.0, + -0.00765971839427948 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + 0.032999999821186066, + 0.18299999833106995, + -0.06499999761581421 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006880327127873898, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json new file mode 100644 index 0000000000000000000000000000000000000000..0081017845f8505be7dec7254f51294568fdaa07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08165661804378033, + "parts": [ + { + "vertices_raw": [ + [ + -0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.03999999910593033, + 0.18299999833106995, + 0.03999999910593033 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + -0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ], + [ + 0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + 0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + -0.057999998331069946, + 0.29499998688697815, + 0.057999998331069946 + ], + [ + -0.032999999821186066, + 0.18299999833106995, + 0.032999999821186066 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 2, + 1, + 5, + 6, + 3, + 2, + 4, + 7, + 0, + 3, + 6, + 7, + 6, + 4, + 5, + 7, + 5, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + -0.21785302460193634, + 0.9759815335273743, + 0.0008278451859951019 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 1.0, + 0.0, + -0.29499998688697815 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.7071068286895752, + 0.0, + -0.7071068286895752, + -0.0 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.21785305440425873, + -0.975981593132019, + -0.00765971839427948 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -1.0, + 0.0, + 0.18299999833106995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 5 + ], + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 4 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.06499999761581421, + 0.18299999833106995, + 0.032999999821186066 + ], + [ + 0.06499999761581421, + 0.29499998688697815, + 0.06499999761581421 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006549800746142864, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json new file mode 100644 index 0000000000000000000000000000000000000000..bd31202bac327b67b5729bfa9bc949930880df4f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08310633292421699, + "parts": [ + { + "vertices_raw": [ + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0016406249487772584 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.0, + -0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ], + [ + 0.0, + -0.004692429210990667, + 0.0 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 5, + 4, + 8, + 4, + 3, + 10, + 11, + 12, + 7, + 6, + 11, + 6, + 5, + 9, + 13, + 10, + 3, + 2, + 13, + 2, + 1, + 14, + 15, + 14, + 1, + 0, + 15, + 0, + 7, + 12, + 15, + 12, + 11, + 9, + 8, + 10, + 13, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0016406250651925802 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 9 + ], + [ + 13, + 10, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 14 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 7 + ], + [ + 15, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ] + ], + "raw_bounds": [ + [ + -0.004692429210990667, + -0.004692429210990667, + 0.0 + ], + [ + 0.004692429210990667, + 0.004692429210990667, + 0.0016406249487772584 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007783742621541023, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4a45ade96cb9cda89c235708de8da88ff0f71d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json @@ -0,0 +1,392 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08448287891224027, + "parts": [ + { + "vertices_raw": [ + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + -0.0023462146054953337, + 0.004063762724399567, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 1.947072526542898e-18, + 0.0158990528434515, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0, + -0.0158990528434515, + 0.004921874962747097 + ], + [ + -0.0012144900392740965, + -0.00453253835439682, + 0.0016406249487772584 + ] + ], + "indices_raw": [ + 10, + 6, + 5, + 8, + 0, + 3, + 4, + 11, + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 5, + 7, + 8, + 9, + 7, + 6, + 10, + 11, + 12, + 9, + 10, + 9, + 6, + 1, + 8, + 7, + 1, + 0, + 8, + 12, + 2, + 1, + 7, + 9, + 12, + 11, + 4, + 12, + 4, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.004921875428408384 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.25829023122787476, + 0.11817457526922226, + -0.9588123559951782, + 0.00048681371845304966 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.27911412715911865, + -0.11561283469200134, + -0.9532728791236877, + 0.0002542396541684866 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.2791140675544739, + 0.11561283469200134, + -0.953272819519043, + 0.00025424035266041756 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.11561281979084015, + 0.27911409735679626, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.2523678243160248, + 0.0, + -0.9676313996315002, + 0.0007501514628529549 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.11258277297019958, + -0.27179884910583496, + -0.9557461142539978, + 0.00038271863013505936 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.27911409735679626, + -0.11561281979084015, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.034319739788770676, + 0.2606842815876007, + -0.9648139476776123, + 0.0006040602456778288 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + 0.287091463804245, + -0.9504930973052979, + 0.00011372612789273262 + ] + }, + { + "index_base": 37, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0016406249487772584 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + -0.287091463804245, + -0.9504930973052979, + 0.00011372589506208897 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.20859934389591217, + -0.16006390750408173, + -0.9648139476776123, + 0.0006040600128471851 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 4 + ], + [ + 10, + 4, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 9, + 7, + 6 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 6 + ], + [ + 1, + 8, + 7 + ], + [ + 1, + 0, + 8 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 7 + ], + [ + 12, + 7, + 9 + ], + [ + 12, + 11, + 4 + ], + [ + 12, + 4, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0158990528434515, + -0.0158990528434515, + 0.0016406249487772584 + ], + [ + 0.0158990528434515, + 0.0158990528434515, + 0.004921874962747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006408188492059708, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json new file mode 100644 index 0000000000000000000000000000000000000000..2ee05b5ff3948c02fdc2c981343324d7a1ab502e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json @@ -0,0 +1,467 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08582054311409593, + "parts": [ + { + "vertices_raw": [ + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.0, + -0.02528391219675541, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 3.096386220945514e-18, + 0.02528391219675541, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + -0.004114978015422821, + -0.015357306227087975, + 0.004921874962747097 + ], + [ + -0.004114978015422821, + 0.015357306227087975, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + -0.013768984004855156, + -0.00794952642172575, + 0.004921874962747097 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ] + ], + "indices_raw": [ + 3, + 5, + 6, + 7, + 8, + 1, + 0, + 9, + 0, + 1, + 2, + 3, + 4, + 5, + 10, + 2, + 1, + 10, + 1, + 8, + 11, + 5, + 4, + 11, + 6, + 5, + 12, + 4, + 3, + 9, + 12, + 9, + 0, + 2, + 13, + 10, + 8, + 13, + 8, + 7, + 13, + 7, + 14, + 15, + 6, + 11, + 15, + 11, + 4, + 12, + 2, + 10, + 13, + 14, + 15, + 14, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.008203125558793545 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + -0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + 0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.07618460059165955, + -0.2843247652053833, + -0.9556962847709656, + 0.0006508529186248779 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + -0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.07618460804224014, + 0.2843247950077057, + -0.9556962847709656, + 0.0006508519873023033 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + 0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + -0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.18350711464881897, + -0.23915112018585205, + -0.953484058380127, + 0.0002650842070579529 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.36635786294937134, + -0.151750385761261, + -0.918016254901886, + -0.0017323591746389866 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.3287581205368042, + -0.0880904570221901, + -0.9402968287467957, + -0.000598919577896595 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.17017772793769836, + 0.2947564125061035, + -0.9402968287467957, + -0.0005989186465740204 + ] + }, + { + "index_base": 46, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004921875428408384 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + -0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 3, + 8, + 1 + ], + [ + 3, + 1, + 0 + ], + [ + 3, + 0, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 8 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 6, + 5 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 9 + ], + [ + 12, + 9, + 0 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 10, + 8 + ], + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 14 + ], + [ + 15, + 6, + 11 + ], + [ + 15, + 11, + 4 + ], + [ + 15, + 4, + 12 + ], + [ + 15, + 12, + 2 + ], + [ + 15, + 2, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ], + [ + 15, + 14, + 7 + ], + [ + 15, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.02528391219675541, + -0.02528391219675541, + 0.004921874962747097 + ], + [ + 0.02528391219675541, + 0.02528391219675541, + 0.00820312462747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007157451473176479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json new file mode 100644 index 0000000000000000000000000000000000000000..4f44e3b3779bdd02f79b3864c68de9195d54ecdd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08715694630518556, + "parts": [ + { + "vertices_raw": [ + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.029810724779963493, + 0.011484375223517418 + ], + [ + 0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + 0.02189650945365429, + 0.00820312462747097 + ], + [ + -0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + -0.02189650945365429, + 0.00820312462747097 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + 3.650760806322175e-18, + 0.029810724779963493, + 0.011484375223517418 + ], + [ + -0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + -0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ] + ], + "indices_raw": [ + 25, + 12, + 11, + 15, + 5, + 7, + 21, + 18, + 17, + 9, + 8, + 1, + 0, + 4, + 22, + 24, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 11, + 14, + 15, + 16, + 10, + 9, + 17, + 18, + 19, + 17, + 19, + 16, + 17, + 16, + 9, + 20, + 7, + 6, + 21, + 7, + 20, + 21, + 20, + 19, + 21, + 19, + 18, + 22, + 23, + 24, + 25, + 24, + 23, + 26, + 6, + 5, + 26, + 5, + 15, + 26, + 15, + 14, + 27, + 1, + 8, + 27, + 8, + 10, + 27, + 2, + 1, + 28, + 13, + 12, + 28, + 12, + 25, + 28, + 25, + 23, + 29, + 23, + 22, + 29, + 22, + 4, + 29, + 4, + 3, + 29, + 3, + 2, + 27, + 10, + 16, + 19, + 20, + 6, + 26, + 14, + 13, + 28, + 23 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.011484374292194843 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.07703543454408646, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.30010682344436646, + -0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + 0.5913171768188477, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + -0.5913171768188477, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.30010679364204407, + 0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.07703544199466705, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + -0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.5851427912712097, + -0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.5023854970932007, + -0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + -0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + 0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + 0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.5023854374885559, + 0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5851428508758545, + 0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.5851428508758545, + -0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5851427912712097, + 0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.22585667669773102, + 0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.07703543454408646, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.0, + 0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.07703544199466705, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.22585664689540863, + -0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.0, + -0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + 0.35928595066070557, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + 0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5023854970932007, + 0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5023854374885559, + -0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + -0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + -0.35928598046302795, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 102, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00820312649011612 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 12, + 11 + ], + [ + 25, + 11, + 15 + ], + [ + 25, + 15, + 5 + ], + [ + 25, + 5, + 7 + ], + [ + 25, + 7, + 21 + ], + [ + 25, + 21, + 18 + ], + [ + 25, + 18, + 17 + ], + [ + 25, + 17, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 25, + 8, + 1 + ], + [ + 25, + 1, + 0 + ], + [ + 25, + 0, + 4 + ], + [ + 25, + 4, + 22 + ], + [ + 25, + 22, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 16, + 10, + 9 + ], + [ + 17, + 18, + 19 + ], + [ + 17, + 19, + 16 + ], + [ + 17, + 16, + 9 + ], + [ + 20, + 7, + 6 + ], + [ + 21, + 7, + 20 + ], + [ + 21, + 20, + 19 + ], + [ + 21, + 19, + 18 + ], + [ + 22, + 23, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 27, + 1, + 8 + ], + [ + 27, + 8, + 10 + ], + [ + 27, + 2, + 1 + ], + [ + 28, + 13, + 12 + ], + [ + 28, + 12, + 25 + ], + [ + 28, + 25, + 23 + ], + [ + 29, + 23, + 22 + ], + [ + 29, + 22, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 2 + ], + [ + 29, + 2, + 27 + ], + [ + 29, + 27, + 10 + ], + [ + 29, + 10, + 16 + ], + [ + 29, + 16, + 19 + ], + [ + 29, + 19, + 20 + ], + [ + 29, + 20, + 6 + ], + [ + 29, + 6, + 26 + ], + [ + 29, + 26, + 14 + ], + [ + 29, + 14, + 13 + ], + [ + 29, + 13, + 28 + ], + [ + 29, + 28, + 23 + ] + ], + "raw_bounds": [ + [ + -0.029810724779963493, + -0.029810724779963493, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + 0.029810724779963493, + 0.011484375223517418 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011129681952297688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json new file mode 100644 index 0000000000000000000000000000000000000000..e850410e3825dc7866438a8f4cc7a2682544115c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08913154108449817, + "parts": [ + { + "vertices_raw": [ + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.025816844776272774, + 0.014905362389981747, + 0.011484375223517418 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.014905362389981747, + 0.025816844776272774, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 37, + 17, + 16, + 34, + 31, + 30, + 15, + 1, + 0, + 29, + 21, + 22, + 35, + 12, + 14, + 36, + 33, + 32, + 19, + 7, + 6, + 28, + 9, + 10, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 9, + 5, + 10, + 9, + 8, + 11, + 12, + 13, + 14, + 12, + 11, + 15, + 2, + 1, + 16, + 17, + 18, + 19, + 4, + 7, + 20, + 21, + 3, + 20, + 22, + 21, + 23, + 2, + 15, + 24, + 4, + 19, + 25, + 16, + 18, + 25, + 18, + 8, + 5, + 4, + 24, + 26, + 11, + 13, + 20, + 3, + 2, + 23, + 27, + 28, + 6, + 5, + 28, + 5, + 9, + 29, + 0, + 3, + 29, + 3, + 21, + 30, + 31, + 27, + 23, + 30, + 23, + 15, + 32, + 33, + 26, + 24, + 32, + 24, + 19, + 34, + 16, + 25, + 34, + 25, + 27, + 31, + 35, + 22, + 20, + 13, + 35, + 13, + 12, + 36, + 14, + 11, + 36, + 11, + 26, + 36, + 26, + 33, + 37, + 10, + 8, + 37, + 8, + 18, + 37, + 18, + 17 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014765623025596142 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + 0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + 0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.336283415555954, + -0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.10272129625082016, + -0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4755764901638031, + 0.4755764901638031, + -0.7400364279747009, + -0.010867668315768242 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.6243534088134766, + 0.4790831506252289, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + 0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10272129625082016, + 0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + 0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.5824601054191589, + -0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + -0.336283415555954, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.011484375223517418 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.3011644184589386, + -0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.10272131115198135, + -0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.3011644184589386, + 0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + 0.10272131115198135, + 0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 98, + "num_vertices": 4, + "plane": [ + 0.7802475690841675, + 0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + 0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.7802475690841675, + -0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + -0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + -0.3011644184589386, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.7802475094795227, + -0.1027214452624321, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 119, + "num_vertices": 4, + "plane": [ + -0.3011644184589386, + 0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.4790830910205841, + 0.6243534088134766, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + 0.3011643886566162, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.6496495008468628, + 0.17407307028770447, + -0.7400366067886353, + -0.010867664590477943 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + -0.7802476286888123, + 0.10272131860256195, + -0.616978108882904, + -0.016174139454960823 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.3011643886566162, + -0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + -0.5824601054191589, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 17, + 16 + ], + [ + 37, + 16, + 34 + ], + [ + 37, + 34, + 31 + ], + [ + 37, + 31, + 30 + ], + [ + 37, + 30, + 15 + ], + [ + 37, + 15, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 29 + ], + [ + 37, + 29, + 21 + ], + [ + 37, + 21, + 22 + ], + [ + 37, + 22, + 35 + ], + [ + 37, + 35, + 12 + ], + [ + 37, + 12, + 14 + ], + [ + 37, + 14, + 36 + ], + [ + 37, + 36, + 33 + ], + [ + 37, + 33, + 32 + ], + [ + 37, + 32, + 19 + ], + [ + 37, + 19, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 28 + ], + [ + 37, + 28, + 9 + ], + [ + 37, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 10, + 9, + 8 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 12, + 11 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 4, + 7 + ], + [ + 20, + 21, + 3 + ], + [ + 20, + 22, + 21 + ], + [ + 23, + 2, + 15 + ], + [ + 24, + 4, + 19 + ], + [ + 25, + 16, + 18 + ], + [ + 25, + 18, + 8 + ], + [ + 25, + 8, + 5 + ], + [ + 25, + 5, + 4 + ], + [ + 25, + 4, + 24 + ], + [ + 25, + 24, + 26 + ], + [ + 25, + 26, + 11 + ], + [ + 25, + 11, + 13 + ], + [ + 25, + 13, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 23 + ], + [ + 25, + 23, + 27 + ], + [ + 28, + 6, + 5 + ], + [ + 28, + 5, + 9 + ], + [ + 29, + 0, + 3 + ], + [ + 29, + 3, + 21 + ], + [ + 30, + 31, + 27 + ], + [ + 30, + 27, + 23 + ], + [ + 30, + 23, + 15 + ], + [ + 32, + 33, + 26 + ], + [ + 32, + 26, + 24 + ], + [ + 32, + 24, + 19 + ], + [ + 34, + 16, + 25 + ], + [ + 34, + 25, + 27 + ], + [ + 34, + 27, + 31 + ], + [ + 35, + 22, + 20 + ], + [ + 35, + 20, + 13 + ], + [ + 35, + 13, + 12 + ], + [ + 36, + 14, + 11 + ], + [ + 36, + 11, + 26 + ], + [ + 36, + 26, + 33 + ], + [ + 37, + 10, + 8 + ], + [ + 37, + 8, + 18 + ], + [ + 37, + 18, + 17 + ] + ], + "raw_bounds": [ + [ + -0.03240536153316498, + -0.03240536153316498, + 0.011484375223517418 + ], + [ + 0.03240536153316498, + 0.03240536153316498, + 0.014765624888241291 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001517750322818756, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a8e442fe1ecd705ad02afdaf73a52c94325204 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09164900798350573, + "parts": [ + { + "vertices_raw": [ + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 14, + 9, + 6, + 5, + 15, + 16, + 17, + 18, + 19, + 11, + 10, + 20, + 21, + 22, + 23, + 24, + 2, + 1, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 10, + 11, + 12, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 10, + 13, + 33, + 34, + 23, + 22, + 33, + 22, + 21, + 32, + 35, + 36, + 28, + 27, + 35, + 27, + 26, + 37, + 38, + 12, + 11, + 19, + 38, + 19, + 18, + 39, + 40, + 3, + 2, + 24, + 40, + 24, + 23, + 34, + 41, + 39, + 18, + 17, + 41, + 17, + 16, + 42, + 43, + 25, + 1, + 0, + 43, + 37, + 26, + 25, + 44, + 45, + 30, + 29, + 44, + 29, + 28, + 36, + 46, + 42, + 16, + 15, + 46, + 15, + 5, + 4, + 47, + 8, + 9, + 14, + 47, + 14, + 30, + 45, + 47, + 45, + 44, + 36, + 35, + 37, + 43, + 0, + 3, + 40, + 34, + 33, + 32, + 31, + 13, + 12, + 38, + 39, + 41, + 42, + 46, + 4, + 7, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.018046876415610313 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7300550937652588, + -0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9123415946960449, + 0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9123417139053345, + -0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7300549745559692, + 0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5601910352706909, + 0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9123417139053345, + 0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.12011213600635529, + -0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.12011215090751648, + -0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.12011213600635529, + 0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.12011215090751648, + 0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.9123415946960449, + -0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.5601909756660461, + 0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.5601909756660461, + -0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.5601910352706909, + -0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.7300550937652588, + 0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.7300549745559692, + -0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014765623025596142 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 10 + ], + [ + 31, + 10, + 13 + ], + [ + 33, + 34, + 23 + ], + [ + 33, + 23, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 32 + ], + [ + 35, + 36, + 28 + ], + [ + 35, + 28, + 27 + ], + [ + 35, + 27, + 26 + ], + [ + 35, + 26, + 37 + ], + [ + 38, + 12, + 11 + ], + [ + 38, + 11, + 19 + ], + [ + 38, + 19, + 18 + ], + [ + 38, + 18, + 39 + ], + [ + 40, + 3, + 2 + ], + [ + 40, + 2, + 24 + ], + [ + 40, + 24, + 23 + ], + [ + 40, + 23, + 34 + ], + [ + 41, + 39, + 18 + ], + [ + 41, + 18, + 17 + ], + [ + 41, + 17, + 16 + ], + [ + 41, + 16, + 42 + ], + [ + 43, + 25, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 43, + 37, + 26 + ], + [ + 43, + 26, + 25 + ], + [ + 44, + 45, + 30 + ], + [ + 44, + 30, + 29 + ], + [ + 44, + 29, + 28 + ], + [ + 44, + 28, + 36 + ], + [ + 46, + 42, + 16 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 5 + ], + [ + 46, + 5, + 4 + ], + [ + 47, + 8, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 37 + ], + [ + 47, + 37, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 40 + ], + [ + 47, + 40, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 46 + ], + [ + 47, + 46, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 8 + ] + ], + "raw_bounds": [ + [ + -0.03381309285759926, + -0.03381309285759926, + 0.014765624888241291 + ], + [ + 0.03381309285759926, + 0.03381309285759926, + 0.018046874552965164 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0016592741012573242, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0eed010f142f50b9ac8b718e1068b2328e7f95 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09433224704116583, + "parts": [ + { + "vertices_raw": [ + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ] + ], + "indices_raw": [ + 16, + 3, + 2, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 12, + 15, + 24, + 25, + 26, + 27, + 28, + 5, + 4, + 29, + 30, + 31, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 32, + 33, + 25, + 24, + 32, + 24, + 15, + 14, + 34, + 6, + 5, + 28, + 34, + 28, + 27, + 35, + 36, + 0, + 3, + 16, + 36, + 16, + 11, + 10, + 37, + 38, + 22, + 21, + 37, + 21, + 20, + 39, + 40, + 41, + 18, + 17, + 40, + 17, + 2, + 1, + 42, + 43, + 30, + 29, + 42, + 29, + 4, + 7, + 44, + 9, + 8, + 31, + 44, + 31, + 30, + 43, + 45, + 13, + 12, + 23, + 45, + 23, + 22, + 38, + 46, + 19, + 18, + 41, + 46, + 39, + 20, + 19, + 47, + 26, + 25, + 33, + 47, + 33, + 32, + 14, + 13, + 45, + 38, + 37, + 39, + 46, + 41, + 40, + 1, + 0, + 36, + 10, + 9, + 44, + 43, + 42, + 7, + 6, + 34, + 35, + 47, + 35, + 27, + 26 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + 0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + -0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9736923575401306, + -0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.9736923575401306, + 0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + -0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9736924171447754, + -0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + -0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + -0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + 0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.9736924171447754, + 0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + 0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + 0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + 0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + 0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + -0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + -0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + -0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + -0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + 0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + 0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + 0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + 0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + -0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 116, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.018046876415610313 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + -0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 16, + 20, + 21 + ], + [ + 16, + 21, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 16, + 23, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 24 + ], + [ + 16, + 24, + 25 + ], + [ + 16, + 25, + 26 + ], + [ + 16, + 26, + 27 + ], + [ + 16, + 27, + 28 + ], + [ + 16, + 28, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 29 + ], + [ + 16, + 29, + 30 + ], + [ + 16, + 30, + 31 + ], + [ + 16, + 31, + 8 + ], + [ + 16, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 32, + 33, + 25 + ], + [ + 32, + 25, + 24 + ], + [ + 32, + 24, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 34, + 6, + 5 + ], + [ + 34, + 5, + 28 + ], + [ + 34, + 28, + 27 + ], + [ + 34, + 27, + 35 + ], + [ + 36, + 0, + 3 + ], + [ + 36, + 3, + 16 + ], + [ + 36, + 16, + 11 + ], + [ + 36, + 11, + 10 + ], + [ + 37, + 38, + 22 + ], + [ + 37, + 22, + 21 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 39 + ], + [ + 40, + 41, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 2 + ], + [ + 40, + 2, + 1 + ], + [ + 42, + 43, + 30 + ], + [ + 42, + 30, + 29 + ], + [ + 42, + 29, + 4 + ], + [ + 42, + 4, + 7 + ], + [ + 44, + 9, + 8 + ], + [ + 44, + 8, + 31 + ], + [ + 44, + 31, + 30 + ], + [ + 44, + 30, + 43 + ], + [ + 45, + 13, + 12 + ], + [ + 45, + 12, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 45, + 22, + 38 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 41 + ], + [ + 46, + 39, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 14 + ], + [ + 47, + 14, + 13 + ], + [ + 47, + 13, + 45 + ], + [ + 47, + 45, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 36 + ], + [ + 47, + 36, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 42 + ], + [ + 47, + 42, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 27 + ], + [ + 47, + 27, + 26 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.021328125149011612 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0017719208262860775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json new file mode 100644 index 0000000000000000000000000000000000000000..c80144fd1eb007e24d31fed2ec68735120ca8bde --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09717503190040588, + "parts": [ + { + "vertices_raw": [ + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ] + ], + "indices_raw": [ + 24, + 26, + 2, + 1, + 27, + 28, + 29, + 16, + 9, + 8, + 30, + 31, + 32, + 18, + 13, + 12, + 33, + 34, + 35, + 7, + 6, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 14, + 13, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 21, + 20, + 36, + 37, + 36, + 6, + 5, + 38, + 26, + 24, + 25, + 38, + 3, + 2, + 26, + 39, + 17, + 16, + 29, + 39, + 29, + 28, + 40, + 41, + 19, + 18, + 32, + 41, + 32, + 31, + 42, + 43, + 4, + 7, + 35, + 43, + 35, + 34, + 44, + 45, + 30, + 8, + 11, + 45, + 42, + 31, + 30, + 46, + 33, + 12, + 15, + 46, + 44, + 34, + 33, + 47, + 40, + 28, + 27, + 47, + 27, + 1, + 0, + 47, + 0, + 3, + 38, + 25, + 22, + 21, + 37, + 5, + 4, + 43, + 44, + 46, + 15, + 14, + 19, + 41, + 42, + 45, + 11, + 10, + 17, + 39, + 40 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + 0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + -0.7927952408790588, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + 0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.608333170413971, + -0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + 0.7927952408790588, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + -0.6083331108093262, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9907472729682922, + -0.13043460249900818, + 0.03750445321202278, + -0.03492911159992218 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.990747332572937, + 0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + -0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + -0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + 0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + 0.608333170413971, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + 0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + 0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + -0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + -0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + -0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + -0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + 0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + 0.13043451309204102, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + -0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + -0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + 0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + 0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.027890626341104507 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 18 + ], + [ + 24, + 18, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 14 + ], + [ + 18, + 14, + 13 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 36 + ], + [ + 37, + 36, + 6 + ], + [ + 37, + 6, + 5 + ], + [ + 38, + 26, + 24 + ], + [ + 38, + 24, + 25 + ], + [ + 38, + 3, + 2 + ], + [ + 38, + 2, + 26 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 29 + ], + [ + 39, + 29, + 28 + ], + [ + 39, + 28, + 40 + ], + [ + 41, + 19, + 18 + ], + [ + 41, + 18, + 32 + ], + [ + 41, + 32, + 31 + ], + [ + 41, + 31, + 42 + ], + [ + 43, + 4, + 7 + ], + [ + 43, + 7, + 35 + ], + [ + 43, + 35, + 34 + ], + [ + 43, + 34, + 44 + ], + [ + 45, + 30, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 42, + 31 + ], + [ + 45, + 31, + 30 + ], + [ + 46, + 33, + 12 + ], + [ + 46, + 12, + 15 + ], + [ + 46, + 44, + 34 + ], + [ + 46, + 34, + 33 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 38 + ], + [ + 47, + 38, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 37 + ], + [ + 47, + 37, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 19 + ], + [ + 47, + 19, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 40 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.027890624478459358 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001351980958133936, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json new file mode 100644 index 0000000000000000000000000000000000000000..9d41eba3aa5495f3da0d8677426c1a2364d51ccc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09912463324144483, + "parts": [ + { + "vertices_raw": [ + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ] + ], + "indices_raw": [ + 14, + 7, + 6, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 2, + 1, + 26, + 27, + 28, + 8, + 11, + 12, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 23, + 22, + 32, + 31, + 33, + 24, + 23, + 34, + 35, + 18, + 17, + 34, + 17, + 16, + 36, + 37, + 9, + 8, + 28, + 37, + 28, + 27, + 38, + 39, + 29, + 12, + 13, + 39, + 40, + 30, + 29, + 41, + 38, + 27, + 26, + 41, + 26, + 1, + 0, + 42, + 4, + 7, + 14, + 42, + 14, + 30, + 40, + 43, + 3, + 2, + 25, + 43, + 25, + 24, + 33, + 44, + 36, + 16, + 15, + 44, + 15, + 6, + 5, + 45, + 32, + 22, + 21, + 45, + 21, + 20, + 46, + 47, + 46, + 20, + 19, + 47, + 19, + 18, + 35, + 47, + 35, + 34, + 36, + 44, + 5, + 4, + 42, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 41, + 0, + 3, + 43, + 33, + 31, + 32, + 45, + 46 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.027890624478459358 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + 0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6004651188850403, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + -0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.6004651784896851, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + 0.37746813893318176, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + 0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + -0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + -0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.6004651784896851, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.3774681091308594, + 0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.37746813893318176, + -0.9112887978553772, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6004651188850403, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37746813893318176, + 0.9112887978553772, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.3774681091308594, + -0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + 0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + -0.37746813893318176, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.03773438557982445 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 32 + ], + [ + 31, + 33, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 34, + 35, + 18 + ], + [ + 34, + 18, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 36 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 28 + ], + [ + 37, + 28, + 27 + ], + [ + 37, + 27, + 38 + ], + [ + 39, + 29, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 38, + 27 + ], + [ + 41, + 27, + 26 + ], + [ + 41, + 26, + 1 + ], + [ + 41, + 1, + 0 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 14 + ], + [ + 42, + 14, + 30 + ], + [ + 42, + 30, + 40 + ], + [ + 43, + 3, + 2 + ], + [ + 43, + 2, + 25 + ], + [ + 43, + 25, + 24 + ], + [ + 43, + 24, + 33 + ], + [ + 44, + 36, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 6 + ], + [ + 44, + 6, + 5 + ], + [ + 45, + 32, + 22 + ], + [ + 45, + 22, + 21 + ], + [ + 45, + 21, + 20 + ], + [ + 45, + 20, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 44 + ], + [ + 47, + 44, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 41 + ], + [ + 47, + 41, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 43 + ], + [ + 47, + 43, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 46 + ] + ], + "raw_bounds": [ + [ + -0.03419952839612961, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + 0.03419952839612961, + 0.03773437440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001221067737787962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json new file mode 100644 index 0000000000000000000000000000000000000000..9c77c5b14bcd7366e448e1b9cf88bd2e446cd0eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10113308113068342, + "parts": [ + { + "vertices_raw": [ + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 24, + 27, + 28, + 7, + 6, + 29, + 18, + 21, + 30, + 3, + 2, + 31, + 16, + 9, + 8, + 32, + 33, + 34, + 22, + 13, + 12, + 35, + 36, + 37, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 20, + 21, + 22, + 23, + 14, + 13, + 24, + 25, + 26, + 27, + 38, + 17, + 16, + 31, + 38, + 31, + 2, + 1, + 39, + 19, + 18, + 29, + 39, + 29, + 6, + 5, + 40, + 23, + 22, + 34, + 40, + 34, + 33, + 41, + 42, + 25, + 24, + 37, + 42, + 37, + 36, + 43, + 44, + 32, + 8, + 11, + 44, + 41, + 33, + 32, + 45, + 35, + 12, + 15, + 45, + 43, + 36, + 35, + 46, + 0, + 3, + 30, + 46, + 30, + 21, + 20, + 47, + 4, + 7, + 28, + 47, + 28, + 27, + 26, + 47, + 26, + 25, + 42, + 43, + 45, + 15, + 14, + 23, + 40, + 41, + 44, + 11, + 10, + 17, + 38, + 1, + 0, + 46, + 20, + 19, + 39, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.03773438557982445 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6083331108093262, + 0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7927951812744141, + 0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7927951216697693, + 0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6083332896232605, + -0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6083332896232605, + 0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.7927951216697693, + -0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + 0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + -0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + 0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + -0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + 0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + 0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + -0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.7927951812744141, + -0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + -0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + -0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04429686814546585 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 21 + ], + [ + 24, + 21, + 30 + ], + [ + 24, + 30, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 31 + ], + [ + 24, + 31, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 22 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 35 + ], + [ + 24, + 35, + 36 + ], + [ + 24, + 36, + 37 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 21 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 38, + 17, + 16 + ], + [ + 38, + 16, + 31 + ], + [ + 38, + 31, + 2 + ], + [ + 38, + 2, + 1 + ], + [ + 39, + 19, + 18 + ], + [ + 39, + 18, + 29 + ], + [ + 39, + 29, + 6 + ], + [ + 39, + 6, + 5 + ], + [ + 40, + 23, + 22 + ], + [ + 40, + 22, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 40, + 33, + 41 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 32, + 8 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 41, + 33 + ], + [ + 44, + 33, + 32 + ], + [ + 45, + 35, + 12 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 43, + 36 + ], + [ + 45, + 36, + 35 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 21 + ], + [ + 46, + 21, + 20 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 45 + ], + [ + 47, + 45, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 23 + ], + [ + 47, + 23, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 38 + ], + [ + 47, + 38, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 39 + ], + [ + 47, + 39, + 5 + ], + [ + 47, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.032543376088142395, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + 0.032543376088142395, + 0.04429687559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013103238306939602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2e487892525a96e24a4cc26375f8abe0319ff0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1033764029853046, + "parts": [ + { + "vertices_raw": [ + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 28, + 30, + 10, + 9, + 31, + 25, + 24, + 32, + 2, + 1, + 33, + 34, + 35, + 7, + 6, + 36, + 19, + 18, + 37, + 15, + 14, + 38, + 23, + 22, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 22, + 21, + 29, + 39, + 32, + 24, + 27, + 39, + 3, + 2, + 32, + 40, + 30, + 28, + 29, + 40, + 11, + 10, + 30, + 41, + 16, + 19, + 36, + 41, + 36, + 6, + 5, + 42, + 20, + 23, + 38, + 42, + 38, + 14, + 13, + 43, + 44, + 34, + 33, + 43, + 33, + 1, + 0, + 45, + 4, + 7, + 35, + 45, + 35, + 34, + 44, + 46, + 26, + 25, + 31, + 46, + 31, + 9, + 8, + 47, + 12, + 15, + 37, + 47, + 37, + 18, + 17, + 47, + 17, + 16, + 41, + 5, + 4, + 45, + 44, + 43, + 0, + 3, + 39, + 27, + 26, + 46, + 8, + 11, + 40, + 29, + 21, + 20, + 42, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06398438662290573 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13047567009925842, + -0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.13047565519809723, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + 0.13047565519809723, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + 0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + 0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + -0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + -0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + 0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + 0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + -0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047565519809723, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.13047567009925842, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + 0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + -0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.13047565519809723, + -0.9910619258880615, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.04429686442017555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 30, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 31 + ], + [ + 28, + 31, + 25 + ], + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 32 + ], + [ + 28, + 32, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 36 + ], + [ + 28, + 36, + 19 + ], + [ + 28, + 19, + 18 + ], + [ + 28, + 18, + 37 + ], + [ + 28, + 37, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 38 + ], + [ + 28, + 38, + 23 + ], + [ + 28, + 23, + 22 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 22, + 21 + ], + [ + 28, + 21, + 29 + ], + [ + 39, + 32, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 32 + ], + [ + 40, + 30, + 28 + ], + [ + 40, + 28, + 29 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 30 + ], + [ + 41, + 16, + 19 + ], + [ + 41, + 19, + 36 + ], + [ + 41, + 36, + 6 + ], + [ + 41, + 6, + 5 + ], + [ + 42, + 20, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 42, + 38, + 14 + ], + [ + 42, + 14, + 13 + ], + [ + 43, + 44, + 34 + ], + [ + 43, + 34, + 33 + ], + [ + 43, + 33, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 45, + 4, + 7 + ], + [ + 45, + 7, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 44 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 31 + ], + [ + 46, + 31, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 37 + ], + [ + 47, + 37, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 41 + ], + [ + 47, + 41, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 29 + ], + [ + 47, + 29, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 42 + ], + [ + 47, + 42, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.032847002148628235, + -0.032847002148628235, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + 0.032847002148628235, + 0.06398437172174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015275492332875729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json new file mode 100644 index 0000000000000000000000000000000000000000..8baa931dd7569455a516c103f88325df89e8dc76 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10590629698708653, + "parts": [ + { + "vertices_raw": [ + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ] + ], + "indices_raw": [ + 24, + 25, + 26, + 22, + 2, + 1, + 27, + 28, + 29, + 20, + 15, + 14, + 30, + 31, + 32, + 11, + 10, + 18, + 33, + 34, + 35, + 13, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 14, + 15, + 16, + 17, + 18, + 10, + 9, + 19, + 20, + 21, + 16, + 15, + 22, + 23, + 3, + 2, + 36, + 30, + 14, + 17, + 36, + 37, + 31, + 30, + 38, + 33, + 18, + 19, + 38, + 39, + 34, + 33, + 40, + 21, + 20, + 29, + 40, + 29, + 28, + 41, + 42, + 23, + 22, + 26, + 42, + 26, + 25, + 43, + 44, + 8, + 11, + 32, + 44, + 32, + 31, + 37, + 45, + 12, + 13, + 35, + 45, + 35, + 34, + 39, + 46, + 41, + 28, + 27, + 46, + 27, + 1, + 0, + 47, + 43, + 25, + 24, + 47, + 24, + 5, + 4, + 47, + 4, + 7, + 12, + 45, + 39, + 38, + 19, + 9, + 8, + 44, + 37, + 36, + 17, + 16, + 21, + 40, + 41, + 46, + 0, + 3, + 23, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + -0.13000476360321045, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + -0.13000477850437164, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13000477850437164, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + -0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + -0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + -0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + -0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + 0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + 0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + 0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + 0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + -0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + -0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + -0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + -0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + 0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + 0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + 0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + 0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06398438662290573 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 22 + ], + [ + 24, + 22, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 20 + ], + [ + 24, + 20, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 18 + ], + [ + 24, + 18, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 13 + ], + [ + 24, + 13, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 10, + 9 + ], + [ + 18, + 9, + 19 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 23, + 3 + ], + [ + 22, + 3, + 2 + ], + [ + 36, + 30, + 14 + ], + [ + 36, + 14, + 17 + ], + [ + 36, + 37, + 31 + ], + [ + 36, + 31, + 30 + ], + [ + 38, + 33, + 18 + ], + [ + 38, + 18, + 19 + ], + [ + 38, + 39, + 34 + ], + [ + 38, + 34, + 33 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 40, + 28, + 41 + ], + [ + 42, + 23, + 22 + ], + [ + 42, + 22, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 11, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 37 + ], + [ + 45, + 12, + 13 + ], + [ + 45, + 13, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 39 + ], + [ + 46, + 41, + 28 + ], + [ + 46, + 28, + 27 + ], + [ + 46, + 27, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 12 + ], + [ + 47, + 12, + 45 + ], + [ + 47, + 45, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 19 + ], + [ + 47, + 19, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 44 + ], + [ + 47, + 44, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 23 + ], + [ + 47, + 23, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.06398437172174454 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.07710937410593033 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0018735714256763458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4200bea720699dac5dd34567a37e7996b744da --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10865117330104113, + "parts": [ + { + "vertices_raw": [ + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 30, + 27, + 26, + 31, + 23, + 22, + 29, + 32, + 6, + 5, + 33, + 18, + 17, + 34, + 2, + 1, + 35, + 36, + 37, + 15, + 14, + 38, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 22, + 21, + 39, + 3, + 2, + 34, + 39, + 34, + 17, + 16, + 40, + 7, + 6, + 32, + 40, + 32, + 29, + 28, + 41, + 8, + 11, + 38, + 41, + 38, + 14, + 13, + 42, + 12, + 15, + 37, + 42, + 37, + 36, + 43, + 44, + 20, + 23, + 31, + 44, + 31, + 26, + 25, + 45, + 24, + 27, + 30, + 45, + 30, + 10, + 9, + 46, + 43, + 36, + 35, + 46, + 35, + 1, + 0, + 47, + 19, + 18, + 33, + 47, + 33, + 5, + 4, + 47, + 4, + 7, + 40, + 28, + 21, + 20, + 44, + 25, + 24, + 45, + 9, + 8, + 41, + 13, + 12, + 42, + 43, + 46, + 0, + 3, + 39, + 16, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + -0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.6087520122528076, + -0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + 0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + 0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + -0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + 0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6087520718574524, + 0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + -0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6087520718574524, + -0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + -0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + -0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9238652586936951, + -0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + 0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6087520122528076, + 0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9238652586936951, + 0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + 0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9238653182983398, + 0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + 0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + 0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + 0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + -0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9238653182983398, + -0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + -0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + -0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 30, + 27, + 26 + ], + [ + 30, + 26, + 31 + ], + [ + 30, + 31, + 23 + ], + [ + 30, + 23, + 22 + ], + [ + 30, + 22, + 29 + ], + [ + 30, + 29, + 32 + ], + [ + 30, + 32, + 6 + ], + [ + 30, + 6, + 5 + ], + [ + 30, + 5, + 33 + ], + [ + 30, + 33, + 18 + ], + [ + 30, + 18, + 17 + ], + [ + 30, + 17, + 34 + ], + [ + 30, + 34, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 35 + ], + [ + 30, + 35, + 36 + ], + [ + 30, + 36, + 37 + ], + [ + 30, + 37, + 15 + ], + [ + 30, + 15, + 14 + ], + [ + 30, + 14, + 38 + ], + [ + 30, + 38, + 11 + ], + [ + 30, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 22 + ], + [ + 28, + 22, + 21 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 34 + ], + [ + 39, + 34, + 17 + ], + [ + 39, + 17, + 16 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 6, + 32 + ], + [ + 40, + 32, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 41, + 8, + 11 + ], + [ + 41, + 11, + 38 + ], + [ + 41, + 38, + 14 + ], + [ + 41, + 14, + 13 + ], + [ + 42, + 12, + 15 + ], + [ + 42, + 15, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 20, + 23 + ], + [ + 44, + 23, + 31 + ], + [ + 44, + 31, + 26 + ], + [ + 44, + 26, + 25 + ], + [ + 45, + 24, + 27 + ], + [ + 45, + 27, + 30 + ], + [ + 45, + 30, + 10 + ], + [ + 45, + 10, + 9 + ], + [ + 46, + 43, + 36 + ], + [ + 46, + 36, + 35 + ], + [ + 46, + 35, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 33 + ], + [ + 47, + 33, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 40 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 44 + ], + [ + 47, + 44, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 45 + ], + [ + 47, + 45, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 41 + ], + [ + 47, + 41, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 16 + ], + [ + 47, + 16, + 19 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.09679687768220901 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0016401810571551323, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json new file mode 100644 index 0000000000000000000000000000000000000000..84058956f62a7c5b2523d907c70138a957ce868d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11127871321514249, + "parts": [ + { + "vertices_raw": [ + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 24, + 26, + 6, + 5, + 27, + 28, + 29, + 18, + 15, + 14, + 30, + 31, + 32, + 8, + 11, + 12, + 33, + 34, + 35, + 3, + 2, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 16, + 15, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 33, + 12, + 13, + 37, + 38, + 34, + 33, + 39, + 30, + 14, + 17, + 39, + 40, + 31, + 30, + 41, + 21, + 20, + 36, + 41, + 36, + 2, + 1, + 42, + 26, + 24, + 25, + 42, + 7, + 6, + 26, + 43, + 44, + 28, + 27, + 43, + 27, + 5, + 4, + 45, + 9, + 8, + 32, + 45, + 32, + 31, + 40, + 46, + 19, + 18, + 29, + 46, + 29, + 28, + 44, + 47, + 0, + 3, + 35, + 47, + 35, + 34, + 38, + 47, + 38, + 37, + 13, + 10, + 9, + 45, + 40, + 39, + 17, + 16, + 19, + 46, + 44, + 43, + 4, + 7, + 42, + 25, + 22, + 21, + 41, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + 0.7911275625228882, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + -0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7911276817321777, + 0.6070537567138672, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.607053816318512, + 0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.7911275625228882, + -0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.6070537567138672, + -0.7911276817321777, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + 0.13016018271446228, + -0.07485147565603256, + -0.026293542236089706 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + 0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + -0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + 0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + 0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + -0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + -0.607053816318512, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + -0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + 0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + 0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + -0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + 0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 24, + 5, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 8 + ], + [ + 24, + 8, + 11 + ], + [ + 24, + 11, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 16 + ], + [ + 18, + 16, + 15 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 33, + 12 + ], + [ + 37, + 12, + 13 + ], + [ + 37, + 38, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 39, + 30, + 14 + ], + [ + 39, + 14, + 17 + ], + [ + 39, + 40, + 31 + ], + [ + 39, + 31, + 30 + ], + [ + 41, + 21, + 20 + ], + [ + 41, + 20, + 36 + ], + [ + 41, + 36, + 2 + ], + [ + 41, + 2, + 1 + ], + [ + 42, + 26, + 24 + ], + [ + 42, + 24, + 25 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 26 + ], + [ + 43, + 44, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 5 + ], + [ + 43, + 5, + 4 + ], + [ + 45, + 9, + 8 + ], + [ + 45, + 8, + 32 + ], + [ + 45, + 32, + 31 + ], + [ + 45, + 31, + 40 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 44 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 45 + ], + [ + 47, + 45, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 19 + ], + [ + 47, + 19, + 46 + ], + [ + 47, + 46, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 41 + ], + [ + 47, + 41, + 1 + ], + [ + 47, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.09679687768220901 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.10335937142372131 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015613283030688763, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json new file mode 100644 index 0000000000000000000000000000000000000000..2df1373294272711a8c23848b6fb0ccabcffc6eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11376573098823428, + "parts": [ + { + "vertices_raw": [ + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 26, + 30, + 6, + 5, + 31, + 32, + 33, + 15, + 14, + 34, + 20, + 23, + 35, + 11, + 10, + 36, + 16, + 19, + 24, + 37, + 2, + 1, + 38, + 27, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 19, + 18, + 25, + 26, + 27, + 28, + 29, + 39, + 17, + 16, + 36, + 39, + 36, + 10, + 9, + 40, + 21, + 20, + 34, + 40, + 34, + 14, + 13, + 41, + 37, + 24, + 25, + 41, + 3, + 2, + 37, + 42, + 30, + 26, + 29, + 42, + 7, + 6, + 30, + 43, + 28, + 27, + 38, + 43, + 38, + 1, + 0, + 44, + 45, + 32, + 31, + 44, + 31, + 5, + 4, + 46, + 8, + 11, + 35, + 46, + 35, + 23, + 22, + 47, + 12, + 15, + 33, + 47, + 33, + 32, + 45, + 47, + 45, + 44, + 4, + 7, + 42, + 29, + 28, + 43, + 0, + 3, + 41, + 25, + 18, + 17, + 39, + 9, + 8, + 46, + 22, + 21, + 40, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + 0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + -0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9235228300094604, + -0.38253548741340637, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + -0.9235228300094604, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + -0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9235227704048157, + 0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + 0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + 0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.382535457611084, + 0.9235227704048157, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + 0.382535457611084, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.38253548741340637, + -0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + -0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 30, + 6 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 31 + ], + [ + 26, + 31, + 32 + ], + [ + 26, + 32, + 33 + ], + [ + 26, + 33, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 26, + 14, + 34 + ], + [ + 26, + 34, + 20 + ], + [ + 26, + 20, + 23 + ], + [ + 26, + 23, + 35 + ], + [ + 26, + 35, + 11 + ], + [ + 26, + 11, + 10 + ], + [ + 26, + 10, + 36 + ], + [ + 26, + 36, + 16 + ], + [ + 26, + 16, + 19 + ], + [ + 26, + 19, + 24 + ], + [ + 26, + 24, + 37 + ], + [ + 26, + 37, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 26, + 1, + 38 + ], + [ + 26, + 38, + 27 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 19, + 18 + ], + [ + 24, + 18, + 25 + ], + [ + 26, + 27, + 28 + ], + [ + 26, + 28, + 29 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 36 + ], + [ + 39, + 36, + 10 + ], + [ + 39, + 10, + 9 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 34 + ], + [ + 40, + 34, + 14 + ], + [ + 40, + 14, + 13 + ], + [ + 41, + 37, + 24 + ], + [ + 41, + 24, + 25 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 37 + ], + [ + 42, + 30, + 26 + ], + [ + 42, + 26, + 29 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 30 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 38 + ], + [ + 43, + 38, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 45, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 5 + ], + [ + 44, + 5, + 4 + ], + [ + 46, + 8, + 11 + ], + [ + 46, + 11, + 35 + ], + [ + 46, + 35, + 23 + ], + [ + 46, + 23, + 22 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 29 + ], + [ + 47, + 29, + 28 + ], + [ + 47, + 28, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 25 + ], + [ + 47, + 25, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 46 + ], + [ + 47, + 46, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.11320312321186066 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013816030696034431, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json new file mode 100644 index 0000000000000000000000000000000000000000..bff9157f9b945c5711641a4714cf96db981f6936 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11598960310220718, + "parts": [ + { + "vertices_raw": [ + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 14, + 2, + 1, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 12, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 9, + 8, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 6, + 5, + 31, + 32, + 18, + 17, + 31, + 17, + 16, + 33, + 34, + 26, + 25, + 35, + 34, + 36, + 27, + 26, + 37, + 22, + 4, + 7, + 37, + 38, + 23, + 22, + 39, + 15, + 1, + 0, + 39, + 33, + 16, + 15, + 40, + 13, + 12, + 21, + 40, + 21, + 20, + 41, + 42, + 35, + 25, + 24, + 42, + 24, + 23, + 38, + 43, + 10, + 9, + 28, + 43, + 28, + 27, + 36, + 44, + 41, + 20, + 19, + 44, + 19, + 18, + 32, + 45, + 29, + 8, + 11, + 45, + 46, + 30, + 29, + 47, + 3, + 2, + 14, + 47, + 14, + 30, + 46, + 47, + 46, + 45, + 11, + 10, + 43, + 36, + 34, + 35, + 42, + 38, + 37, + 7, + 6, + 13, + 40, + 41, + 44, + 32, + 31, + 33, + 39, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + -0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9856683611869812, + 0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + 0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9856681823730469, + -0.12976591289043427, + -0.10779111087322235, + -0.021452680230140686 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12976542115211487, + -0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12976539134979248, + -0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12976542115211487, + 0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + 0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + 0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + -0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + -0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + -0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + -0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + 0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + 0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + 0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + 0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + -0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + -0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + 0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + -0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9856683611869812, + -0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 12 + ], + [ + 14, + 12, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 31, + 32, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 16 + ], + [ + 31, + 16, + 33 + ], + [ + 34, + 26, + 25 + ], + [ + 34, + 25, + 35 + ], + [ + 34, + 36, + 27 + ], + [ + 34, + 27, + 26 + ], + [ + 37, + 22, + 4 + ], + [ + 37, + 4, + 7 + ], + [ + 37, + 38, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 39, + 15, + 1 + ], + [ + 39, + 1, + 0 + ], + [ + 39, + 33, + 16 + ], + [ + 39, + 16, + 15 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 21 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 41 + ], + [ + 42, + 35, + 25 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 43, + 10, + 9 + ], + [ + 43, + 9, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 36 + ], + [ + 44, + 41, + 20 + ], + [ + 44, + 20, + 19 + ], + [ + 44, + 19, + 18 + ], + [ + 44, + 18, + 32 + ], + [ + 45, + 29, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 46, + 30 + ], + [ + 45, + 30, + 29 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 43 + ], + [ + 47, + 43, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 42 + ], + [ + 47, + 42, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 39 + ], + [ + 47, + 39, + 0 + ], + [ + 47, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11320312321186066 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.11976562440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012942003086209297, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json new file mode 100644 index 0000000000000000000000000000000000000000..80188b9a28e47f97fcb8642f1733bf731cce5895 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11804529605433345, + "parts": [ + { + "vertices_raw": [ + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 21, + 20, + 32, + 31, + 6, + 5, + 21, + 33, + 28, + 27, + 34, + 33, + 35, + 29, + 28, + 36, + 34, + 27, + 26, + 36, + 26, + 25, + 37, + 38, + 37, + 25, + 24, + 38, + 24, + 23, + 39, + 40, + 22, + 4, + 7, + 40, + 39, + 23, + 22, + 41, + 9, + 8, + 16, + 41, + 16, + 15, + 42, + 43, + 0, + 3, + 30, + 43, + 30, + 29, + 35, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 32, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 42, + 15, + 14, + 47, + 14, + 2, + 1, + 47, + 1, + 0, + 43, + 35, + 33, + 34, + 36, + 37, + 38, + 39, + 40, + 7, + 6, + 31, + 32, + 46, + 45, + 44, + 13, + 10, + 9, + 41, + 42 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + 0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + -0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + 0.12838323414325714, + 0.1804720014333725, + -0.055610544979572296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + -0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + -0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + -0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + 0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + 0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + -0.12838268280029297, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + -0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + 0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + 0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + 0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + -0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + -0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + 0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1230468675494194 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 31, + 6, + 5 + ], + [ + 31, + 5, + 21 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 34 + ], + [ + 33, + 35, + 29 + ], + [ + 33, + 29, + 28 + ], + [ + 36, + 34, + 27 + ], + [ + 36, + 27, + 26 + ], + [ + 36, + 26, + 25 + ], + [ + 36, + 25, + 37 + ], + [ + 38, + 37, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 39 + ], + [ + 40, + 22, + 4 + ], + [ + 40, + 4, + 7 + ], + [ + 40, + 39, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 41, + 9, + 8 + ], + [ + 41, + 8, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 42 + ], + [ + 43, + 0, + 3 + ], + [ + 43, + 3, + 30 + ], + [ + 43, + 30, + 29 + ], + [ + 43, + 29, + 35 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 32, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 42, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 43 + ], + [ + 47, + 43, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 40 + ], + [ + 47, + 40, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 41 + ], + [ + 47, + 41, + 42 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.123046875 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013181748799979687, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json new file mode 100644 index 0000000000000000000000000000000000000000..35217a430ac0194cf6524e65df04452560c3c71b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12023095227777958, + "parts": [ + { + "vertices_raw": [ + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ] + ], + "indices_raw": [ + 14, + 9, + 8, + 15, + 16, + 17, + 4, + 7, + 12, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 3, + 2, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 19, + 33, + 34, + 5, + 4, + 17, + 34, + 17, + 16, + 35, + 36, + 29, + 28, + 37, + 36, + 38, + 30, + 29, + 39, + 22, + 21, + 32, + 39, + 40, + 23, + 22, + 41, + 35, + 16, + 15, + 41, + 15, + 8, + 11, + 42, + 0, + 3, + 24, + 42, + 24, + 23, + 40, + 43, + 18, + 12, + 13, + 43, + 33, + 19, + 18, + 44, + 37, + 28, + 27, + 44, + 27, + 26, + 45, + 46, + 45, + 26, + 25, + 46, + 25, + 2, + 1, + 47, + 10, + 9, + 14, + 47, + 14, + 30, + 38, + 47, + 38, + 36, + 37, + 44, + 45, + 46, + 1, + 0, + 42, + 40, + 39, + 32, + 31, + 33, + 43, + 13, + 6, + 5, + 34, + 35, + 41, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1230468675494194 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + 0.11434709280729294, + 0.4822246730327606, + -0.08908828347921371 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + 0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.12632815539836884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 12 + ], + [ + 14, + 12, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 33 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 35 + ], + [ + 36, + 29, + 28 + ], + [ + 36, + 28, + 37 + ], + [ + 36, + 38, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 32 + ], + [ + 39, + 40, + 23 + ], + [ + 39, + 23, + 22 + ], + [ + 41, + 35, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 8 + ], + [ + 41, + 8, + 11 + ], + [ + 42, + 0, + 3 + ], + [ + 42, + 3, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 40 + ], + [ + 43, + 18, + 12 + ], + [ + 43, + 12, + 13 + ], + [ + 43, + 33, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 44, + 37, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 26 + ], + [ + 44, + 26, + 45 + ], + [ + 46, + 45, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 38 + ], + [ + 47, + 38, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 43 + ], + [ + 47, + 43, + 13 + ], + [ + 47, + 13, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 11 + ], + [ + 47, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.034254733473062515, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.034254733473062515, + 0.034254733473062515, + 0.12632812559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015174923464655876, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json new file mode 100644 index 0000000000000000000000000000000000000000..3f173e37efaf8de2db140f22e4f6bed9de5eb7a8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12264761328697205, + "parts": [ + { + "vertices_raw": [ + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 0, + 3, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 27, + 26, + 31, + 26, + 25, + 33, + 34, + 33, + 25, + 24, + 34, + 24, + 23, + 35, + 36, + 21, + 20, + 37, + 36, + 6, + 5, + 21, + 38, + 28, + 27, + 32, + 38, + 1, + 0, + 28, + 39, + 29, + 3, + 2, + 39, + 40, + 30, + 29, + 41, + 22, + 4, + 7, + 41, + 35, + 23, + 22, + 42, + 9, + 8, + 16, + 42, + 16, + 15, + 43, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 37, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 40, + 47, + 40, + 39, + 2, + 1, + 38, + 32, + 31, + 33, + 34, + 35, + 41, + 7, + 6, + 36, + 37, + 46, + 45, + 44, + 13, + 10, + 9, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.12632817029953003 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.36735227704048157, + 0.8868666887283325, + 0.28021374344825745, + -0.06626614928245544 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.36735230684280396, + -0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.95172518491745, + 0.1252967268228531, + 0.2802138924598694, + -0.06626616418361664 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + 0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + -0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + 0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + 0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + -0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + -0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + 0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + 0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + -0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + -0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + -0.8868667483329773, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + -0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + 0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + 0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1296093463897705 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 33 + ], + [ + 34, + 33, + 25 + ], + [ + 34, + 25, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 35 + ], + [ + 36, + 21, + 20 + ], + [ + 36, + 20, + 37 + ], + [ + 36, + 6, + 5 + ], + [ + 36, + 5, + 21 + ], + [ + 38, + 28, + 27 + ], + [ + 38, + 27, + 32 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 28 + ], + [ + 39, + 29, + 3 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 22, + 4 + ], + [ + 41, + 4, + 7 + ], + [ + 41, + 35, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 42, + 9, + 8 + ], + [ + 42, + 8, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 37, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03243296593427658, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + 0.03243296593427658, + 0.1296093761920929 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015155975706875324, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab976768b10f3ed3c44521b99f02e429277122f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12506053829565644, + "parts": [ + { + "vertices_raw": [ + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 11, + 10, + 19, + 20, + 21, + 6, + 9, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 4, + 1, + 0, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 7, + 6, + 21, + 31, + 21, + 20, + 32, + 33, + 19, + 10, + 13, + 33, + 32, + 20, + 19, + 34, + 29, + 0, + 3, + 34, + 35, + 30, + 29, + 36, + 5, + 4, + 28, + 36, + 28, + 27, + 37, + 38, + 22, + 9, + 8, + 38, + 39, + 23, + 22, + 40, + 12, + 11, + 18, + 40, + 18, + 17, + 41, + 42, + 37, + 27, + 26, + 42, + 26, + 25, + 43, + 44, + 45, + 15, + 14, + 44, + 14, + 30, + 35, + 46, + 16, + 15, + 45, + 46, + 41, + 17, + 16, + 47, + 39, + 38, + 8, + 7, + 31, + 32, + 33, + 13, + 12, + 40, + 41, + 46, + 45, + 44, + 35, + 34, + 3, + 2, + 5, + 36, + 37, + 42, + 43, + 47, + 43, + 25, + 24, + 47, + 24, + 23, + 39 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1361718475818634 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8925064206123352, + -0.11750045418739319, + -0.4354606568813324, + 0.028355393558740616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + -0.5480117797851562, + -0.43546053767204285, + 0.028355378657579422 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8316835761070251, + -0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + -0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8316834568977356, + 0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.8316835761070251, + 0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.8316834568977356, + -0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + -0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.3444947600364685, + -0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.3444948196411133, + 0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3444948196411133, + -0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3444947600364685, + 0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1296093612909317 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 6 + ], + [ + 14, + 6, + 9 + ], + [ + 14, + 9, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 4 + ], + [ + 14, + 4, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 7, + 6 + ], + [ + 31, + 6, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 33, + 19, + 10 + ], + [ + 33, + 10, + 13 + ], + [ + 33, + 32, + 20 + ], + [ + 33, + 20, + 19 + ], + [ + 34, + 29, + 0 + ], + [ + 34, + 0, + 3 + ], + [ + 34, + 35, + 30 + ], + [ + 34, + 30, + 29 + ], + [ + 36, + 5, + 4 + ], + [ + 36, + 4, + 28 + ], + [ + 36, + 28, + 27 + ], + [ + 36, + 27, + 37 + ], + [ + 38, + 22, + 9 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 39, + 23 + ], + [ + 38, + 23, + 22 + ], + [ + 40, + 12, + 11 + ], + [ + 40, + 11, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 41 + ], + [ + 42, + 37, + 27 + ], + [ + 42, + 27, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 45, + 15 + ], + [ + 44, + 15, + 14 + ], + [ + 44, + 14, + 30 + ], + [ + 44, + 30, + 35 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 45 + ], + [ + 46, + 41, + 17 + ], + [ + 46, + 17, + 16 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 8 + ], + [ + 47, + 8, + 7 + ], + [ + 47, + 7, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 33 + ], + [ + 47, + 33, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 3 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 5 + ], + [ + 47, + 5, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 23 + ], + [ + 47, + 23, + 39 + ] + ], + "raw_bounds": [ + [ + -0.03466876968741417, + -0.03466876968741417, + 0.1296093761920929 + ], + [ + 0.03466876968741417, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013985331170260906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json new file mode 100644 index 0000000000000000000000000000000000000000..0131cffc9a5903b4952899c365a192e987afaebe --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12729948991909623, + "parts": [ + { + "vertices_raw": [ + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "indices_raw": [ + 12, + 14, + 15, + 16, + 17, + 18, + 5, + 4, + 19, + 20, + 21, + 22, + 23, + 2, + 1, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 20, + 19, + 31, + 19, + 4, + 7, + 33, + 34, + 22, + 21, + 33, + 21, + 20, + 32, + 35, + 24, + 1, + 0, + 35, + 36, + 25, + 24, + 37, + 9, + 8, + 30, + 37, + 30, + 29, + 38, + 39, + 14, + 12, + 13, + 39, + 40, + 15, + 14, + 41, + 3, + 2, + 23, + 41, + 23, + 22, + 34, + 42, + 38, + 29, + 28, + 42, + 28, + 27, + 43, + 44, + 45, + 17, + 16, + 44, + 16, + 15, + 40, + 46, + 43, + 27, + 26, + 46, + 26, + 25, + 36, + 47, + 45, + 44, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 42, + 43, + 46, + 36, + 35, + 0, + 3, + 41, + 34, + 33, + 32, + 31, + 7, + 6, + 47, + 6, + 5, + 18, + 47, + 18, + 17, + 45 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + -0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + 0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + -0.12987717986106873, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + 0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + 0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + 0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + 0.12987731397151947, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + 0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + -0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + -0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + -0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + -0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + 0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + 0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + -0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + -0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + -0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + -0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + 0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + 0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + -0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + -0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1361718475818634 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + 0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + 0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 19 + ], + [ + 12, + 19, + 20 + ], + [ + 12, + 20, + 21 + ], + [ + 12, + 21, + 22 + ], + [ + 12, + 22, + 23 + ], + [ + 12, + 23, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 24 + ], + [ + 12, + 24, + 25 + ], + [ + 12, + 25, + 26 + ], + [ + 12, + 26, + 27 + ], + [ + 12, + 27, + 28 + ], + [ + 12, + 28, + 29 + ], + [ + 12, + 29, + 30 + ], + [ + 12, + 30, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 4 + ], + [ + 31, + 4, + 7 + ], + [ + 33, + 34, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 20 + ], + [ + 33, + 20, + 32 + ], + [ + 35, + 24, + 1 + ], + [ + 35, + 1, + 0 + ], + [ + 35, + 36, + 25 + ], + [ + 35, + 25, + 24 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 30 + ], + [ + 37, + 30, + 29 + ], + [ + 37, + 29, + 38 + ], + [ + 39, + 14, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 15 + ], + [ + 39, + 15, + 14 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 41, + 22, + 34 + ], + [ + 42, + 38, + 29 + ], + [ + 42, + 29, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 43 + ], + [ + 44, + 45, + 17 + ], + [ + 44, + 17, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 40 + ], + [ + 46, + 43, + 27 + ], + [ + 46, + 27, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 36 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 45 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.13945312798023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00120640080422163, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json new file mode 100644 index 0000000000000000000000000000000000000000..c6aa205aacdc08488a3b09228108858d80e6b246 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12939345696941018, + "parts": [ + { + "vertices_raw": [ + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ] + ], + "indices_raw": [ + 28, + 25, + 24, + 30, + 2, + 1, + 31, + 10, + 9, + 32, + 17, + 16, + 33, + 34, + 35, + 20, + 23, + 36, + 15, + 14, + 37, + 7, + 6, + 38, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 26, + 25, + 39, + 30, + 24, + 27, + 39, + 3, + 2, + 30, + 40, + 33, + 16, + 19, + 40, + 41, + 34, + 33, + 42, + 21, + 20, + 35, + 42, + 35, + 34, + 41, + 43, + 11, + 10, + 31, + 43, + 31, + 1, + 0, + 44, + 4, + 7, + 37, + 44, + 37, + 14, + 13, + 45, + 18, + 17, + 32, + 45, + 32, + 9, + 8, + 46, + 29, + 28, + 38, + 46, + 38, + 6, + 5, + 47, + 12, + 15, + 36, + 47, + 36, + 23, + 22, + 47, + 22, + 21, + 42, + 41, + 40, + 19, + 18, + 45, + 8, + 11, + 43, + 0, + 3, + 39, + 27, + 26, + 29, + 46, + 5, + 4, + 44, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + 0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + -0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + 0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + -0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779274970293045 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + 0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + 0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + -0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + 0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + 0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + -0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + -0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + 0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + 0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + -0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + -0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + -0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.149296835064888 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 30 + ], + [ + 28, + 30, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 31 + ], + [ + 28, + 31, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 32 + ], + [ + 28, + 32, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 36 + ], + [ + 28, + 36, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 37 + ], + [ + 28, + 37, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 38 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 26 + ], + [ + 28, + 26, + 25 + ], + [ + 39, + 30, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 30 + ], + [ + 40, + 33, + 16 + ], + [ + 40, + 16, + 19 + ], + [ + 40, + 41, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 35 + ], + [ + 42, + 35, + 34 + ], + [ + 42, + 34, + 41 + ], + [ + 43, + 11, + 10 + ], + [ + 43, + 10, + 31 + ], + [ + 43, + 31, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 4, + 7 + ], + [ + 44, + 7, + 37 + ], + [ + 44, + 37, + 14 + ], + [ + 44, + 14, + 13 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 32 + ], + [ + 45, + 32, + 9 + ], + [ + 45, + 9, + 8 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 38 + ], + [ + 46, + 38, + 6 + ], + [ + 46, + 6, + 5 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 36 + ], + [ + 47, + 36, + 23 + ], + [ + 47, + 23, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 45 + ], + [ + 47, + 45, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 29 + ], + [ + 47, + 29, + 46 + ], + [ + 47, + 46, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.14929687976837158 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012483643367886543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json new file mode 100644 index 0000000000000000000000000000000000000000..333d321f3f1bbd21a3aee9433249816f7d89fc68 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13159102015197277, + "parts": [ + { + "vertices_raw": [ + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 9, + 8, + 17, + 18, + 19, + 20, + 21, + 4, + 7, + 22, + 23, + 24, + 25, + 26, + 0, + 3, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 10, + 9, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 5, + 4, + 21, + 36, + 17, + 8, + 11, + 36, + 37, + 18, + 17, + 38, + 1, + 0, + 26, + 38, + 26, + 25, + 39, + 40, + 22, + 7, + 6, + 40, + 41, + 23, + 22, + 42, + 13, + 12, + 16, + 42, + 16, + 15, + 43, + 44, + 33, + 28, + 27, + 44, + 27, + 3, + 2, + 45, + 35, + 20, + 19, + 45, + 19, + 18, + 37, + 46, + 39, + 25, + 24, + 46, + 24, + 23, + 41, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 44, + 2, + 1, + 38, + 39, + 46, + 41, + 40, + 6, + 5, + 34, + 35, + 45, + 37, + 36, + 11, + 10, + 13, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.149296835064888 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + 0.6030778288841248, + 0.13632895052433014, + -0.05451318621635437 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37911054491996765, + -0.9152538180351257, + 0.1363290399312973, + -0.05451320856809616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + 0.12930768728256226, + 0.13632893562316895, + -0.05451319366693497 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + -0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + -0.6030778884887695, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + 0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + 0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + -0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + -0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + 0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + 0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.37911057472229004, + 0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + 0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + -0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + -0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + -0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + 0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + 0.915253758430481, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15585941076278687 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 21 + ], + [ + 36, + 17, + 8 + ], + [ + 36, + 8, + 11 + ], + [ + 36, + 37, + 18 + ], + [ + 36, + 18, + 17 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 22, + 7 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 41, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 42, + 13, + 12 + ], + [ + 42, + 12, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 33, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 3 + ], + [ + 44, + 3, + 2 + ], + [ + 45, + 35, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 18 + ], + [ + 45, + 18, + 37 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 23 + ], + [ + 46, + 23, + 41 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 44 + ], + [ + 47, + 44, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 45 + ], + [ + 47, + 45, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 13 + ], + [ + 47, + 13, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.034779179841279984, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + 0.034779179841279984, + 0.15585938096046448 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015211463905870914, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json new file mode 100644 index 0000000000000000000000000000000000000000..8697a96bc9c63f000b26a769f5965c354d212e65 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13412790233269334, + "parts": [ + { + "vertices_raw": [ + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 6, + 5, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 3, + 2, + 24, + 25, + 26, + 8, + 11, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 7, + 6, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 36, + 22, + 21, + 37, + 0, + 3, + 23, + 37, + 23, + 22, + 36, + 38, + 9, + 8, + 26, + 38, + 26, + 25, + 39, + 40, + 13, + 12, + 16, + 40, + 16, + 15, + 41, + 42, + 33, + 28, + 27, + 42, + 27, + 11, + 10, + 43, + 35, + 20, + 19, + 43, + 19, + 18, + 44, + 45, + 44, + 18, + 17, + 45, + 17, + 5, + 4, + 46, + 39, + 25, + 24, + 46, + 24, + 2, + 1, + 47, + 41, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 42, + 10, + 9, + 38, + 39, + 46, + 1, + 0, + 37, + 36, + 34, + 35, + 43, + 44, + 45, + 4, + 7, + 13, + 40, + 41 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15585941076278687 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7615699172019958, + 0.584372878074646, + 0.2802134156227112, + -0.07590720802545547 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + 0.125296950340271, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + 0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16242192685604095 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 36, + 22 + ], + [ + 34, + 22, + 21 + ], + [ + 37, + 0, + 3 + ], + [ + 37, + 3, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 36 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 8, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 16 + ], + [ + 40, + 16, + 15 + ], + [ + 40, + 15, + 41 + ], + [ + 42, + 33, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 11 + ], + [ + 42, + 11, + 10 + ], + [ + 43, + 35, + 20 + ], + [ + 43, + 20, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 43, + 18, + 44 + ], + [ + 45, + 44, + 18 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 5 + ], + [ + 45, + 5, + 4 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 41, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 42 + ], + [ + 47, + 42, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ] + ], + "raw_bounds": [ + [ + -0.033868297934532166, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + 0.033868297934532166, + 0.16242188215255737 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013677319511771202, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json new file mode 100644 index 0000000000000000000000000000000000000000..9954d20e3086fada285fe50c821804b58bb96024 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13636962324380875, + "parts": [ + { + "vertices_raw": [ + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 9, + 8, + 21, + 22, + 23, + 24, + 25, + 10, + 13, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 18, + 17, + 32, + 31, + 33, + 19, + 18, + 34, + 35, + 24, + 23, + 34, + 23, + 22, + 36, + 37, + 26, + 13, + 12, + 37, + 38, + 27, + 26, + 39, + 36, + 22, + 21, + 39, + 21, + 8, + 7, + 40, + 25, + 24, + 35, + 40, + 11, + 10, + 25, + 41, + 42, + 29, + 28, + 41, + 28, + 27, + 38, + 43, + 32, + 17, + 16, + 43, + 16, + 15, + 44, + 45, + 6, + 9, + 20, + 45, + 20, + 19, + 33, + 46, + 0, + 3, + 30, + 46, + 30, + 29, + 42, + 47, + 44, + 15, + 14, + 47, + 14, + 5, + 4, + 47, + 4, + 1, + 0, + 46, + 42, + 41, + 38, + 37, + 12, + 11, + 40, + 35, + 34, + 36, + 39, + 7, + 6, + 45, + 33, + 31, + 32, + 43, + 44 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16242192685604095 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + -0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3478338420391083, + 0.8397449851036072, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + 0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + -0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + 0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + 0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + 0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + 0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + -0.8397449254989624, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + -0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + -0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.34783393144607544, + -0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + 0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + 0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + -0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + -0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16570308804512024 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 10 + ], + [ + 14, + 10, + 13 + ], + [ + 14, + 13, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 32 + ], + [ + 31, + 33, + 19 + ], + [ + 31, + 19, + 18 + ], + [ + 34, + 35, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 36 + ], + [ + 37, + 26, + 13 + ], + [ + 37, + 13, + 12 + ], + [ + 37, + 38, + 27 + ], + [ + 37, + 27, + 26 + ], + [ + 39, + 36, + 22 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 8 + ], + [ + 39, + 8, + 7 + ], + [ + 40, + 25, + 24 + ], + [ + 40, + 24, + 35 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 25 + ], + [ + 41, + 42, + 29 + ], + [ + 41, + 29, + 28 + ], + [ + 41, + 28, + 27 + ], + [ + 41, + 27, + 38 + ], + [ + 43, + 32, + 17 + ], + [ + 43, + 17, + 16 + ], + [ + 43, + 16, + 15 + ], + [ + 43, + 15, + 44 + ], + [ + 45, + 6, + 9 + ], + [ + 45, + 9, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 33 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 29 + ], + [ + 46, + 29, + 42 + ], + [ + 47, + 44, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 12 + ], + [ + 47, + 12, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 39 + ], + [ + 47, + 39, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 45 + ], + [ + 47, + 45, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 43 + ], + [ + 47, + 43, + 44 + ] + ], + "raw_bounds": [ + [ + -0.03193612024188042, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.03193612024188042, + 0.03193612024188042, + 0.16570311784744263 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010906909592449665, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json new file mode 100644 index 0000000000000000000000000000000000000000..1f27adb3f90170153546d851a59a76d297f233f4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13816055608913302, + "parts": [ + { + "vertices_raw": [ + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 37, + 14, + 5, + 6, + 32, + 23, + 30, + 10, + 13, + 15, + 31, + 2, + 29, + 25, + 8, + 7, + 36, + 20, + 19, + 35, + 34, + 33, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 3, + 5, + 15, + 13, + 12, + 15, + 12, + 0, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 11, + 23, + 24, + 8, + 25, + 24, + 9, + 8, + 26, + 17, + 16, + 27, + 19, + 21, + 27, + 21, + 9, + 24, + 1, + 0, + 12, + 11, + 22, + 4, + 3, + 17, + 26, + 28, + 29, + 1, + 24, + 25, + 29, + 2, + 1, + 30, + 11, + 10, + 30, + 23, + 11, + 31, + 15, + 0, + 31, + 0, + 2, + 32, + 6, + 4, + 22, + 32, + 22, + 23, + 33, + 34, + 28, + 26, + 33, + 26, + 16, + 35, + 19, + 27, + 35, + 27, + 28, + 34, + 36, + 7, + 9, + 36, + 9, + 21, + 36, + 21, + 20, + 37, + 3, + 14, + 37, + 18, + 17, + 37, + 17, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16570308804512024 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + 0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.1089945137500763, + -0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.1089945137500763, + 0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + -0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + -0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.10899452865123749, + -0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + 0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + 0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + -0.508340060710907, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + -0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10899452865123749, + 0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.6254284381866455, + -0.3610912561416626, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.6254283785820007, + 0.3610911965370178, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16898439824581146 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + -0.3195558190345764, + 0.7714762091636658, + 0.5501894354820251, + -0.11635103076696396 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + 0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + -0.31955596804618835, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.6624817252159119, + -0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + 0.31955596804618835, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + -0.6624817848205566, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.31955596804618835, + -0.7714762687683105, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + -0.6624817848205566, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8278959393501282, + -0.1089945137500763, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 116, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + -0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + 0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.827895998954773, + 0.10899464040994644, + 0.5501894354820251, + -0.11635103821754456 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + 0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3610912561416626, + 0.6254284381866455, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + 0.6624817252159119, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + -0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + -0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3610911965370178, + -0.6254283785820007, + 0.6917025446891785, + -0.13658460974693298 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 14, + 5 + ], + [ + 37, + 5, + 6 + ], + [ + 37, + 6, + 32 + ], + [ + 37, + 32, + 23 + ], + [ + 37, + 23, + 30 + ], + [ + 37, + 30, + 10 + ], + [ + 37, + 10, + 13 + ], + [ + 37, + 13, + 15 + ], + [ + 37, + 15, + 31 + ], + [ + 37, + 31, + 2 + ], + [ + 37, + 2, + 29 + ], + [ + 37, + 29, + 25 + ], + [ + 37, + 25, + 8 + ], + [ + 37, + 8, + 7 + ], + [ + 37, + 7, + 36 + ], + [ + 37, + 36, + 20 + ], + [ + 37, + 20, + 19 + ], + [ + 37, + 19, + 35 + ], + [ + 37, + 35, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 37, + 33, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 3, + 5 + ], + [ + 15, + 13, + 12 + ], + [ + 15, + 12, + 0 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 20, + 21 + ], + [ + 22, + 11, + 23 + ], + [ + 24, + 8, + 25 + ], + [ + 24, + 9, + 8 + ], + [ + 26, + 17, + 16 + ], + [ + 27, + 19, + 21 + ], + [ + 27, + 21, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 1 + ], + [ + 27, + 1, + 0 + ], + [ + 27, + 0, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 22 + ], + [ + 27, + 22, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 17 + ], + [ + 27, + 17, + 26 + ], + [ + 27, + 26, + 28 + ], + [ + 29, + 1, + 24 + ], + [ + 29, + 24, + 25 + ], + [ + 29, + 2, + 1 + ], + [ + 30, + 11, + 10 + ], + [ + 30, + 23, + 11 + ], + [ + 31, + 15, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 32, + 6, + 4 + ], + [ + 32, + 4, + 22 + ], + [ + 32, + 22, + 23 + ], + [ + 33, + 34, + 28 + ], + [ + 33, + 28, + 26 + ], + [ + 33, + 26, + 16 + ], + [ + 35, + 19, + 27 + ], + [ + 35, + 27, + 28 + ], + [ + 35, + 28, + 34 + ], + [ + 36, + 7, + 9 + ], + [ + 36, + 9, + 21 + ], + [ + 36, + 21, + 20 + ], + [ + 37, + 3, + 14 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03041798062622547, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + 0.03041798062622547, + 0.16898436844348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001145233865827322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cbf6da59cafc6a6272a52b8e1560bd12dedd57 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14000787306576967, + "parts": [ + { + "vertices_raw": [ + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + 3.458081903927442e-18, + 0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.012697161175310612, + 0.02199212834239006, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.0, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.024529030546545982, + -0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ] + ], + "indices_raw": [ + 37, + 12, + 11, + 29, + 23, + 22, + 25, + 35, + 7, + 6, + 34, + 5, + 33, + 20, + 1, + 0, + 36, + 14, + 13, + 30, + 31, + 32, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 3, + 9, + 10, + 11, + 12, + 9, + 11, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 1, + 20, + 19, + 2, + 1, + 21, + 22, + 23, + 21, + 23, + 10, + 21, + 24, + 25, + 22, + 26, + 13, + 15, + 27, + 17, + 16, + 27, + 28, + 26, + 15, + 2, + 19, + 4, + 3, + 8, + 24, + 21, + 10, + 9, + 17, + 29, + 10, + 23, + 29, + 11, + 10, + 30, + 13, + 26, + 30, + 26, + 28, + 31, + 32, + 31, + 28, + 27, + 32, + 27, + 16, + 33, + 4, + 19, + 20, + 33, + 5, + 4, + 34, + 6, + 3, + 34, + 3, + 5, + 35, + 25, + 24, + 35, + 24, + 8, + 35, + 8, + 7, + 36, + 0, + 2, + 36, + 2, + 15, + 36, + 15, + 14, + 37, + 9, + 12, + 37, + 18, + 17, + 37, + 17, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.16898438334465027 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.46857351064682007, + 0.46857351064682007, + 0.7489176988601685, + -0.14526726305484772 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + 0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + 0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + 0.461772084236145, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + -0.4617721140384674, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.0, + 0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.4617721140384674, + -0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6017931699752808, + -0.4617721140384674, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + 0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + -0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 70, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17226561903953552 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.29028207063674927, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + 0.2902820408344269, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 93, + "num_vertices": 4, + "plane": [ + 0.7520542740821838, + 0.09900996088981628, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 97, + "num_vertices": 4, + "plane": [ + 0.7520543336868286, + -0.09900989383459091, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + -0.29028207063674927, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.2902820110321045, + 0.7008031010627747, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.4617721438407898, + 0.6017932891845703, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.7008031606674194, + 0.29028210043907166, + 0.6516219973564148, + -0.13134998083114624 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + -0.6017932891845703, + 0.4617721438407898, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7008031010627747, + -0.29028213024139404, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + -0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + -0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.29028207063674927, + 0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + 0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.4617721140384674, + 0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.2902820408344269, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.461772084236145, + -0.6017931699752808, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 12, + 11 + ], + [ + 37, + 11, + 29 + ], + [ + 37, + 29, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 25 + ], + [ + 37, + 25, + 35 + ], + [ + 37, + 35, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 34 + ], + [ + 37, + 34, + 5 + ], + [ + 37, + 5, + 33 + ], + [ + 37, + 33, + 20 + ], + [ + 37, + 20, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 36 + ], + [ + 37, + 36, + 14 + ], + [ + 37, + 14, + 13 + ], + [ + 37, + 13, + 30 + ], + [ + 37, + 30, + 31 + ], + [ + 37, + 31, + 32 + ], + [ + 37, + 32, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 9, + 11 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 1, + 20 + ], + [ + 19, + 2, + 1 + ], + [ + 21, + 22, + 23 + ], + [ + 21, + 23, + 10 + ], + [ + 21, + 24, + 25 + ], + [ + 21, + 25, + 22 + ], + [ + 26, + 13, + 15 + ], + [ + 27, + 17, + 16 + ], + [ + 27, + 28, + 26 + ], + [ + 27, + 26, + 15 + ], + [ + 27, + 15, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 27, + 19, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 8 + ], + [ + 27, + 8, + 24 + ], + [ + 27, + 24, + 21 + ], + [ + 27, + 21, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 17 + ], + [ + 29, + 10, + 23 + ], + [ + 29, + 11, + 10 + ], + [ + 30, + 13, + 26 + ], + [ + 30, + 26, + 28 + ], + [ + 30, + 28, + 31 + ], + [ + 32, + 31, + 28 + ], + [ + 32, + 28, + 27 + ], + [ + 32, + 27, + 16 + ], + [ + 33, + 4, + 19 + ], + [ + 33, + 19, + 20 + ], + [ + 33, + 5, + 4 + ], + [ + 34, + 6, + 3 + ], + [ + 34, + 3, + 5 + ], + [ + 35, + 25, + 24 + ], + [ + 35, + 24, + 8 + ], + [ + 35, + 8, + 7 + ], + [ + 36, + 0, + 2 + ], + [ + 36, + 2, + 15 + ], + [ + 36, + 15, + 14 + ], + [ + 37, + 9, + 12 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 9 + ] + ], + "raw_bounds": [ + [ + -0.02823738195002079, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + 0.02823738195002079, + 0.17226561903953552 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014529661275446415, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json new file mode 100644 index 0000000000000000000000000000000000000000..5d629b5318e48d1d41fdb7268ca687ab5360453b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json @@ -0,0 +1,861 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14240697026252747, + "parts": [ + { + "vertices_raw": [ + [ + -0.012697161175310612, + -0.02199212834239006, + 0.17226561903953552 + ], + [ + 0.0, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.01101340726017952, + 0.019075781106948853, + 0.17554686963558197 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + 3.109907522033459e-18, + 0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + 0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + -0.005700958892703056, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ] + ], + "indices_raw": [ + 22, + 17, + 16, + 1, + 0, + 23, + 6, + 9, + 20, + 4, + 3, + 11, + 10, + 14, + 21, + 24, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 15, + 2, + 1, + 16, + 17, + 18, + 15, + 16, + 15, + 1, + 19, + 5, + 4, + 20, + 9, + 8, + 20, + 8, + 19, + 20, + 19, + 4, + 21, + 14, + 13, + 22, + 18, + 17, + 25, + 26, + 24, + 25, + 24, + 21, + 25, + 21, + 13, + 27, + 18, + 22, + 27, + 22, + 24, + 27, + 24, + 26, + 28, + 23, + 0, + 28, + 0, + 2, + 28, + 7, + 6, + 23, + 29, + 11, + 3, + 29, + 3, + 5, + 29, + 5, + 19, + 8, + 7, + 28, + 2, + 15, + 18, + 27, + 26, + 25, + 13, + 12, + 29, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17226560413837433 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.20580582320690155, + -0.7680777907371521, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.3975863754749298, + 0.6886398792266846, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.6859841346740723, + -0.18380887806415558, + 0.7040172219276428, + -0.1386980563402176 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0914917066693306, + 0.6949476003646851, + 0.7132160067558289, + -0.14051032066345215 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.35509154200553894, + 0.6150364875793457, + 0.704017162322998, + -0.1386980414390564 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.3550914525985718, + -0.6150364875793457, + 0.7040171027183533, + -0.1386980414390564 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.09149173647165298, + -0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.4406450390815735, + 0.4406450390815735, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.6949474811553955, + 0.0914916843175888, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6019324660301208, + 0.16128729283809662, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.6886398792266846, + 0.3975863754749298, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5560963749885559, + 0.42670780420303345, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.5560962557792664, + -0.42670774459838867, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + 0.09149157255887985, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + 0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + 0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + -0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + -0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + -0.09149155765771866, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.42670774459838867, + -0.5560962557792664, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.31158310174942017, + -0.539677619934082, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 85, + "num_vertices": 4, + "plane": [ + -0.5560963749885559, + -0.42670780420303345, + 0.713216245174408, + -0.14051036536693573 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.09149173647165298, + 0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.2682397961616516, + 0.6475880146026611, + 0.7132160663604736, + -0.14051033556461334 + ] + }, + { + "index_base": 95, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.17554685473442078 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 17, + 16 + ], + [ + 22, + 16, + 1 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 23 + ], + [ + 22, + 23, + 6 + ], + [ + 22, + 6, + 9 + ], + [ + 22, + 9, + 20 + ], + [ + 22, + 20, + 4 + ], + [ + 22, + 4, + 3 + ], + [ + 22, + 3, + 11 + ], + [ + 22, + 11, + 10 + ], + [ + 22, + 10, + 14 + ], + [ + 22, + 14, + 21 + ], + [ + 22, + 21, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 10, + 13, + 14 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 15 + ], + [ + 16, + 15, + 1 + ], + [ + 19, + 5, + 4 + ], + [ + 20, + 9, + 8 + ], + [ + 20, + 8, + 19 + ], + [ + 20, + 19, + 4 + ], + [ + 21, + 14, + 13 + ], + [ + 22, + 18, + 17 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 21 + ], + [ + 25, + 21, + 13 + ], + [ + 27, + 18, + 22 + ], + [ + 27, + 22, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 23, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 23 + ], + [ + 29, + 11, + 3 + ], + [ + 29, + 3, + 5 + ], + [ + 29, + 5, + 19 + ], + [ + 29, + 19, + 8 + ], + [ + 29, + 8, + 7 + ], + [ + 29, + 7, + 28 + ], + [ + 29, + 28, + 2 + ], + [ + 29, + 2, + 15 + ], + [ + 29, + 15, + 18 + ], + [ + 29, + 18, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.025394322350621223, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + 0.025394322350621223, + 0.17554686963558197 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012311902828514576, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json new file mode 100644 index 0000000000000000000000000000000000000000..1197b7ecbf5198f810bcfaf78f01cde5f3ae85c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json @@ -0,0 +1,849 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14450692012906075, + "parts": [ + { + "vertices_raw": [ + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.0, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + 0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 2.6975067014777965e-18, + 0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ] + ], + "indices_raw": [ + 23, + 24, + 22, + 19, + 18, + 2, + 6, + 9, + 8, + 12, + 21, + 5, + 7, + 14, + 13, + 17, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 5, + 4, + 8, + 9, + 10, + 8, + 10, + 11, + 12, + 13, + 14, + 15, + 13, + 15, + 16, + 17, + 18, + 19, + 20, + 0, + 18, + 0, + 2, + 21, + 12, + 11, + 21, + 11, + 3, + 21, + 3, + 5, + 22, + 20, + 19, + 25, + 26, + 24, + 23, + 25, + 23, + 17, + 16, + 27, + 10, + 9, + 27, + 9, + 6, + 27, + 6, + 1, + 28, + 14, + 7, + 28, + 7, + 4, + 28, + 15, + 14, + 29, + 20, + 22, + 29, + 22, + 24, + 29, + 24, + 26, + 29, + 26, + 25, + 16, + 15, + 28, + 4, + 3, + 11, + 10, + 27, + 1, + 0, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17554686963558197 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + 0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.10564523935317993, + -0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + 0.773627519607544, + 0.4494445025920868, + -0.09790484607219696 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6421238780021667, + -0.4927191138267517, + 0.5872860550880432, + -0.12077176570892334 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + -0.7887431383132935, + -0.21134310960769653, + 0.5772507190704346, + -0.1187080591917038 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.10564523935317993, + 0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + 0.7071678042411804, + 0.5772504806518555, + -0.11870801448822021 + ] + }, + { + "index_base": 42, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + -0.7071678638458252, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.10564522445201874, + -0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8024551272392273, + 0.10564522445201874, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.7053255438804626, + 0.18899142742156982, + 0.6832263469696045, + -0.1360223889350891 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.773627519607544, + 0.44665414094924927, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6421239972114563, + -0.49271920323371887, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 61, + "num_vertices": 4, + "plane": [ + 0.8024551868438721, + 0.10564521700143814, + 0.5872858762741089, + -0.12077173590660095 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + 0.7071678638458252, + 0.40828362107276917, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + -0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + -0.773627519607544, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + -0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.10564522445201874, + 0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + 0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.6323776245117188, + -0.36510345339775085, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.8628695607185364, + -0.23120519518852234, + 0.44944432377815247, + -0.09790481626987457 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.8024551272392273, + -0.10564497858285904, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 96, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1788281500339508 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 24, + 22 + ], + [ + 23, + 22, + 19 + ], + [ + 23, + 19, + 18 + ], + [ + 23, + 18, + 2 + ], + [ + 23, + 2, + 6 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 8, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 5 + ], + [ + 23, + 5, + 7 + ], + [ + 23, + 7, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 0 + ], + [ + 18, + 0, + 2 + ], + [ + 21, + 12, + 11 + ], + [ + 21, + 11, + 3 + ], + [ + 21, + 3, + 5 + ], + [ + 22, + 20, + 19 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 17 + ], + [ + 25, + 17, + 16 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 6 + ], + [ + 27, + 6, + 1 + ], + [ + 28, + 14, + 7 + ], + [ + 28, + 7, + 4 + ], + [ + 28, + 15, + 14 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 24 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 11 + ], + [ + 29, + 11, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 20 + ] + ], + "raw_bounds": [ + [ + -0.02202681452035904, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + 0.02202681452035904, + 0.17882812023162842 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010915831662714481, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json new file mode 100644 index 0000000000000000000000000000000000000000..ce4f483b6f448026dd24529182d51155046e8782 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14629891701042652, + "parts": [ + { + "vertices_raw": [ + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.009633280336856842, + 0.016685331240296364, + 0.18210937082767487 + ], + [ + -0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + -0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 2.4034177307307466e-18, + 0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + 0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 23, + 2, + 19, + 14, + 13, + 17, + 18, + 5, + 12, + 21, + 20, + 7, + 6, + 24, + 9, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 5, + 4, + 13, + 14, + 15, + 13, + 15, + 16, + 13, + 16, + 17, + 18, + 17, + 16, + 18, + 16, + 3, + 18, + 3, + 5, + 19, + 2, + 1, + 20, + 21, + 22, + 20, + 22, + 8, + 7, + 23, + 11, + 10, + 0, + 23, + 0, + 2, + 25, + 26, + 24, + 25, + 24, + 6, + 25, + 6, + 8, + 27, + 10, + 9, + 27, + 9, + 24, + 27, + 24, + 26, + 28, + 21, + 12, + 28, + 12, + 4, + 28, + 22, + 21, + 29, + 14, + 19, + 29, + 19, + 1, + 29, + 1, + 0, + 10, + 27, + 26, + 25, + 8, + 22, + 28, + 4, + 3, + 16, + 15, + 29, + 15, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1788281500339508 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6755065321922302, + 0.6755065321922302, + 0.29560407996177673, + -0.07161065936088562 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + 0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + -0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.4977850914001465, + 0.8621888756752014, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + -0.4977850914001465, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + -0.24725249409675598, + 0.2956043481826782, + -0.0716107115149498 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + -0.12976539134979248, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + 0.10779131203889847, + -0.038620248436927795 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + 0.24725249409675598, + 0.2956043779850006, + -0.0716107189655304 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + 0.4977850914001465, + -0.09402286261320114, + -0.002058766782283783 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.2576724886894226, + -0.9616467356681824, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.4972335994243622, + 0.8612337112426758, + 0.10504791885614395, + -0.03763731196522713 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.49723368883132935, + -0.8612338304519653, + 0.10504798591136932, + -0.03763732686638832 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + -0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + 0.12976548075675964, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + 0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.8273232579231262, + 0.4776553809642792, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.8273231983184814, + -0.4776553511619568, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + -0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + -0.12976549565792084, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.380453884601593, + 0.9184965491294861, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.6052143573760986, + -0.7887309193611145, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.4776553511619568, + -0.8273231983184814, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 99, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18210938572883606 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + -0.788730800151825, + -0.6052144169807434, + 0.1077912449836731, + -0.0386202298104763 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 2, + 19 + ], + [ + 23, + 19, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 23, + 17, + 18 + ], + [ + 23, + 18, + 5 + ], + [ + 23, + 5, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 20 + ], + [ + 23, + 20, + 7 + ], + [ + 23, + 7, + 6 + ], + [ + 23, + 6, + 24 + ], + [ + 23, + 24, + 9 + ], + [ + 23, + 9, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 5, + 4 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 17, + 16 + ], + [ + 18, + 16, + 3 + ], + [ + 18, + 3, + 5 + ], + [ + 19, + 2, + 1 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 8 + ], + [ + 20, + 8, + 7 + ], + [ + 23, + 11, + 10 + ], + [ + 23, + 10, + 0 + ], + [ + 23, + 0, + 2 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 6 + ], + [ + 25, + 6, + 8 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 21, + 12 + ], + [ + 28, + 12, + 4 + ], + [ + 28, + 22, + 21 + ], + [ + 29, + 14, + 19 + ], + [ + 29, + 19, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 8 + ], + [ + 29, + 8, + 22 + ], + [ + 29, + 22, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 14 + ] + ], + "raw_bounds": [ + [ + -0.01962539367377758, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + 0.01962539367377758, + 0.18210937082767487 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001034105196595192, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json new file mode 100644 index 0000000000000000000000000000000000000000..a66e747ac6b4d1d9f9583c8e18ee680f8dd5e960 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json @@ -0,0 +1,895 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1480179149657488, + "parts": [ + { + "vertices_raw": [ + [ + -0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 2.3594733470985608e-18, + 0.019266560673713684, + 0.18210937082767487 + ], + [ + -0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.019266560673713684, + 0.18210937082767487 + ], + [ + 0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 11, + 12, + 13, + 9, + 8, + 14, + 15, + 16, + 3, + 1, + 0, + 17, + 4, + 6, + 7, + 18, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 9, + 10, + 19, + 20, + 17, + 19, + 17, + 0, + 19, + 0, + 2, + 21, + 2, + 3, + 21, + 3, + 16, + 21, + 16, + 22, + 23, + 5, + 4, + 23, + 4, + 17, + 23, + 17, + 20, + 24, + 25, + 18, + 24, + 18, + 7, + 24, + 7, + 5, + 26, + 27, + 14, + 26, + 14, + 8, + 26, + 8, + 10, + 28, + 22, + 16, + 15, + 28, + 15, + 14, + 27, + 29, + 10, + 9, + 13, + 29, + 13, + 12, + 30, + 31, + 30, + 12, + 11, + 31, + 11, + 18, + 25, + 31, + 25, + 24, + 5, + 23, + 20, + 19, + 2, + 21, + 22, + 28, + 27, + 26, + 10, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1853906363248825 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.7911277413368225, + 0.6070536971092224, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + 0.7911276817321777, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.7911276817321777, + -0.6070536971092224, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + -0.7911277413368225, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.9886636137962341, + 0.13016001880168915, + -0.07485152781009674, + -0.0054169828072190285 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + 0.13015983998775482, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + 0.256758451461792, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + 0.4820060729980469, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + 0.8348588347434998, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + 0.9582359194755554, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + 0.9886636137962341, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + -0.4820060729980469, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + -0.256758451461792, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + -0.13015983998775482, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + -0.9886636137962341, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + -0.9582359194755554, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + -0.8348588347434998, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.7911277413368225, + 0.6070535182952881, + -0.07485149055719376, + -0.005416986532509327 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.8591307997703552, + 0.4960193336009979, + 0.12593309581279755, + -0.04204677417874336 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9311641454696655, + 0.24950462579727173, + -0.26585865020751953, + 0.03047502227127552 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + 0.9886636137962341, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.49866828322410583, + 0.8637188673019409, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9886636137962341, + -0.13016001880168915, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8637188673019409, + -0.49866828322410583, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.4986683130264282, + -0.8637189269065857, + -0.07293513417243958, + -0.005278333090245724 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + -0.9886636137962341, + -0.074851393699646, + -0.005417007952928543 + ] + }, + { + "index_base": 100, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18210937082767487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 11, + 15, + 16 + ], + [ + 11, + 16, + 3 + ], + [ + 11, + 3, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 17 + ], + [ + 11, + 17, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 7 + ], + [ + 11, + 7, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 9, + 10 + ], + [ + 19, + 20, + 17 + ], + [ + 19, + 17, + 0 + ], + [ + 19, + 0, + 2 + ], + [ + 21, + 2, + 3 + ], + [ + 21, + 3, + 16 + ], + [ + 21, + 16, + 22 + ], + [ + 23, + 5, + 4 + ], + [ + 23, + 4, + 17 + ], + [ + 23, + 17, + 20 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 7 + ], + [ + 24, + 7, + 5 + ], + [ + 26, + 27, + 14 + ], + [ + 26, + 14, + 8 + ], + [ + 26, + 8, + 10 + ], + [ + 28, + 22, + 16 + ], + [ + 28, + 16, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 27 + ], + [ + 29, + 10, + 9 + ], + [ + 29, + 9, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 30 + ], + [ + 31, + 30, + 12 + ], + [ + 31, + 12, + 11 + ], + [ + 31, + 11, + 18 + ], + [ + 31, + 18, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 5 + ], + [ + 31, + 5, + 23 + ], + [ + 31, + 23, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 2 + ], + [ + 31, + 2, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 28 + ], + [ + 31, + 28, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 10 + ], + [ + 31, + 10, + 29 + ], + [ + 31, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.18210937082767487 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.1853906214237213 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013225823640823364, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5afb33362b3e65e80336e67c565e9b069c14c3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15015671402215958, + "parts": [ + { + "vertices_raw": [ + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + -0.01929258555173874, + 3.543990400805362e-18, + 0.19200000166893005 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + 2.3626604739987276e-18, + 0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + -0.004993288777768612, + 0.018635207787156105, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + -0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + 0.004993288777768612, + 0.19200000166893005 + ], + [ + 0.01929258555173874, + -1.1813302369993638e-18, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + -0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.0, + -0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + 0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.004993288777768612, + -0.018635207787156105, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + 0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + -0.004993288777768612, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 7, + 6, + 1, + 0, + 10, + 9, + 4, + 3, + 19, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 20, + 11, + 10, + 20, + 10, + 0, + 20, + 0, + 2, + 21, + 8, + 7, + 18, + 21, + 18, + 17, + 22, + 23, + 24, + 19, + 23, + 19, + 3, + 23, + 3, + 5, + 25, + 26, + 15, + 14, + 25, + 14, + 13, + 27, + 28, + 2, + 1, + 28, + 1, + 6, + 28, + 6, + 8, + 29, + 22, + 17, + 16, + 29, + 16, + 15, + 26, + 30, + 5, + 4, + 30, + 4, + 9, + 30, + 9, + 11, + 31, + 27, + 13, + 12, + 31, + 12, + 19, + 24, + 31, + 24, + 23, + 5, + 30, + 11, + 20, + 2, + 28, + 8, + 21, + 22, + 29, + 26, + 25, + 27 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1853906214237213 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.6084230542182922, + 0.7929122447967529, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.7929122447967529, + 0.6084230542182922, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9908936619758606, + 0.13045360147953033, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.13045360147953033, + 0.9908936619758606, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.13045340776443481, + 0.9908936023712158, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.2582406997680664, + 0.9637676477432251, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.4956285059452057, + 0.8584535121917725, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 37, + "num_vertices": 4, + "plane": [ + -0.9654159545898438, + -0.25868234038352966, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + -0.7929121851921082, + -0.608423113822937, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.9908936023712158, + 0.13045340776443481, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.9637676477432251, + 0.2582406997680664, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.8584535121917725, + 0.4956285059452057, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + 0.25868234038352966, + -0.9654159545898438, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.608423113822937, + -0.7929121851921082, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.792911946773529, + 0.608423113822937, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + -0.8640905022621155, + 0.49888280034065247, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.9574806094169617, + 0.25655597448349, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 71, + "num_vertices": 4, + "plane": [ + -0.4997360110282898, + -0.8655682802200317, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 75, + "num_vertices": 4, + "plane": [ + -0.13045349717140198, + -0.9908936023712158, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.608423113822937, + 0.792911946773529, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.49888280034065247, + 0.8640905022621155, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.25655597448349, + 0.9574806094169617, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8655682802200317, + -0.4997360110282898, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.9908936023712158, + -0.13045349717140198, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 1 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 4 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 19 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 20, + 10, + 0 + ], + [ + 20, + 0, + 2 + ], + [ + 21, + 8, + 7 + ], + [ + 21, + 7, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 22 + ], + [ + 23, + 24, + 19 + ], + [ + 23, + 19, + 3 + ], + [ + 23, + 3, + 5 + ], + [ + 25, + 26, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 13 + ], + [ + 25, + 13, + 27 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 6 + ], + [ + 28, + 6, + 8 + ], + [ + 29, + 22, + 17 + ], + [ + 29, + 17, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 26 + ], + [ + 30, + 5, + 4 + ], + [ + 30, + 4, + 9 + ], + [ + 30, + 9, + 11 + ], + [ + 31, + 27, + 13 + ], + [ + 31, + 13, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 31, + 23, + 5 + ], + [ + 31, + 5, + 30 + ], + [ + 31, + 30, + 11 + ], + [ + 31, + 11, + 20 + ], + [ + 31, + 20, + 2 + ], + [ + 31, + 2, + 28 + ], + [ + 31, + 28, + 8 + ], + [ + 31, + 8, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 29 + ], + [ + 31, + 29, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 27 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.19200000166893005 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011632321402430534, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json new file mode 100644 index 0000000000000000000000000000000000000000..9e04de0ac55fb179e738929156449c7be5ff2ad5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json @@ -0,0 +1,160 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15206552995368838, + "parts": [ + { + "vertices_raw": [ + [ + 0.0, + 0.0, + 0.21119999885559082 + ], + [ + -0.006200000178068876, + 7.592810266825178e-19, + 0.20960000157356262 + ], + [ + -1.1389215141743826e-18, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.0, + 0.20960000157356262 + ], + [ + 3.796405133412589e-19, + 0.006200000178068876, + 0.20960000157356262 + ] + ], + "indices_raw": [ + 4, + 3, + 2, + 1, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.20960000157356262 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.006200000178068876, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.006200000178068876, + 0.21119999885559082 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005383281968533993, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json new file mode 100644 index 0000000000000000000000000000000000000000..e15f60aa7c24b3337c080f1bcc49edba9e6d64d6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15337551105767488, + "parts": [ + { + "vertices_raw": [ + [ + 0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.020999999716877937, + 0.0, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.0, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.19200000166893005 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.01852034591138363, + -0.009899331256747246, + 0.19200000166893005 + ], + [ + -0.009899331256747246, + -0.01852034591138363, + 0.19200000166893005 + ], + [ + -0.01852034591138363, + 0.009899331256747246, + 0.19200000166893005 + ], + [ + 0.009899331256747246, + 0.01852034591138363, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 9, + 10, + 11, + 12, + 6, + 8, + 13, + 14, + 3, + 5, + 15, + 16, + 0, + 2, + 17, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 19, + 10, + 20, + 21, + 16, + 15, + 20, + 15, + 5, + 4, + 22, + 23, + 14, + 13, + 22, + 13, + 8, + 7, + 24, + 25, + 12, + 11, + 24, + 11, + 10, + 19, + 26, + 27, + 18, + 17, + 26, + 17, + 2, + 1, + 28, + 1, + 0, + 28, + 0, + 16, + 28, + 16, + 21, + 29, + 4, + 3, + 29, + 3, + 14, + 29, + 14, + 23, + 30, + 7, + 6, + 30, + 6, + 12, + 30, + 12, + 25, + 31, + 19, + 9, + 31, + 9, + 18, + 31, + 18, + 27, + 31, + 27, + 26, + 1, + 28, + 21, + 20, + 4, + 29, + 23, + 22, + 7, + 30, + 25, + 24, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.2094999998807907 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.5141027569770813, + -0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8577286601066589, + -0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5141027569770813, + 0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.8577286601066589, + 0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9694538712501526, + -0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8572181463241577, + -0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8032076358795166, + -0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.24283559620380402, + -0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.5137967467308044, + -0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.5956991910934448, + -0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.9694538712501526, + 0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.8572181463241577, + 0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.8032076358795166, + 0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.24283559620380402, + 0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5137967467308044, + 0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5956991910934448, + 0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 9, + 12, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 13 + ], + [ + 9, + 13, + 14 + ], + [ + 9, + 14, + 3 + ], + [ + 9, + 3, + 5 + ], + [ + 9, + 5, + 15 + ], + [ + 9, + 15, + 16 + ], + [ + 9, + 16, + 0 + ], + [ + 9, + 0, + 2 + ], + [ + 9, + 2, + 17 + ], + [ + 9, + 17, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 19, + 10 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 22, + 13, + 8 + ], + [ + 22, + 8, + 7 + ], + [ + 24, + 25, + 12 + ], + [ + 24, + 12, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 19 + ], + [ + 26, + 27, + 18 + ], + [ + 26, + 18, + 17 + ], + [ + 26, + 17, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 28, + 1, + 0 + ], + [ + 28, + 0, + 16 + ], + [ + 28, + 16, + 21 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 14 + ], + [ + 29, + 14, + 23 + ], + [ + 30, + 7, + 6 + ], + [ + 30, + 6, + 12 + ], + [ + 30, + 12, + 25 + ], + [ + 31, + 19, + 9 + ], + [ + 31, + 9, + 18 + ], + [ + 31, + 18, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 1 + ], + [ + 31, + 1, + 28 + ], + [ + 31, + 28, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 4 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 23 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 7 + ], + [ + 31, + 7, + 30 + ], + [ + 31, + 30, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 19 + ] + ], + "raw_bounds": [ + [ + -0.020999999716877937, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.020999999716877937, + 0.2094999998807907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009771371260285378, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json new file mode 100644 index 0000000000000000000000000000000000000000..eac795cfe5ffd45e86652a371e47b5242aac34e1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json @@ -0,0 +1,407 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15505042020231485, + "parts": [ + { + "vertices_raw": [ + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0016406249487772584 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.0, + -0.004692429210990667, + 0.0016406249487772584 + ], + [ + -0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0 + ], + [ + 5.746567955025197e-19, + 0.004692429210990667, + 0.0 + ], + [ + -0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ], + [ + 0.0, + -0.004692429210990667, + 0.0 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0 + ], + [ + 0.004692429210990667, + -2.8732839775125986e-19, + 0.0 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 5, + 4, + 8, + 4, + 3, + 10, + 11, + 12, + 7, + 6, + 11, + 6, + 5, + 9, + 13, + 10, + 3, + 2, + 13, + 2, + 1, + 14, + 15, + 14, + 1, + 0, + 15, + 0, + 7, + 12, + 15, + 12, + 11, + 9, + 8, + 10, + 13, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.0016406250651925802 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + 0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + 0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9238794445991516, + -0.38268348574638367, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.38268348574638367, + -0.9238794445991516, + 0.0, + -0.004335239063948393 + ] + }, + { + "index_base": 40, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 0, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 11, + 12, + 7 + ], + [ + 11, + 7, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 9 + ], + [ + 13, + 10, + 3 + ], + [ + 13, + 3, + 2 + ], + [ + 13, + 2, + 1 + ], + [ + 13, + 1, + 14 + ], + [ + 15, + 14, + 1 + ], + [ + 15, + 1, + 0 + ], + [ + 15, + 0, + 7 + ], + [ + 15, + 7, + 12 + ], + [ + 15, + 12, + 11 + ], + [ + 15, + 11, + 9 + ], + [ + 15, + 9, + 8 + ], + [ + 15, + 8, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ] + ], + "raw_bounds": [ + [ + -0.004692429210990667, + -0.004692429210990667, + 0.0 + ], + [ + 0.004692429210990667, + 0.004692429210990667, + 0.0016406249487772584 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006156987510621548, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json new file mode 100644 index 0000000000000000000000000000000000000000..cccf0b66db78f9cbc90604f928dc094150197e7a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json @@ -0,0 +1,392 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15640905126929283, + "parts": [ + { + "vertices_raw": [ + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + -0.0023462146054953337, + 0.004063762724399567, + 0.0016406249487772584 + ], + [ + -0.004692429210990667, + 8.619852191031737e-19, + 0.0016406249487772584 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + 0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 1.947072526542898e-18, + 0.0158990528434515, + 0.004921874962747097 + ], + [ + 0.0033180483151227236, + -0.0033180483151227236, + 0.0016406249487772584 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.0, + -0.0158990528434515, + 0.004921874962747097 + ], + [ + -0.0012144900392740965, + -0.00453253835439682, + 0.0016406249487772584 + ] + ], + "indices_raw": [ + 10, + 6, + 5, + 8, + 0, + 3, + 4, + 11, + 0, + 1, + 2, + 3, + 4, + 3, + 2, + 5, + 6, + 7, + 5, + 7, + 8, + 9, + 7, + 6, + 10, + 11, + 12, + 9, + 10, + 9, + 6, + 1, + 8, + 7, + 1, + 0, + 8, + 12, + 2, + 1, + 7, + 9, + 12, + 11, + 4, + 12, + 4, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.004921875428408384 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.25829023122787476, + 0.11817457526922226, + -0.9588123559951782, + 0.00048681371845304966 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + -0.27911412715911865, + -0.11561283469200134, + -0.9532728791236877, + 0.0002542396541684866 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.2791140675544739, + 0.11561283469200134, + -0.953272819519043, + 0.00025424035266041756 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.11561281979084015, + 0.27911409735679626, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.2523678243160248, + 0.0, + -0.9676313996315002, + 0.0007501514628529549 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.11258277297019958, + -0.27179884910583496, + -0.9557461142539978, + 0.00038271863013505936 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.27911409735679626, + -0.11561281979084015, + -0.953272819519043, + 0.00025423988699913025 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.034319739788770676, + 0.2606842815876007, + -0.9648139476776123, + 0.0006040602456778288 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + 0.287091463804245, + -0.9504930973052979, + 0.00011372612789273262 + ] + }, + { + "index_base": 37, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.0016406249487772584 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.11891717463731766, + -0.287091463804245, + -0.9504930973052979, + 0.00011372589506208897 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.20859934389591217, + -0.16006390750408173, + -0.9648139476776123, + 0.0006040600128471851 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 6, + 5 + ], + [ + 10, + 5, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 4 + ], + [ + 10, + 4, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 3, + 2 + ], + [ + 5, + 6, + 7 + ], + [ + 5, + 7, + 8 + ], + [ + 9, + 7, + 6 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 6 + ], + [ + 1, + 8, + 7 + ], + [ + 1, + 0, + 8 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 7 + ], + [ + 12, + 7, + 9 + ], + [ + 12, + 11, + 4 + ], + [ + 12, + 4, + 2 + ] + ], + "raw_bounds": [ + [ + -0.0158990528434515, + -0.0158990528434515, + 0.0016406249487772584 + ], + [ + 0.0158990528434515, + 0.0158990528434515, + 0.004921874962747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007860851474106312, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd2dd8d55b71d0835504c1a9926186867ae5cd4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json @@ -0,0 +1,467 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15810118708759546, + "parts": [ + { + "vertices_raw": [ + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.0, + -0.02528391219675541, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + -0.011242328211665154, + 0.004921874962747097 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ], + [ + 3.096386220945514e-18, + 0.02528391219675541, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + -0.004114978015422821, + -0.015357306227087975, + 0.004921874962747097 + ], + [ + -0.004114978015422821, + 0.015357306227087975, + 0.004921874962747097 + ], + [ + 0.0158990528434515, + -9.73536263271449e-19, + 0.004921874962747097 + ], + [ + -0.013768984004855156, + -0.00794952642172575, + 0.004921874962747097 + ], + [ + -0.0158990528434515, + 2.9206086864167707e-18, + 0.004921874962747097 + ], + [ + -0.011242328211665154, + 0.011242328211665154, + 0.004921874962747097 + ] + ], + "indices_raw": [ + 3, + 5, + 6, + 7, + 8, + 1, + 0, + 9, + 0, + 1, + 2, + 3, + 4, + 5, + 10, + 2, + 1, + 10, + 1, + 8, + 11, + 5, + 4, + 11, + 6, + 5, + 12, + 4, + 3, + 9, + 12, + 9, + 0, + 2, + 13, + 10, + 8, + 13, + 8, + 7, + 13, + 7, + 14, + 15, + 6, + 11, + 15, + 11, + 4, + 12, + 2, + 10, + 13, + 14, + 15, + 14, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.008203125558793545 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + -0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 11, + "num_vertices": 3, + "plane": [ + 0.1354476809501648, + 0.32699963450431824, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.07618460059165955, + -0.2843247652053833, + -0.9556962847709656, + 0.0006508529186248779 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + -0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.07618460804224014, + 0.2843247950077057, + -0.9556962847709656, + 0.0006508519873023033 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.151750385761261, + 0.36635786294937134, + -0.918016254901886, + -0.001732358243316412 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + 0.32699963450431824, + -0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.18350711464881897, + -0.23915112018585205, + -0.953484058380127, + 0.0002650842070579529 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.36635786294937134, + -0.151750385761261, + -0.918016254901886, + -0.0017323591746389866 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.3287581205368042, + -0.0880904570221901, + -0.9402968287467957, + -0.000598919577896595 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.17017772793769836, + 0.2947564125061035, + -0.9402968287467957, + -0.0005989186465740204 + ] + }, + { + "index_base": 46, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.004921875428408384 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + -0.32699963450431824, + 0.1354476809501648, + -0.9352673888206482, + -0.0005957153625786304 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 5, + 6 + ], + [ + 3, + 6, + 7 + ], + [ + 3, + 7, + 8 + ], + [ + 3, + 8, + 1 + ], + [ + 3, + 1, + 0 + ], + [ + 3, + 0, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 10, + 2, + 1 + ], + [ + 10, + 1, + 8 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 6, + 5 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 9 + ], + [ + 12, + 9, + 0 + ], + [ + 12, + 0, + 2 + ], + [ + 13, + 10, + 8 + ], + [ + 13, + 8, + 7 + ], + [ + 13, + 7, + 14 + ], + [ + 15, + 6, + 11 + ], + [ + 15, + 11, + 4 + ], + [ + 15, + 4, + 12 + ], + [ + 15, + 12, + 2 + ], + [ + 15, + 2, + 10 + ], + [ + 15, + 10, + 13 + ], + [ + 15, + 13, + 14 + ], + [ + 15, + 14, + 7 + ], + [ + 15, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.02528391219675541, + -0.02528391219675541, + 0.004921874962747097 + ], + [ + 0.02528391219675541, + 0.02528391219675541, + 0.00820312462747097 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008236910216510296, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json new file mode 100644 index 0000000000000000000000000000000000000000..6975bcddbde1b4122b5fcbd1af2e7fb6bef1c9ee --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1597761302255094, + "parts": [ + { + "vertices_raw": [ + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.029810724779963493, + 0.011484375223517418 + ], + [ + 0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.017878426238894463, + -0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + 0.02189650945365429, + 0.00820312462747097 + ], + [ + -0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.012641956098377705, + -0.02189650945365429, + 0.00820312462747097 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.017878426238894463, + 0.017878426238894463, + 0.00820312462747097 + ], + [ + 0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + 3.650760806322175e-18, + 0.029810724779963493, + 0.011484375223517418 + ], + [ + -0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + -0.02528391219675541, + 4.6445790212255416e-18, + 0.00820312462747097 + ], + [ + -0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + -0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.02528391219675541, + -1.548193110472757e-18, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.006543958093971014, + 0.024422382935881615, + 0.00820312462747097 + ], + [ + -0.006543958093971014, + -0.024422382935881615, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + 0.012641956098377705, + 0.00820312462747097 + ], + [ + 0.02189650945365429, + -0.012641956098377705, + 0.00820312462747097 + ] + ], + "indices_raw": [ + 25, + 12, + 11, + 15, + 5, + 7, + 21, + 18, + 17, + 9, + 8, + 1, + 0, + 4, + 22, + 24, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 11, + 14, + 15, + 16, + 10, + 9, + 17, + 18, + 19, + 17, + 19, + 16, + 17, + 16, + 9, + 20, + 7, + 6, + 21, + 7, + 20, + 21, + 20, + 19, + 21, + 19, + 18, + 22, + 23, + 24, + 25, + 24, + 23, + 26, + 6, + 5, + 26, + 5, + 15, + 26, + 15, + 14, + 27, + 1, + 8, + 27, + 8, + 10, + 27, + 2, + 1, + 28, + 13, + 12, + 28, + 12, + 25, + 28, + 25, + 23, + 29, + 23, + 22, + 29, + 22, + 4, + 29, + 4, + 3, + 29, + 3, + 2, + 27, + 10, + 16, + 19, + 20, + 6, + 26, + 14, + 13, + 28, + 23 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.011484374292194843 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.07703543454408646, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.30010682344436646, + -0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + 0.5913171768188477, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.3413970172405243, + -0.5913171768188477, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.30010679364204407, + 0.5198003649711609, + -0.7998396754264832, + -0.008097466081380844 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.07703544199466705, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + -0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.5851427912712097, + -0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.5023854970932007, + -0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + -0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.36777162551879883, + 0.36777162551879883, + -0.85410076379776, + -0.005695972591638565 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.5913171768188477, + 0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.5023854374885559, + 0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5851428508758545, + 0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.5851428508758545, + -0.07703544944524765, + -0.8072628974914551, + -0.008172621950507164 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5851427912712097, + 0.07703543454408646, + -0.8072629570960999, + -0.00817261915653944 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.22585667669773102, + 0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.07703543454408646, + 0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.0, + 0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.07703544199466705, + -0.5851427316665649, + -0.8072630763053894, + -0.008172616362571716 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.22585664689540863, + -0.5452662110328674, + -0.8072630763053894, + -0.008172618225216866 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.0, + -0.5201076865196228, + -0.8541006445884705, + -0.00569597352296114 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + 0.35928595066070557, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + 0.3413970172405243, + -0.730610728263855, + -0.011270416900515556 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5023854970932007, + 0.13461381196975708, + -0.8541006445884705, + -0.005695977248251438 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5023854374885559, + -0.13461381196975708, + -0.8541007041931152, + -0.005695975385606289 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + 0.5913171768188477, + -0.3413970172405243, + -0.7306107878684998, + -0.011270416900515556 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + 0.4682307839393616, + -0.35928598046302795, + -0.8072630167007446, + -0.008172618225216866 + ] + }, + { + "index_base": 102, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.00820312649011612 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 12, + 11 + ], + [ + 25, + 11, + 15 + ], + [ + 25, + 15, + 5 + ], + [ + 25, + 5, + 7 + ], + [ + 25, + 7, + 21 + ], + [ + 25, + 21, + 18 + ], + [ + 25, + 18, + 17 + ], + [ + 25, + 17, + 9 + ], + [ + 25, + 9, + 8 + ], + [ + 25, + 8, + 1 + ], + [ + 25, + 1, + 0 + ], + [ + 25, + 0, + 4 + ], + [ + 25, + 4, + 22 + ], + [ + 25, + 22, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 16, + 10, + 9 + ], + [ + 17, + 18, + 19 + ], + [ + 17, + 19, + 16 + ], + [ + 17, + 16, + 9 + ], + [ + 20, + 7, + 6 + ], + [ + 21, + 7, + 20 + ], + [ + 21, + 20, + 19 + ], + [ + 21, + 19, + 18 + ], + [ + 22, + 23, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 27, + 1, + 8 + ], + [ + 27, + 8, + 10 + ], + [ + 27, + 2, + 1 + ], + [ + 28, + 13, + 12 + ], + [ + 28, + 12, + 25 + ], + [ + 28, + 25, + 23 + ], + [ + 29, + 23, + 22 + ], + [ + 29, + 22, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 2 + ], + [ + 29, + 2, + 27 + ], + [ + 29, + 27, + 10 + ], + [ + 29, + 10, + 16 + ], + [ + 29, + 16, + 19 + ], + [ + 29, + 19, + 20 + ], + [ + 29, + 20, + 6 + ], + [ + 29, + 6, + 26 + ], + [ + 29, + 26, + 14 + ], + [ + 29, + 14, + 13 + ], + [ + 29, + 13, + 28 + ], + [ + 29, + 28, + 23 + ] + ], + "raw_bounds": [ + [ + -0.029810724779963493, + -0.029810724779963493, + 0.00820312462747097 + ], + [ + 0.029810724779963493, + 0.029810724779963493, + 0.011484375223517418 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001462576910853386, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json new file mode 100644 index 0000000000000000000000000000000000000000..b55ea3743544d705cc331eda7da6eef2c552b48f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1620657630264759, + "parts": [ + { + "vertices_raw": [ + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + 0.02107936702668667, + 0.011484375223517418 + ], + [ + 0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.007715583313256502, + -0.028794949874281883, + 0.011484375223517418 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.025816844776272774, + 0.014905362389981747, + 0.011484375223517418 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.014905362389981747, + 0.025816844776272774, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02107936702668667, + -0.02107936702668667, + 0.011484375223517418 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.007715583313256502, + 0.028794949874281883, + 0.011484375223517418 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.028794949874281883, + 0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + 0.028794949874281883, + -0.007715583313256502, + 0.011484375223517418 + ], + [ + -0.029810724779963493, + 5.476141623073569e-18, + 0.011484375223517418 + ], + [ + 0.029810724779963493, + -1.8253804031610875e-18, + 0.011484375223517418 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 37, + 17, + 16, + 34, + 31, + 30, + 15, + 1, + 0, + 29, + 21, + 22, + 35, + 12, + 14, + 36, + 33, + 32, + 19, + 7, + 6, + 28, + 9, + 10, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 7, + 8, + 9, + 5, + 10, + 9, + 8, + 11, + 12, + 13, + 14, + 12, + 11, + 15, + 2, + 1, + 16, + 17, + 18, + 19, + 4, + 7, + 20, + 21, + 3, + 20, + 22, + 21, + 23, + 2, + 15, + 24, + 4, + 19, + 25, + 16, + 18, + 25, + 18, + 8, + 5, + 4, + 24, + 26, + 11, + 13, + 20, + 3, + 2, + 23, + 27, + 28, + 6, + 5, + 28, + 5, + 9, + 29, + 0, + 3, + 29, + 3, + 21, + 30, + 31, + 27, + 23, + 30, + 23, + 15, + 32, + 33, + 26, + 24, + 32, + 24, + 19, + 34, + 16, + 25, + 34, + 25, + 27, + 31, + 35, + 22, + 20, + 13, + 35, + 13, + 12, + 36, + 14, + 11, + 36, + 11, + 26, + 36, + 26, + 33, + 37, + 10, + 8, + 37, + 8, + 18, + 37, + 18, + 17 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.014765623025596142 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + 0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + 0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.336283415555954, + -0.5824601054191589, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.10272129625082016, + -0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.4755764901638031, + 0.4755764901638031, + -0.7400364279747009, + -0.010867668315768242 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.6243534088134766, + 0.4790831506252289, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + 0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.6243535280227661, + -0.47908324003219604, + -0.6169780492782593, + -0.016174141317605972 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6725670099258423, + -0.7400363087654114, + -0.010867679491639137 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10272129625082016, + 0.7802474498748779, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + 0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.5824601054191589, + -0.336283415555954, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5824601054191589, + -0.336283415555954, + -0.7400363087654114, + -0.010867677628993988 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.011484375223517418 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + -0.3011644184589386, + -0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.10272131115198135, + -0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + 0.3011644184589386, + 0.7270748019218445, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + 0.10272131115198135, + 0.7802474498748779, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 98, + "num_vertices": 4, + "plane": [ + 0.7802475690841675, + 0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + 0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.7802475690841675, + -0.10272131115198135, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + -0.3011643886566162, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + 0.7270748019218445, + -0.3011644184589386, + -0.6169783473014832, + -0.016174130141735077 + ] + }, + { + "index_base": 115, + "num_vertices": 4, + "plane": [ + 0.7802475094795227, + -0.1027214452624321, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 119, + "num_vertices": 4, + "plane": [ + -0.3011644184589386, + 0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.4790830910205841, + 0.6243534088134766, + -0.6169781684875488, + -0.016174133867025375 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + -0.7270748019218445, + 0.3011643886566162, + -0.6169782280921936, + -0.016174133867025375 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + -0.6496495008468628, + 0.17407307028770447, + -0.7400366067886353, + -0.010867664590477943 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + -0.7802476286888123, + 0.10272131860256195, + -0.616978108882904, + -0.016174139454960823 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.3011643886566162, + -0.7270748019218445, + -0.6169782876968384, + -0.016174130141735077 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.336283415555954, + -0.5824601054191589, + -0.7400362491607666, + -0.010867678560316563 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.47908324003219604, + -0.6243535280227661, + -0.6169780492782593, + -0.016174141317605972 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 17, + 16 + ], + [ + 37, + 16, + 34 + ], + [ + 37, + 34, + 31 + ], + [ + 37, + 31, + 30 + ], + [ + 37, + 30, + 15 + ], + [ + 37, + 15, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 29 + ], + [ + 37, + 29, + 21 + ], + [ + 37, + 21, + 22 + ], + [ + 37, + 22, + 35 + ], + [ + 37, + 35, + 12 + ], + [ + 37, + 12, + 14 + ], + [ + 37, + 14, + 36 + ], + [ + 37, + 36, + 33 + ], + [ + 37, + 33, + 32 + ], + [ + 37, + 32, + 19 + ], + [ + 37, + 19, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 28 + ], + [ + 37, + 28, + 9 + ], + [ + 37, + 9, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 5 + ], + [ + 10, + 9, + 8 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 12, + 11 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 4, + 7 + ], + [ + 20, + 21, + 3 + ], + [ + 20, + 22, + 21 + ], + [ + 23, + 2, + 15 + ], + [ + 24, + 4, + 19 + ], + [ + 25, + 16, + 18 + ], + [ + 25, + 18, + 8 + ], + [ + 25, + 8, + 5 + ], + [ + 25, + 5, + 4 + ], + [ + 25, + 4, + 24 + ], + [ + 25, + 24, + 26 + ], + [ + 25, + 26, + 11 + ], + [ + 25, + 11, + 13 + ], + [ + 25, + 13, + 20 + ], + [ + 25, + 20, + 3 + ], + [ + 25, + 3, + 2 + ], + [ + 25, + 2, + 23 + ], + [ + 25, + 23, + 27 + ], + [ + 28, + 6, + 5 + ], + [ + 28, + 5, + 9 + ], + [ + 29, + 0, + 3 + ], + [ + 29, + 3, + 21 + ], + [ + 30, + 31, + 27 + ], + [ + 30, + 27, + 23 + ], + [ + 30, + 23, + 15 + ], + [ + 32, + 33, + 26 + ], + [ + 32, + 26, + 24 + ], + [ + 32, + 24, + 19 + ], + [ + 34, + 16, + 25 + ], + [ + 34, + 25, + 27 + ], + [ + 34, + 27, + 31 + ], + [ + 35, + 22, + 20 + ], + [ + 35, + 20, + 13 + ], + [ + 35, + 13, + 12 + ], + [ + 36, + 14, + 11 + ], + [ + 36, + 11, + 26 + ], + [ + 36, + 26, + 33 + ], + [ + 37, + 10, + 8 + ], + [ + 37, + 8, + 18 + ], + [ + 37, + 18, + 17 + ] + ], + "raw_bounds": [ + [ + -0.03240536153316498, + -0.03240536153316498, + 0.011484375223517418 + ], + [ + 0.03240536153316498, + 0.03240536153316498, + 0.014765624888241291 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013627959415316582, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json new file mode 100644 index 0000000000000000000000000000000000000000..57cac18d7b027e6d5b7b782130f4fed39eed6f12 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16412657825276256, + "parts": [ + { + "vertices_raw": [ + [ + -0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03240536153316498, + -1.984256156233535e-18, + 0.014765624888241291 + ], + [ + 0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + 0.008387125097215176, + 0.014765624888241291 + ], + [ + -0.03240536153316498, + 5.952768468700605e-18, + 0.014765624888241291 + ], + [ + 0.0, + -0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.008387125097215176, + -0.03130117803812027, + 0.014765624888241291 + ], + [ + 3.96851231246707e-18, + 0.03240536153316498, + 0.014765624888241291 + ], + [ + 0.008387125097215176, + 0.03130117803812027, + 0.014765624888241291 + ], + [ + -0.03130117803812027, + -0.008387125097215176, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + 0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + 0.02291405200958252, + 0.014765624888241291 + ], + [ + -0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.01620268076658249, + -0.02806386724114418, + 0.014765624888241291 + ], + [ + 0.02291405200958252, + -0.02291405200958252, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + 0.01620268076658249, + 0.014765624888241291 + ], + [ + 0.02806386724114418, + -0.01620268076658249, + 0.014765624888241291 + ] + ], + "indices_raw": [ + 14, + 9, + 6, + 5, + 15, + 16, + 17, + 18, + 19, + 11, + 10, + 20, + 21, + 22, + 23, + 24, + 2, + 1, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 10, + 11, + 12, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 10, + 13, + 33, + 34, + 23, + 22, + 33, + 22, + 21, + 32, + 35, + 36, + 28, + 27, + 35, + 27, + 26, + 37, + 38, + 12, + 11, + 19, + 38, + 19, + 18, + 39, + 40, + 3, + 2, + 24, + 40, + 24, + 23, + 34, + 41, + 39, + 18, + 17, + 41, + 17, + 16, + 42, + 43, + 25, + 1, + 0, + 43, + 37, + 26, + 25, + 44, + 45, + 30, + 29, + 44, + 29, + 28, + 36, + 46, + 42, + 16, + 15, + 46, + 15, + 5, + 4, + 47, + 8, + 9, + 14, + 47, + 14, + 30, + 45, + 47, + 45, + 44, + 36, + 35, + 37, + 43, + 0, + 3, + 40, + 34, + 33, + 32, + 31, + 13, + 12, + 38, + 39, + 41, + 42, + 46, + 4, + 7, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.018046876415610313 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7300550937652588, + -0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9123415946960449, + 0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9123417139053345, + -0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7300549745559692, + 0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5601910352706909, + 0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9123417139053345, + 0.12011215090751648, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.12011213600635529, + -0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.12011215090751648, + -0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.12011213600635529, + 0.9123415946960449, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.12011215090751648, + 0.9123417139053345, + -0.3914150297641754, + -0.023785274475812912 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.9123415946960449, + -0.12011213600635529, + -0.3914150297641754, + -0.023785270750522614 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + 0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.5601909756660461, + 0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.5601909756660461, + -0.7300549745559692, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.5601910352706909, + -0.7300550937652588, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.3521507978439331, + -0.8501672148704529, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.7300550937652588, + 0.5601910352706909, + -0.39141491055488586, + -0.02378528192639351 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + 0.3521507978439331, + -0.3914148807525635, + -0.023785283789038658 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8501672148704529, + -0.3521507978439331, + -0.3914148807525635, + -0.02378528006374836 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.7300549745559692, + -0.5601909756660461, + -0.39141491055488586, + -0.023785274475812912 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.014765623025596142 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 10 + ], + [ + 31, + 10, + 13 + ], + [ + 33, + 34, + 23 + ], + [ + 33, + 23, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 32 + ], + [ + 35, + 36, + 28 + ], + [ + 35, + 28, + 27 + ], + [ + 35, + 27, + 26 + ], + [ + 35, + 26, + 37 + ], + [ + 38, + 12, + 11 + ], + [ + 38, + 11, + 19 + ], + [ + 38, + 19, + 18 + ], + [ + 38, + 18, + 39 + ], + [ + 40, + 3, + 2 + ], + [ + 40, + 2, + 24 + ], + [ + 40, + 24, + 23 + ], + [ + 40, + 23, + 34 + ], + [ + 41, + 39, + 18 + ], + [ + 41, + 18, + 17 + ], + [ + 41, + 17, + 16 + ], + [ + 41, + 16, + 42 + ], + [ + 43, + 25, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 43, + 37, + 26 + ], + [ + 43, + 26, + 25 + ], + [ + 44, + 45, + 30 + ], + [ + 44, + 30, + 29 + ], + [ + 44, + 29, + 28 + ], + [ + 44, + 28, + 36 + ], + [ + 46, + 42, + 16 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 5 + ], + [ + 46, + 5, + 4 + ], + [ + 47, + 8, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 37 + ], + [ + 47, + 37, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 40 + ], + [ + 47, + 40, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 46 + ], + [ + 47, + 46, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 8 + ] + ], + "raw_bounds": [ + [ + -0.03381309285759926, + -0.03381309285759926, + 0.014765624888241291 + ], + [ + 0.03381309285759926, + 0.03381309285759926, + 0.018046874552965164 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011073490604758263, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json new file mode 100644 index 0000000000000000000000000000000000000000..c5ed44d28324f8c3a3704beda0de541c3cdad17c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1660571643151343, + "parts": [ + { + "vertices_raw": [ + [ + 0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.0, + -0.03381309285759926, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + 0.03381309285759926, + -2.0704547867113078e-18, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.03381309285759926, + 6.21136415333877e-18, + 0.018046874552965164 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.032660938799381256, + -0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + -0.032660938799381256, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.032660938799381256, + 0.00875147245824337, + 0.018046874552965164 + ], + [ + -0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + 0.023909466341137886, + 0.018046874552965164 + ], + [ + -0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + 0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.00875147245824337, + 0.032660938799381256, + 0.018046874552965164 + ], + [ + 0.01690654642879963, + -0.02928299643099308, + 0.018046874552965164 + ], + [ + 0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ], + [ + 0.02928299643099308, + -0.01690654642879963, + 0.018046874552965164 + ], + [ + -0.02928299643099308, + 0.01690654642879963, + 0.018046874552965164 + ], + [ + 4.1409095734226156e-18, + 0.03381309285759926, + 0.018046874552965164 + ], + [ + -0.023909466341137886, + -0.023909466341137886, + 0.018046874552965164 + ] + ], + "indices_raw": [ + 16, + 3, + 2, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 12, + 15, + 24, + 25, + 26, + 27, + 28, + 5, + 4, + 29, + 30, + 31, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 32, + 33, + 25, + 24, + 32, + 24, + 15, + 14, + 34, + 6, + 5, + 28, + 34, + 28, + 27, + 35, + 36, + 0, + 3, + 16, + 36, + 16, + 11, + 10, + 37, + 38, + 22, + 21, + 37, + 21, + 20, + 39, + 40, + 41, + 18, + 17, + 40, + 17, + 2, + 1, + 42, + 43, + 30, + 29, + 42, + 29, + 4, + 7, + 44, + 9, + 8, + 31, + 44, + 31, + 30, + 43, + 45, + 13, + 12, + 23, + 45, + 23, + 22, + 38, + 46, + 19, + 18, + 41, + 46, + 39, + 20, + 19, + 47, + 26, + 25, + 33, + 47, + 33, + 32, + 14, + 13, + 45, + 38, + 37, + 39, + 46, + 41, + 40, + 1, + 0, + 36, + 10, + 9, + 44, + 43, + 42, + 7, + 6, + 34, + 35, + 47, + 35, + 27, + 26 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + 0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + -0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9736923575401306, + -0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.9736923575401306, + 0.1281891167163849, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + -0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9736924171447754, + -0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + -0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + -0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + 0.37583109736442566, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.9736924171447754, + 0.12818919122219086, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + 0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.37583109736442566, + 0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + 0.9073368310928345, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + 0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5978610515594482, + -0.779147744178772, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.37583109736442566, + -0.9073368310928345, + -0.1883900910615921, + -0.0295236948877573 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9073368310928345, + -0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.779147744178772, + -0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9073368310928345, + 0.37583109736442566, + -0.18839006125926971, + -0.02952369675040245 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + 0.5978610515594482, + -0.1883903443813324, + -0.029523687437176704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12818919122219086, + 0.9736924171447754, + -0.18838997185230255, + -0.029523702338337898 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12818919122219086, + 0.9736924171447754, + -0.18838998675346375, + -0.02952369675040245 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.779147744178772, + -0.5978610515594482, + -0.18839029967784882, + -0.029523687437176704 + ] + }, + { + "index_base": 116, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.018046876415610313 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.5978610515594482, + -0.779147744178772, + -0.1883903443813324, + -0.029523687437176704 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 16, + 20, + 21 + ], + [ + 16, + 21, + 22 + ], + [ + 16, + 22, + 23 + ], + [ + 16, + 23, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 24 + ], + [ + 16, + 24, + 25 + ], + [ + 16, + 25, + 26 + ], + [ + 16, + 26, + 27 + ], + [ + 16, + 27, + 28 + ], + [ + 16, + 28, + 5 + ], + [ + 16, + 5, + 4 + ], + [ + 16, + 4, + 29 + ], + [ + 16, + 29, + 30 + ], + [ + 16, + 30, + 31 + ], + [ + 16, + 31, + 8 + ], + [ + 16, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 32, + 33, + 25 + ], + [ + 32, + 25, + 24 + ], + [ + 32, + 24, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 34, + 6, + 5 + ], + [ + 34, + 5, + 28 + ], + [ + 34, + 28, + 27 + ], + [ + 34, + 27, + 35 + ], + [ + 36, + 0, + 3 + ], + [ + 36, + 3, + 16 + ], + [ + 36, + 16, + 11 + ], + [ + 36, + 11, + 10 + ], + [ + 37, + 38, + 22 + ], + [ + 37, + 22, + 21 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 39 + ], + [ + 40, + 41, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 2 + ], + [ + 40, + 2, + 1 + ], + [ + 42, + 43, + 30 + ], + [ + 42, + 30, + 29 + ], + [ + 42, + 29, + 4 + ], + [ + 42, + 4, + 7 + ], + [ + 44, + 9, + 8 + ], + [ + 44, + 8, + 31 + ], + [ + 44, + 31, + 30 + ], + [ + 44, + 30, + 43 + ], + [ + 45, + 13, + 12 + ], + [ + 45, + 12, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 45, + 22, + 38 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 41 + ], + [ + 46, + 39, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 14 + ], + [ + 47, + 14, + 13 + ], + [ + 47, + 13, + 45 + ], + [ + 47, + 45, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 36 + ], + [ + 47, + 36, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 42 + ], + [ + 47, + 42, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 27 + ], + [ + 47, + 27, + 26 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.018046874552965164 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.021328125149011612 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001140113454312086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json new file mode 100644 index 0000000000000000000000000000000000000000..1452e5191d4d9aec8bc5fec38d992351ca8bb898 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16803902806714177, + "parts": [ + { + "vertices_raw": [ + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + -0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + -0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + 0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + -0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.02435837872326374, + -0.02435837872326374, + 0.021328125149011612 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.01722397468984127, + 0.02983279898762703, + 0.021328125149011612 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03444794937968254, + 6.327985866360784e-18, + 0.021328125149011612 + ], + [ + -0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.02983279898762703, + 0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 4.218657106377087e-18, + 0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + 0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + 0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + -2.1093285531885436e-18, + 0.021328125149011612 + ], + [ + 0.03327416256070137, + -0.008915785700082779, + 0.021328125149011612 + ], + [ + 0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + 0.0, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + -0.008915785700082779, + -0.03327416256070137, + 0.021328125149011612 + ], + [ + -0.02983279898762703, + -0.01722397468984127, + 0.021328125149011612 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ] + ], + "indices_raw": [ + 24, + 26, + 2, + 1, + 27, + 28, + 29, + 16, + 9, + 8, + 30, + 31, + 32, + 18, + 13, + 12, + 33, + 34, + 35, + 7, + 6, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 14, + 13, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 21, + 20, + 36, + 37, + 36, + 6, + 5, + 38, + 26, + 24, + 25, + 38, + 3, + 2, + 26, + 39, + 17, + 16, + 29, + 39, + 29, + 28, + 40, + 41, + 19, + 18, + 32, + 41, + 32, + 31, + 42, + 43, + 4, + 7, + 35, + 43, + 35, + 34, + 44, + 45, + 30, + 8, + 11, + 45, + 42, + 31, + 30, + 46, + 33, + 12, + 15, + 46, + 44, + 34, + 33, + 47, + 40, + 28, + 27, + 47, + 27, + 1, + 0, + 47, + 0, + 3, + 38, + 25, + 22, + 21, + 37, + 5, + 4, + 43, + 44, + 46, + 15, + 14, + 19, + 41, + 42, + 45, + 11, + 10, + 17, + 39, + 40 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.021328123286366463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + 0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608333170413971, + -0.7927952408790588, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + 0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.608333170413971, + -0.7927952408790588, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + 0.7927952408790588, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.7927952408790588, + -0.6083331108093262, + 0.03750443458557129, + -0.03492911532521248 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9907472729682922, + -0.13043460249900818, + 0.03750445321202278, + -0.03492911159992218 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.990747332572937, + 0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + -0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + -0.608333170413971, + 0.0375044159591198, + -0.03492911532521248 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9232296347618103, + 0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.7927952408790588, + 0.608333170413971, + 0.03750442713499069, + -0.03492911532521248 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + 0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + 0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + -0.3824141323566437, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + -0.13043451309204102, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + -0.9232296347618103, + 0.037504468113183975, + -0.03492911532521248 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + -0.990747332572937, + 0.037504442036151886, + -0.03492911532521248 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9232296347618103, + 0.3824141323566437, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.990747332572937, + 0.13043451309204102, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.3824141323566437, + -0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.13043451309204102, + -0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.13043451309204102, + 0.990747332572937, + 0.037504445761442184, + -0.03492911532521248 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.3824141323566437, + 0.9232296347618103, + 0.03750447928905487, + -0.03492911905050278 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.027890626341104507 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 18 + ], + [ + 24, + 18, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 14 + ], + [ + 18, + 14, + 13 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 21, + 20 + ], + [ + 37, + 20, + 36 + ], + [ + 37, + 36, + 6 + ], + [ + 37, + 6, + 5 + ], + [ + 38, + 26, + 24 + ], + [ + 38, + 24, + 25 + ], + [ + 38, + 3, + 2 + ], + [ + 38, + 2, + 26 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 29 + ], + [ + 39, + 29, + 28 + ], + [ + 39, + 28, + 40 + ], + [ + 41, + 19, + 18 + ], + [ + 41, + 18, + 32 + ], + [ + 41, + 32, + 31 + ], + [ + 41, + 31, + 42 + ], + [ + 43, + 4, + 7 + ], + [ + 43, + 7, + 35 + ], + [ + 43, + 35, + 34 + ], + [ + 43, + 34, + 44 + ], + [ + 45, + 30, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 42, + 31 + ], + [ + 45, + 31, + 30 + ], + [ + 46, + 33, + 12 + ], + [ + 46, + 12, + 15 + ], + [ + 46, + 44, + 34 + ], + [ + 46, + 34, + 33 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 38 + ], + [ + 47, + 38, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 37 + ], + [ + 47, + 37, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 19 + ], + [ + 47, + 19, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 40 + ] + ], + "raw_bounds": [ + [ + -0.03444794937968254, + -0.03444794937968254, + 0.021328125149011612 + ], + [ + 0.03444794937968254, + 0.03444794937968254, + 0.027890624478459358 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0025107432156801224, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json new file mode 100644 index 0000000000000000000000000000000000000000..e7971b633f2071a78bda6c4117c7b99185a27f72 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1712316619232297, + "parts": [ + { + "vertices_raw": [ + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 4.1882342306279994e-18, + 0.03419952839612961, + 0.027890624478459358 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.0, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03419952839612961, + -2.0941171153139997e-18, + 0.027890624478459358 + ], + [ + 0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + -0.03303420543670654, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + -0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + -0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.03419952839612961, + 6.282351139146846e-18, + 0.027890624478459358 + ], + [ + -0.03303420543670654, + 0.008851489052176476, + 0.027890624478459358 + ], + [ + -0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + -0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + -0.008851489052176476, + 0.03303420543670654, + 0.027890624478459358 + ], + [ + 0.017099764198064804, + 0.029617659747600555, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + 0.024182718247175217, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + 0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.029617659747600555, + -0.017099764198064804, + 0.027890624478459358 + ], + [ + 0.024182718247175217, + -0.024182718247175217, + 0.027890624478459358 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ] + ], + "indices_raw": [ + 14, + 7, + 6, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 2, + 1, + 26, + 27, + 28, + 8, + 11, + 12, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 23, + 22, + 32, + 31, + 33, + 24, + 23, + 34, + 35, + 18, + 17, + 34, + 17, + 16, + 36, + 37, + 9, + 8, + 28, + 37, + 28, + 27, + 38, + 39, + 29, + 12, + 13, + 39, + 40, + 30, + 29, + 41, + 38, + 27, + 26, + 41, + 26, + 1, + 0, + 42, + 4, + 7, + 14, + 42, + 14, + 30, + 40, + 43, + 3, + 2, + 25, + 43, + 25, + 24, + 33, + 44, + 36, + 16, + 15, + 44, + 15, + 6, + 5, + 45, + 32, + 22, + 21, + 45, + 21, + 20, + 46, + 47, + 46, + 20, + 19, + 47, + 19, + 18, + 35, + 47, + 35, + 34, + 36, + 44, + 5, + 4, + 42, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 41, + 0, + 3, + 43, + 33, + 31, + 32, + 45, + 46 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.027890624478459358 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + 0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6004651188850403, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7825414538383484, + -0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.6004651784896851, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + 0.37746813893318176, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + 0.6004651188850403, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9112887978553772, + -0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7825414538383484, + -0.6004651784896851, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.6004651784896851, + 0.7825414538383484, + 0.16453148424625397, + -0.03803374990820885 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.3774681091308594, + 0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.37746813893318176, + -0.9112887978553772, + 0.16453124582767487, + -0.03803373873233795 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6004651188850403, + -0.7825414538383484, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + 0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37746813893318176, + 0.9112887978553772, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.3774681091308594, + -0.9112887978553772, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.12874747812747955, + -0.9779332876205444, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + 0.3774681091308594, + 0.16453148424625397, + -0.03803374618291855 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + 0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9779332876205444, + -0.12874747812747955, + 0.16453145444393158, + -0.03803373873233795 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9112887978553772, + -0.37746813893318176, + 0.16453146934509277, + -0.03803374245762825 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.03773438557982445 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 7, + 6 + ], + [ + 14, + 6, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 2 + ], + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 32 + ], + [ + 31, + 33, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 34, + 35, + 18 + ], + [ + 34, + 18, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 36 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 28 + ], + [ + 37, + 28, + 27 + ], + [ + 37, + 27, + 38 + ], + [ + 39, + 29, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 38, + 27 + ], + [ + 41, + 27, + 26 + ], + [ + 41, + 26, + 1 + ], + [ + 41, + 1, + 0 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 14 + ], + [ + 42, + 14, + 30 + ], + [ + 42, + 30, + 40 + ], + [ + 43, + 3, + 2 + ], + [ + 43, + 2, + 25 + ], + [ + 43, + 25, + 24 + ], + [ + 43, + 24, + 33 + ], + [ + 44, + 36, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 6 + ], + [ + 44, + 6, + 5 + ], + [ + 45, + 32, + 22 + ], + [ + 45, + 22, + 21 + ], + [ + 45, + 21, + 20 + ], + [ + 45, + 20, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 44 + ], + [ + 47, + 44, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 41 + ], + [ + 47, + 41, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 43 + ], + [ + 47, + 43, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 46 + ] + ], + "raw_bounds": [ + [ + -0.03419952839612961, + -0.03419952839612961, + 0.027890624478459358 + ], + [ + 0.03419952839612961, + 0.03419952839612961, + 0.03773437440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010521803051233292, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfcb9b2d6cbdf129deb70c1d74a836454979f99 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17307546827942133, + "parts": [ + { + "vertices_raw": [ + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.032543376088142395, + 5.978121140885049e-18, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.023011641576886177, + 0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028183389455080032, + 0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + 0.028183389455080032, + 0.03773437440395355 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023011641576886177, + -0.023011641576886177, + 0.03773437440395355 + ], + [ + 0.016271688044071198, + -0.028183389455080032, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + -0.03143448755145073, + 0.03773437440395355 + ], + [ + -0.028183389455080032, + -0.016271688044071198, + 0.03773437440395355 + ], + [ + -0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 3.985414093923366e-18, + 0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.008422845043241978, + 0.03143448755145073, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + 0.008422845043241978, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + -1.992707046961683e-18, + 0.03773437440395355 + ], + [ + 0.03143448755145073, + -0.008422845043241978, + 0.03773437440395355 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 24, + 27, + 28, + 7, + 6, + 29, + 18, + 21, + 30, + 3, + 2, + 31, + 16, + 9, + 8, + 32, + 33, + 34, + 22, + 13, + 12, + 35, + 36, + 37, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 10, + 9, + 18, + 19, + 20, + 21, + 22, + 23, + 14, + 13, + 24, + 25, + 26, + 27, + 38, + 17, + 16, + 31, + 38, + 31, + 2, + 1, + 39, + 19, + 18, + 29, + 39, + 29, + 6, + 5, + 40, + 23, + 22, + 34, + 40, + 34, + 33, + 41, + 42, + 25, + 24, + 37, + 42, + 37, + 36, + 43, + 44, + 32, + 8, + 11, + 44, + 41, + 33, + 32, + 45, + 35, + 12, + 15, + 45, + 43, + 36, + 35, + 46, + 0, + 3, + 30, + 46, + 30, + 21, + 20, + 47, + 4, + 7, + 28, + 47, + 28, + 27, + 26, + 47, + 26, + 25, + 42, + 43, + 45, + 15, + 14, + 23, + 40, + 41, + 44, + 11, + 10, + 17, + 38, + 1, + 0, + 46, + 20, + 19, + 39, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.03773438557982445 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6083331108093262, + 0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7927951812744141, + 0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7927951216697693, + 0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6083332896232605, + -0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6083332896232605, + 0.7927951216697693, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.7927951216697693, + -0.6083332896232605, + 0.03750472515821457, + -0.03365748003125191 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + 0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + -0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + -0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + 0.923229455947876, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + -0.3824142813682556, + 0.037504643201828, + -0.03365747630596161 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + -0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.3824142813682556, + 0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13043436408042908, + 0.9907473921775818, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.923229455947876, + 0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9907473921775818, + 0.13043436408042908, + 0.037504859268665314, + -0.033657487481832504 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.923229455947876, + -0.3824142813682556, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.7927951812744141, + -0.6083331108093262, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.3824142813682556, + -0.923229455947876, + 0.037504661828279495, + -0.03365747630596161 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.6083331108093262, + -0.7927951812744141, + 0.037504710257053375, + -0.03365748003125191 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.04429686814546585 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 21 + ], + [ + 24, + 21, + 30 + ], + [ + 24, + 30, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 31 + ], + [ + 24, + 31, + 16 + ], + [ + 24, + 16, + 9 + ], + [ + 24, + 9, + 8 + ], + [ + 24, + 8, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 22 + ], + [ + 24, + 22, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 24, + 12, + 35 + ], + [ + 24, + 35, + 36 + ], + [ + 24, + 36, + 37 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 21 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 38, + 17, + 16 + ], + [ + 38, + 16, + 31 + ], + [ + 38, + 31, + 2 + ], + [ + 38, + 2, + 1 + ], + [ + 39, + 19, + 18 + ], + [ + 39, + 18, + 29 + ], + [ + 39, + 29, + 6 + ], + [ + 39, + 6, + 5 + ], + [ + 40, + 23, + 22 + ], + [ + 40, + 22, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 40, + 33, + 41 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 32, + 8 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 41, + 33 + ], + [ + 44, + 33, + 32 + ], + [ + 45, + 35, + 12 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 43, + 36 + ], + [ + 45, + 36, + 35 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 21 + ], + [ + 46, + 21, + 20 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 28 + ], + [ + 47, + 28, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 45 + ], + [ + 47, + 45, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 23 + ], + [ + 47, + 23, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 17 + ], + [ + 47, + 17, + 38 + ], + [ + 47, + 38, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 20 + ], + [ + 47, + 20, + 19 + ], + [ + 47, + 19, + 39 + ], + [ + 47, + 39, + 5 + ], + [ + 47, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.032543376088142395, + -0.032543376088142395, + 0.03773437440395355 + ], + [ + 0.032543376088142395, + 0.032543376088142395, + 0.04429687559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012606470845639706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json new file mode 100644 index 0000000000000000000000000000000000000000..c480c5698a92cbb61739c84b4ce3c7034132f4cb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17530849110335112, + "parts": [ + { + "vertices_raw": [ + [ + -0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.022835979238152504, + 0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.022835979238152504, + -0.022835979238152504, + 0.04429687559604645 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.0, + -0.032294951379299164, + 0.04429687559604645 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.032294951379299164, + -1.977495609087139e-18, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 3.954991218174278e-18, + 0.032294951379299164, + 0.04429687559604645 + ], + [ + -0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016147475689649582, + 0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + 0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.016147475689649582, + -0.02796825021505356, + 0.04429687559604645 + ], + [ + 0.02796825021505356, + -0.016147475689649582, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + 0.008358548395335674, + 0.04429687559604645 + ], + [ + -0.032294951379299164, + 5.932486413671111e-18, + 0.04429687559604645 + ], + [ + -0.031194528564810753, + -0.008358548395335674, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + 0.031194528564810753, + 0.04429687559604645 + ], + [ + 0.008358548395335674, + -0.031194528564810753, + 0.04429687559604645 + ] + ], + "indices_raw": [ + 28, + 30, + 10, + 9, + 31, + 25, + 24, + 32, + 2, + 1, + 33, + 34, + 35, + 7, + 6, + 36, + 19, + 18, + 37, + 15, + 14, + 38, + 23, + 22, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 22, + 21, + 29, + 39, + 32, + 24, + 27, + 39, + 3, + 2, + 32, + 40, + 30, + 28, + 29, + 40, + 11, + 10, + 30, + 41, + 16, + 19, + 36, + 41, + 36, + 6, + 5, + 42, + 20, + 23, + 38, + 42, + 38, + 14, + 13, + 43, + 44, + 34, + 33, + 43, + 33, + 1, + 0, + 45, + 4, + 7, + 35, + 45, + 35, + 34, + 44, + 46, + 26, + 25, + 31, + 46, + 31, + 9, + 8, + 47, + 12, + 15, + 37, + 47, + 37, + 18, + 17, + 47, + 17, + 16, + 41, + 5, + 4, + 45, + 44, + 43, + 0, + 3, + 39, + 27, + 26, + 46, + 8, + 11, + 40, + 29, + 21, + 20, + 42, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06398438662290573 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13047567009925842, + -0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.13047565519809723, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + 0.13047565519809723, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + 0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + 0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + 0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38253557682037354, + -0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6085262298583984, + -0.7930468916893005, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9235226511955261, + -0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085262298583984, + -0.027790140360593796, + -0.03077528066933155 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + 0.13047567009925842, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + 0.38253557682037354, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9235226511955261, + -0.38253557682037354, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047565519809723, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.13047567009925842, + 0.9910619258880615, + -0.027790050953626633, + -0.0307752825319767 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + 0.9235226511955261, + -0.027790047228336334, + -0.030775286257267 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38253557682037354, + -0.9235226511955261, + -0.027789996936917305, + -0.030775288119912148 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.13047565519809723, + -0.9910619258880615, + -0.027790041640400887, + -0.0307752825319767 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.04429686442017555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 30, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 31 + ], + [ + 28, + 31, + 25 + ], + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 32 + ], + [ + 28, + 32, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 36 + ], + [ + 28, + 36, + 19 + ], + [ + 28, + 19, + 18 + ], + [ + 28, + 18, + 37 + ], + [ + 28, + 37, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 38 + ], + [ + 28, + 38, + 23 + ], + [ + 28, + 23, + 22 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 22, + 21 + ], + [ + 28, + 21, + 29 + ], + [ + 39, + 32, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 32 + ], + [ + 40, + 30, + 28 + ], + [ + 40, + 28, + 29 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 30 + ], + [ + 41, + 16, + 19 + ], + [ + 41, + 19, + 36 + ], + [ + 41, + 36, + 6 + ], + [ + 41, + 6, + 5 + ], + [ + 42, + 20, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 42, + 38, + 14 + ], + [ + 42, + 14, + 13 + ], + [ + 43, + 44, + 34 + ], + [ + 43, + 34, + 33 + ], + [ + 43, + 33, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 45, + 4, + 7 + ], + [ + 45, + 7, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 44 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 31 + ], + [ + 46, + 31, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 37 + ], + [ + 47, + 37, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 41 + ], + [ + 47, + 41, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 29 + ], + [ + 47, + 29, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 42 + ], + [ + 47, + 42, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.032847002148628235, + -0.032847002148628235, + 0.04429687559604645 + ], + [ + 0.032847002148628235, + 0.032847002148628235, + 0.06398437172174454 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001468965783715248, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json new file mode 100644 index 0000000000000000000000000000000000000000..9c98697374da09a2f073dfafd5f7a638eb04bd98 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17771781608462334, + "parts": [ + { + "vertices_raw": [ + [ + -0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + 4.022597930409156e-18, + 0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.032847002148628235, + -2.011298965204578e-18, + 0.06398437172174454 + ], + [ + -0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.0, + -0.032847002148628235, + 0.06398437172174454 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.032847002148628235, + 6.033896688818581e-18, + 0.06398437172174454 + ], + [ + -0.03172776848077774, + -0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + -0.03172776848077774, + 0.06398437172174454 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03172776848077774, + 0.008501430042088032, + 0.06398437172174454 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.008501430042088032, + 0.03172776848077774, + 0.06398437172174454 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + -0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + 0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.023226339370012283, + 0.023226339370012283, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + -0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + -0.016423501074314117, + 0.06398437172174454 + ], + [ + -0.016423501074314117, + 0.028446339070796967, + 0.06398437172174454 + ], + [ + 0.028446339070796967, + 0.016423501074314117, + 0.06398437172174454 + ] + ], + "indices_raw": [ + 24, + 25, + 26, + 22, + 2, + 1, + 27, + 28, + 29, + 20, + 15, + 14, + 30, + 31, + 32, + 11, + 10, + 18, + 33, + 34, + 35, + 13, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 14, + 15, + 16, + 17, + 18, + 10, + 9, + 19, + 20, + 21, + 16, + 15, + 22, + 23, + 3, + 2, + 36, + 30, + 14, + 17, + 36, + 37, + 31, + 30, + 38, + 33, + 18, + 19, + 38, + 39, + 34, + 33, + 40, + 21, + 20, + 29, + 40, + 29, + 28, + 41, + 42, + 23, + 22, + 26, + 42, + 26, + 25, + 43, + 44, + 8, + 11, + 32, + 44, + 32, + 31, + 37, + 45, + 12, + 13, + 35, + 45, + 35, + 34, + 39, + 46, + 41, + 28, + 27, + 46, + 27, + 1, + 0, + 47, + 43, + 25, + 24, + 47, + 24, + 5, + 4, + 47, + 4, + 7, + 12, + 45, + 39, + 38, + 19, + 9, + 8, + 44, + 37, + 36, + 17, + 16, + 21, + 40, + 41, + 46, + 0, + 3, + 23, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13000476360321045, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9874838590621948, + -0.13000476360321045, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + -0.13000477850437164, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13000477850437164, + -0.9874838590621948, + -0.08929944783449173, + -0.02672211453318596 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9874838590621948, + 0.13000476360321045, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13000476360321045, + 0.9874838590621948, + -0.08929925411939621, + -0.026722129434347153 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + -0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + -0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + -0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + -0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9201884865760803, + 0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7901838421821594, + 0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38115453720092773, + 0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6063293218612671, + 0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + -0.9201884865760803, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + -0.7901838421821594, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + -0.38115453720092773, + -0.089299276471138, + -0.026722127571702003 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + -0.6063293218612671, + -0.08929934352636337, + -0.026722125709056854 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.6063293218612671, + 0.7901838421821594, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.38115453720092773, + 0.9201884865760803, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7901838421821594, + 0.6063293218612671, + -0.08929921686649323, + -0.026722131296992302 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9201884865760803, + 0.38115453720092773, + -0.08929932117462158, + -0.026722123846411705 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06398438662290573 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 22 + ], + [ + 24, + 22, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 20 + ], + [ + 24, + 20, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 18 + ], + [ + 24, + 18, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 13 + ], + [ + 24, + 13, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 10, + 9 + ], + [ + 18, + 9, + 19 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 22, + 23, + 3 + ], + [ + 22, + 3, + 2 + ], + [ + 36, + 30, + 14 + ], + [ + 36, + 14, + 17 + ], + [ + 36, + 37, + 31 + ], + [ + 36, + 31, + 30 + ], + [ + 38, + 33, + 18 + ], + [ + 38, + 18, + 19 + ], + [ + 38, + 39, + 34 + ], + [ + 38, + 34, + 33 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 40, + 28, + 41 + ], + [ + 42, + 23, + 22 + ], + [ + 42, + 22, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 8, + 11 + ], + [ + 44, + 11, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 37 + ], + [ + 45, + 12, + 13 + ], + [ + 45, + 13, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 45, + 34, + 39 + ], + [ + 46, + 41, + 28 + ], + [ + 46, + 28, + 27 + ], + [ + 46, + 27, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 12 + ], + [ + 47, + 12, + 45 + ], + [ + 47, + 45, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 19 + ], + [ + 47, + 19, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 44 + ], + [ + 47, + 44, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 23 + ], + [ + 47, + 23, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.06398437172174454 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.07710937410593033 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011554760858416557, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json new file mode 100644 index 0000000000000000000000000000000000000000..cc11b0413567c8d6b300eb393b91d6c38128e15b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1795988380908966, + "parts": [ + { + "vertices_raw": [ + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.024065610021352768, + -0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 4.1679521755985054e-18, + 0.03403391316533089, + 0.07710937410593033 + ], + [ + -0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + -0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.0, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + 0.03403391316533089, + -2.0839760877992527e-18, + 0.07710937410593033 + ], + [ + 0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.024065610021352768, + 0.024065610021352768, + 0.07710937410593033 + ], + [ + 0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + 0.03287423402070999, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + 0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.029474232345819473, + -0.017016956582665443, + 0.07710937410593033 + ], + [ + 0.008808624930679798, + -0.03287423402070999, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + -0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + -0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.03403391316533089, + 6.251928263397758e-18, + 0.07710937410593033 + ], + [ + -0.03287423402070999, + 0.008808624930679798, + 0.07710937410593033 + ], + [ + -0.017016956582665443, + 0.029474232345819473, + 0.07710937410593033 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 30, + 27, + 26, + 31, + 23, + 22, + 29, + 32, + 6, + 5, + 33, + 18, + 17, + 34, + 2, + 1, + 35, + 36, + 37, + 15, + 14, + 38, + 11, + 10, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 22, + 21, + 39, + 3, + 2, + 34, + 39, + 34, + 17, + 16, + 40, + 7, + 6, + 32, + 40, + 32, + 29, + 28, + 41, + 8, + 11, + 38, + 41, + 38, + 14, + 13, + 42, + 12, + 15, + 37, + 42, + 37, + 36, + 43, + 44, + 20, + 23, + 31, + 44, + 31, + 26, + 25, + 45, + 24, + 27, + 30, + 45, + 30, + 10, + 9, + 46, + 43, + 36, + 35, + 46, + 35, + 1, + 0, + 47, + 19, + 18, + 33, + 47, + 33, + 5, + 4, + 47, + 4, + 7, + 40, + 28, + 21, + 20, + 44, + 25, + 24, + 45, + 9, + 8, + 41, + 13, + 12, + 42, + 43, + 46, + 0, + 3, + 39, + 16, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07710936665534973 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + -0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.6087520122528076, + -0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + 0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7933410406112671, + 0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13052433729171753, + -0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + 0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6087520718574524, + 0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9914295077323914, + -0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6087520718574524, + -0.7933410406112671, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + -0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + -0.6087520718574524, + 0.005560141056776047, + -0.0341709665954113 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9238652586936951, + -0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38267752528190613, + 0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6087520122528076, + 0.7933410406112671, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9238652586936951, + 0.38267752528190613, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + 0.13052433729171753, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9238653182983398, + 0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7933410406112671, + 0.6087520122528076, + 0.005560105200856924, + -0.034170959144830704 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + 0.9238652586936951, + 0.005560110788792372, + -0.034170962870121 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + 0.9914295077323914, + 0.005560052581131458, + -0.034170959144830704 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9914295077323914, + -0.13052433729171753, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9238653182983398, + -0.38267752528190613, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.13052433729171753, + -0.9914295077323914, + 0.005560069344937801, + -0.034170959144830704 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.38267752528190613, + -0.9238653182983398, + 0.005560059100389481, + -0.034170959144830704 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 30, + 27, + 26 + ], + [ + 30, + 26, + 31 + ], + [ + 30, + 31, + 23 + ], + [ + 30, + 23, + 22 + ], + [ + 30, + 22, + 29 + ], + [ + 30, + 29, + 32 + ], + [ + 30, + 32, + 6 + ], + [ + 30, + 6, + 5 + ], + [ + 30, + 5, + 33 + ], + [ + 30, + 33, + 18 + ], + [ + 30, + 18, + 17 + ], + [ + 30, + 17, + 34 + ], + [ + 30, + 34, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 30, + 1, + 35 + ], + [ + 30, + 35, + 36 + ], + [ + 30, + 36, + 37 + ], + [ + 30, + 37, + 15 + ], + [ + 30, + 15, + 14 + ], + [ + 30, + 14, + 38 + ], + [ + 30, + 38, + 11 + ], + [ + 30, + 11, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 22 + ], + [ + 28, + 22, + 21 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 34 + ], + [ + 39, + 34, + 17 + ], + [ + 39, + 17, + 16 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 6, + 32 + ], + [ + 40, + 32, + 29 + ], + [ + 40, + 29, + 28 + ], + [ + 41, + 8, + 11 + ], + [ + 41, + 11, + 38 + ], + [ + 41, + 38, + 14 + ], + [ + 41, + 14, + 13 + ], + [ + 42, + 12, + 15 + ], + [ + 42, + 15, + 37 + ], + [ + 42, + 37, + 36 + ], + [ + 42, + 36, + 43 + ], + [ + 44, + 20, + 23 + ], + [ + 44, + 23, + 31 + ], + [ + 44, + 31, + 26 + ], + [ + 44, + 26, + 25 + ], + [ + 45, + 24, + 27 + ], + [ + 45, + 27, + 30 + ], + [ + 45, + 30, + 10 + ], + [ + 45, + 10, + 9 + ], + [ + 46, + 43, + 36 + ], + [ + 46, + 36, + 35 + ], + [ + 46, + 35, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 33 + ], + [ + 47, + 33, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 40 + ], + [ + 47, + 40, + 28 + ], + [ + 47, + 28, + 21 + ], + [ + 47, + 21, + 20 + ], + [ + 47, + 20, + 44 + ], + [ + 47, + 44, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 45 + ], + [ + 47, + 45, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 41 + ], + [ + 47, + 41, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 16 + ], + [ + 47, + 16, + 19 + ] + ], + "raw_bounds": [ + [ + -0.03403391316533089, + -0.03403391316533089, + 0.07710937410593033 + ], + [ + 0.03403391316533089, + 0.03403391316533089, + 0.09679687768220901 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00122925266623497, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json new file mode 100644 index 0000000000000000000000000000000000000000..37dde7082a60673475a9447919ed10a49cbad294 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18155896617099643, + "parts": [ + { + "vertices_raw": [ + [ + -0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.023987537249922752, + 0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + 0.029378613457083702, + 0.09679687768220901 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.023987537249922752, + -0.023987537249922752, + 0.09679687768220901 + ], + [ + 0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.016961751505732536, + -0.029378613457083702, + 0.09679687768220901 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.03392350301146507, + 6.231646208368264e-18, + 0.09679687768220901 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ], + [ + 4.154430667715407e-18, + 0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + -0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.03392350301146507, + -2.0772153338577037e-18, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + 0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.029378613457083702, + -0.016961751505732536, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + 0.0, + -0.03392350301146507, + 0.09679687768220901 + ], + [ + 0.032767586410045624, + 0.008780048228800297, + 0.09679687768220901 + ], + [ + 0.008780048228800297, + -0.032767586410045624, + 0.09679687768220901 + ], + [ + -0.008780048228800297, + 0.032767586410045624, + 0.09679687768220901 + ] + ], + "indices_raw": [ + 24, + 26, + 6, + 5, + 27, + 28, + 29, + 18, + 15, + 14, + 30, + 31, + 32, + 8, + 11, + 12, + 33, + 34, + 35, + 3, + 2, + 36, + 20, + 23, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 16, + 15, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 37, + 33, + 12, + 13, + 37, + 38, + 34, + 33, + 39, + 30, + 14, + 17, + 39, + 40, + 31, + 30, + 41, + 21, + 20, + 36, + 41, + 36, + 2, + 1, + 42, + 26, + 24, + 25, + 42, + 7, + 6, + 26, + 43, + 44, + 28, + 27, + 43, + 27, + 5, + 4, + 45, + 9, + 8, + 32, + 45, + 32, + 31, + 40, + 46, + 19, + 18, + 29, + 46, + 29, + 28, + 44, + 47, + 0, + 3, + 35, + 47, + 35, + 34, + 38, + 47, + 38, + 37, + 13, + 10, + 9, + 45, + 40, + 39, + 17, + 16, + 19, + 46, + 44, + 43, + 4, + 7, + 42, + 25, + 22, + 21, + 41, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + 0.7911275625228882, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.607053816318512, + -0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7911276817321777, + 0.6070537567138672, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.607053816318512, + 0.7911275625228882, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.7911275625228882, + -0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.6070537567138672, + -0.7911276817321777, + -0.07485169172286987, + -0.026293521746993065 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + 0.13016018271446228, + -0.07485147565603256, + -0.026293542236089706 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + 0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + -0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + -0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + 0.38160964846611023, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + 0.607053816318512, + -0.07485167682170868, + -0.026293523609638214 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9212878346443176, + -0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7911275625228882, + -0.607053816318512, + -0.07485164701938629, + -0.026293527334928513 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + -0.9212878346443176, + -0.07485158741474152, + -0.026293529197573662 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9212878346443176, + 0.38160964846611023, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9886635541915894, + 0.1301603764295578, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.38160964846611023, + -0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.1301603764295578, + -0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.38160964846611023, + 0.9212878346443176, + -0.07485156506299973, + -0.02629353106021881 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.1301603764295578, + 0.9886635541915894, + -0.07485147565603256, + -0.026293544098734856 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09679689258337021 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 26, + 6 + ], + [ + 24, + 6, + 5 + ], + [ + 24, + 5, + 27 + ], + [ + 24, + 27, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 18 + ], + [ + 24, + 18, + 15 + ], + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 30 + ], + [ + 24, + 30, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 8 + ], + [ + 24, + 8, + 11 + ], + [ + 24, + 11, + 12 + ], + [ + 24, + 12, + 33 + ], + [ + 24, + 33, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 24, + 35, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 36 + ], + [ + 24, + 36, + 20 + ], + [ + 24, + 20, + 23 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 16 + ], + [ + 18, + 16, + 15 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 37, + 33, + 12 + ], + [ + 37, + 12, + 13 + ], + [ + 37, + 38, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 39, + 30, + 14 + ], + [ + 39, + 14, + 17 + ], + [ + 39, + 40, + 31 + ], + [ + 39, + 31, + 30 + ], + [ + 41, + 21, + 20 + ], + [ + 41, + 20, + 36 + ], + [ + 41, + 36, + 2 + ], + [ + 41, + 2, + 1 + ], + [ + 42, + 26, + 24 + ], + [ + 42, + 24, + 25 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 26 + ], + [ + 43, + 44, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 5 + ], + [ + 43, + 5, + 4 + ], + [ + 45, + 9, + 8 + ], + [ + 45, + 8, + 32 + ], + [ + 45, + 32, + 31 + ], + [ + 45, + 31, + 40 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 44 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 45 + ], + [ + 47, + 45, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 19 + ], + [ + 47, + 19, + 46 + ], + [ + 47, + 46, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 25 + ], + [ + 47, + 25, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 41 + ], + [ + 47, + 41, + 1 + ], + [ + 47, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.09679687768220901 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.10335937142372131 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011328831315040588, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json new file mode 100644 index 0000000000000000000000000000000000000000..8199df993c56f898c1437628f1f944425dc551da --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1835276773199439, + "parts": [ + { + "vertices_raw": [ + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + 0.02433886006474495, + 0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + -0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.02433886006474495, + -0.02433886006474495, + 0.10335937142372131 + ], + [ + 0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03442034870386124, + 6.322915249205834e-18, + 0.10335937142372131 + ], + [ + 0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.0, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + -0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + 4.215276832803889e-18, + 0.03442034870386124, + 0.10335937142372131 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.01721017435193062, + 0.02980889566242695, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + 0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + -2.1076384164019446e-18, + 0.10335937142372131 + ], + [ + 0.03324750065803528, + -0.008908641524612904, + 0.10335937142372131 + ], + [ + 0.01721017435193062, + -0.02980889566242695, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + -0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + -0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.02980889566242695, + 0.01721017435193062, + 0.10335937142372131 + ], + [ + -0.008908641524612904, + 0.03324750065803528, + 0.10335937142372131 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 26, + 30, + 6, + 5, + 31, + 32, + 33, + 15, + 14, + 34, + 20, + 23, + 35, + 11, + 10, + 36, + 16, + 19, + 24, + 37, + 2, + 1, + 38, + 27, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 19, + 18, + 25, + 26, + 27, + 28, + 29, + 39, + 17, + 16, + 36, + 39, + 36, + 10, + 9, + 40, + 21, + 20, + 34, + 40, + 34, + 14, + 13, + 41, + 37, + 24, + 25, + 41, + 3, + 2, + 37, + 42, + 30, + 26, + 29, + 42, + 7, + 6, + 30, + 43, + 28, + 27, + 38, + 43, + 38, + 1, + 0, + 44, + 45, + 32, + 31, + 44, + 31, + 5, + 4, + 46, + 8, + 11, + 35, + 46, + 35, + 23, + 22, + 47, + 12, + 15, + 33, + 47, + 33, + 32, + 45, + 47, + 45, + 44, + 4, + 7, + 42, + 29, + 28, + 43, + 0, + 3, + 41, + 25, + 18, + 17, + 39, + 9, + 8, + 46, + 22, + 21, + 40, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.10335937142372131 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + 0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + 0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.6085264682769775, + -0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7930468916893005, + -0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.036985043436288834 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9235228300094604, + -0.38253548741340637, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + -0.6085264682769775, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + -0.9235228300094604, + 0.027789952233433723, + -0.03698505088686943 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + -0.7930468916893005, + 0.027790145948529243, + -0.03698506951332092 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.9235227704048157, + 0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7930468916893005, + 0.6085264682769775, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38253548741340637, + 0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6085264682769775, + 0.7930468916893005, + 0.027790002524852753, + -0.03698505833745003 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.13047605752944946, + 0.9910618662834167, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.382535457611084, + 0.9235227704048157, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9910618662834167, + 0.13047605752944946, + 0.02779003605246544, + -0.03698505088686943 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + 0.382535457611084, + 0.027790162712335587, + -0.03698506951332092 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.38253548741340637, + -0.9235227704048157, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.13047607243061066, + -0.9910619258880615, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.9235227704048157, + -0.38253548741340637, + 0.027790164574980736, + -0.03698506951332092 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9910619258880615, + -0.13047607243061066, + 0.027789941057562828, + -0.03698504716157913 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 30, + 6 + ], + [ + 26, + 6, + 5 + ], + [ + 26, + 5, + 31 + ], + [ + 26, + 31, + 32 + ], + [ + 26, + 32, + 33 + ], + [ + 26, + 33, + 15 + ], + [ + 26, + 15, + 14 + ], + [ + 26, + 14, + 34 + ], + [ + 26, + 34, + 20 + ], + [ + 26, + 20, + 23 + ], + [ + 26, + 23, + 35 + ], + [ + 26, + 35, + 11 + ], + [ + 26, + 11, + 10 + ], + [ + 26, + 10, + 36 + ], + [ + 26, + 36, + 16 + ], + [ + 26, + 16, + 19 + ], + [ + 26, + 19, + 24 + ], + [ + 26, + 24, + 37 + ], + [ + 26, + 37, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 26, + 1, + 38 + ], + [ + 26, + 38, + 27 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 19, + 18 + ], + [ + 24, + 18, + 25 + ], + [ + 26, + 27, + 28 + ], + [ + 26, + 28, + 29 + ], + [ + 39, + 17, + 16 + ], + [ + 39, + 16, + 36 + ], + [ + 39, + 36, + 10 + ], + [ + 39, + 10, + 9 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 34 + ], + [ + 40, + 34, + 14 + ], + [ + 40, + 14, + 13 + ], + [ + 41, + 37, + 24 + ], + [ + 41, + 24, + 25 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 37 + ], + [ + 42, + 30, + 26 + ], + [ + 42, + 26, + 29 + ], + [ + 42, + 7, + 6 + ], + [ + 42, + 6, + 30 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 38 + ], + [ + 43, + 38, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 45, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 44, + 31, + 5 + ], + [ + 44, + 5, + 4 + ], + [ + 46, + 8, + 11 + ], + [ + 46, + 11, + 35 + ], + [ + 46, + 35, + 23 + ], + [ + 46, + 23, + 22 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 42 + ], + [ + 47, + 42, + 29 + ], + [ + 47, + 29, + 28 + ], + [ + 47, + 28, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 25 + ], + [ + 47, + 25, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 39 + ], + [ + 47, + 39, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 46 + ], + [ + 47, + 46, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03442034870386124, + -0.03442034870386124, + 0.10335937142372131 + ], + [ + 0.03442034870386124, + 0.03442034870386124, + 0.11320312321186066 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014288160018622875, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json new file mode 100644 index 0000000000000000000000000000000000000000..31d376533ebc5693103f3241eb830b62506539ad --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1858471492305398, + "parts": [ + { + "vertices_raw": [ + [ + -0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.0341443233191967, + -2.0907366349456486e-18, + 0.11320312321186066 + ], + [ + 0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + 0.0, + -0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + -0.03298088163137436, + 0.11320312321186066 + ], + [ + 4.181473269891297e-18, + 0.0341443233191967, + 0.11320312321186066 + ], + [ + 0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + -0.008837200701236725, + 0.03298088163137436, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + 0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + 0.024143680930137634, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.029569849371910095, + -0.01707216165959835, + 0.11320312321186066 + ], + [ + 0.024143680930137634, + -0.024143680930137634, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.01707216165959835, + 0.029569849371910095, + 0.11320312321186066 + ], + [ + 0.01707216165959835, + -0.029569849371910095, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + 0.008837200701236725, + 0.11320312321186066 + ], + [ + -0.0341443233191967, + 6.272210318427252e-18, + 0.11320312321186066 + ], + [ + -0.03298088163137436, + -0.008837200701236725, + 0.11320312321186066 + ] + ], + "indices_raw": [ + 14, + 2, + 1, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 12, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 9, + 8, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 6, + 5, + 31, + 32, + 18, + 17, + 31, + 17, + 16, + 33, + 34, + 26, + 25, + 35, + 34, + 36, + 27, + 26, + 37, + 22, + 4, + 7, + 37, + 38, + 23, + 22, + 39, + 15, + 1, + 0, + 39, + 33, + 16, + 15, + 40, + 13, + 12, + 21, + 40, + 21, + 20, + 41, + 42, + 35, + 25, + 24, + 42, + 24, + 23, + 38, + 43, + 10, + 9, + 28, + 43, + 28, + 27, + 36, + 44, + 41, + 20, + 19, + 44, + 19, + 18, + 32, + 45, + 29, + 8, + 11, + 45, + 46, + 30, + 29, + 47, + 3, + 2, + 14, + 47, + 14, + 30, + 46, + 47, + 46, + 45, + 11, + 10, + 43, + 36, + 34, + 35, + 42, + 38, + 37, + 7, + 6, + 13, + 40, + 41, + 44, + 32, + 31, + 33, + 39, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + -0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9856683611869812, + 0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7887308597564697, + 0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9856681823730469, + -0.12976591289043427, + -0.10779111087322235, + -0.021452680230140686 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12976542115211487, + -0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12976539134979248, + -0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12976542115211487, + 0.9856683611869812, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + 0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + 0.6052145957946777, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + -0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + -0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9184965491294861, + -0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7887308597564697, + -0.6052145957946777, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + 0.9184965491294861, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + 0.7887308597564697, + -0.10779130458831787, + -0.021452665328979492 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.6052145957946777, + 0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.38045379519462585, + 0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.6052145957946777, + -0.7887308597564697, + -0.10779128968715668, + -0.021452665328979492 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38045379519462585, + -0.9184965491294861, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + 0.38045379519462585, + -0.10779139399528503, + -0.0214526504278183 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + -0.10779111832380295, + -0.021452682092785835 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9184965491294861, + -0.38045379519462585, + -0.10779141634702682, + -0.021452646702528 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.9856683611869812, + -0.12976542115211487, + -0.10779112577438354, + -0.021452683955430984 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11320312321186066 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 2, + 1 + ], + [ + 14, + 1, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 12 + ], + [ + 14, + 12, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 31, + 32, + 18 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 16 + ], + [ + 31, + 16, + 33 + ], + [ + 34, + 26, + 25 + ], + [ + 34, + 25, + 35 + ], + [ + 34, + 36, + 27 + ], + [ + 34, + 27, + 26 + ], + [ + 37, + 22, + 4 + ], + [ + 37, + 4, + 7 + ], + [ + 37, + 38, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 39, + 15, + 1 + ], + [ + 39, + 1, + 0 + ], + [ + 39, + 33, + 16 + ], + [ + 39, + 16, + 15 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 21 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 41 + ], + [ + 42, + 35, + 25 + ], + [ + 42, + 25, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 38 + ], + [ + 43, + 10, + 9 + ], + [ + 43, + 9, + 28 + ], + [ + 43, + 28, + 27 + ], + [ + 43, + 27, + 36 + ], + [ + 44, + 41, + 20 + ], + [ + 44, + 20, + 19 + ], + [ + 44, + 19, + 18 + ], + [ + 44, + 18, + 32 + ], + [ + 45, + 29, + 8 + ], + [ + 45, + 8, + 11 + ], + [ + 45, + 46, + 30 + ], + [ + 45, + 30, + 29 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 43 + ], + [ + 47, + 43, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 42 + ], + [ + 47, + 42, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 39 + ], + [ + 47, + 39, + 0 + ], + [ + 47, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11320312321186066 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.11976562440395355 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011424953117966652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json new file mode 100644 index 0000000000000000000000000000000000000000..b959064aefc115faec654d28646c116835220421 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18789692828431726, + "parts": [ + { + "vertices_raw": [ + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 4.269362037155669e-18, + 0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.034861985594034195, + -2.1346810185778345e-18, + 0.11976562440395355 + ], + [ + 0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + 0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + 0.017430992797017097, + -0.030191367492079735, + 0.11976562440395355 + ], + [ + 0.00902294646948576, + -0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + -0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + -0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + -0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.034861985594034195, + 6.4040430557335034e-18, + 0.11976562440395355 + ], + [ + -0.03367409482598305, + 0.00902294646948576, + 0.11976562440395355 + ], + [ + -0.030191367492079735, + 0.017430992797017097, + 0.11976562440395355 + ], + [ + -0.024651147425174713, + 0.024651147425174713, + 0.11976562440395355 + ], + [ + -0.017430992797017097, + 0.030191367492079735, + 0.11976562440395355 + ], + [ + -0.00902294646948576, + 0.03367409482598305, + 0.11976562440395355 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 21, + 20, + 32, + 31, + 6, + 5, + 21, + 33, + 28, + 27, + 34, + 33, + 35, + 29, + 28, + 36, + 34, + 27, + 26, + 36, + 26, + 25, + 37, + 38, + 37, + 25, + 24, + 38, + 24, + 23, + 39, + 40, + 22, + 4, + 7, + 40, + 39, + 23, + 22, + 41, + 9, + 8, + 16, + 41, + 16, + 15, + 42, + 43, + 0, + 3, + 30, + 43, + 30, + 29, + 35, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 32, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 42, + 15, + 14, + 47, + 14, + 2, + 1, + 47, + 1, + 0, + 43, + 35, + 33, + 34, + 36, + 37, + 38, + 39, + 40, + 7, + 6, + 31, + 32, + 46, + 45, + 44, + 13, + 10, + 9, + 41, + 42 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11976560205221176 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + 0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + -0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + 0.12838323414325714, + 0.1804720014333725, + -0.055610544979572296 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9751654267311096, + -0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12838268280029297, + -0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + -0.9751654267311096, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + 0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + 0.12838268280029297, + 0.1804719716310501, + -0.055610541254282 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9751654267311096, + -0.12838268280029297, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9087095260620117, + -0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + 0.37639984488487244, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + 0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.12838268280029297, + 0.9751654267311096, + 0.1804719865322113, + -0.0556105375289917 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.37639984488487244, + 0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.9087095260620117, + -0.37639984488487244, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7803265452384949, + -0.5987656712532043, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + -0.9087095260620117, + 0.18047241866588593, + -0.055610597133636475 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + -0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5987656712532043, + 0.7803265452384949, + 0.1804719865322113, + -0.055610544979572296 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37639984488487244, + 0.9087095260620117, + 0.18047243356704712, + -0.055610597133636475 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1230468675494194 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 31, + 6, + 5 + ], + [ + 31, + 5, + 21 + ], + [ + 33, + 28, + 27 + ], + [ + 33, + 27, + 34 + ], + [ + 33, + 35, + 29 + ], + [ + 33, + 29, + 28 + ], + [ + 36, + 34, + 27 + ], + [ + 36, + 27, + 26 + ], + [ + 36, + 26, + 25 + ], + [ + 36, + 25, + 37 + ], + [ + 38, + 37, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 39 + ], + [ + 40, + 22, + 4 + ], + [ + 40, + 4, + 7 + ], + [ + 40, + 39, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 41, + 9, + 8 + ], + [ + 41, + 8, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 42 + ], + [ + 43, + 0, + 3 + ], + [ + 43, + 3, + 30 + ], + [ + 43, + 30, + 29 + ], + [ + 43, + 29, + 35 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 32, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 42, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 43 + ], + [ + 47, + 43, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 40 + ], + [ + 47, + 40, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 41 + ], + [ + 47, + 41, + 42 + ] + ], + "raw_bounds": [ + [ + -0.034861985594034195, + -0.034861985594034195, + 0.11976562440395355 + ], + [ + 0.034861985594034195, + 0.034861985594034195, + 0.123046875 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001447632908821106, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json new file mode 100644 index 0000000000000000000000000000000000000000..da83af8c824052dfc0514df15ab0b0fd08fd088a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1902473489753902, + "parts": [ + { + "vertices_raw": [ + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.034254733473062515, + -2.0974973888871976e-18, + 0.123046875 + ], + [ + 0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 4.194994777774395e-18, + 0.034254733473062515, + 0.123046875 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008865777403116226, + 0.03308752924203873, + 0.123046875 + ], + [ + 0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + 0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + 0.029665468260645866, + -0.017127366736531258, + 0.123046875 + ], + [ + 0.02422175370156765, + -0.02422175370156765, + 0.123046875 + ], + [ + 0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + 0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + 0.0, + -0.034254733473062515, + 0.123046875 + ], + [ + -0.008865777403116226, + -0.03308752924203873, + 0.123046875 + ], + [ + -0.017127366736531258, + -0.029665468260645866, + 0.123046875 + ], + [ + -0.03308752924203873, + -0.008865777403116226, + 0.123046875 + ], + [ + -0.034254733473062515, + 6.29249195986644e-18, + 0.123046875 + ], + [ + -0.03308752924203873, + 0.008865777403116226, + 0.123046875 + ], + [ + -0.029665468260645866, + 0.017127366736531258, + 0.123046875 + ], + [ + -0.02422175370156765, + 0.02422175370156765, + 0.123046875 + ], + [ + -0.017127366736531258, + 0.029665468260645866, + 0.123046875 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ] + ], + "indices_raw": [ + 14, + 9, + 8, + 15, + 16, + 17, + 4, + 7, + 12, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 3, + 2, + 25, + 26, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 31, + 32, + 21, + 20, + 31, + 20, + 19, + 33, + 34, + 5, + 4, + 17, + 34, + 17, + 16, + 35, + 36, + 29, + 28, + 37, + 36, + 38, + 30, + 29, + 39, + 22, + 21, + 32, + 39, + 40, + 23, + 22, + 41, + 35, + 16, + 15, + 41, + 15, + 8, + 11, + 42, + 0, + 3, + 24, + 42, + 24, + 23, + 40, + 43, + 18, + 12, + 13, + 43, + 33, + 19, + 18, + 44, + 37, + 28, + 27, + 44, + 27, + 26, + 45, + 46, + 45, + 26, + 25, + 46, + 25, + 2, + 1, + 47, + 10, + 9, + 14, + 47, + 14, + 30, + 38, + 47, + 38, + 36, + 37, + 44, + 45, + 46, + 1, + 0, + 42, + 40, + 39, + 32, + 31, + 33, + 43, + 13, + 6, + 5, + 34, + 35, + 41, + 11, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1230468675494194 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + 0.11434709280729294, + 0.4822246730327606, + -0.08908828347921371 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6950150728225708, + 0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + -0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.5333038568496704, + 0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5333038568496704, + -0.6950150728225708, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + -0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.6950150728225708, + -0.5333038568496704, + 0.4822250008583069, + -0.0890883132815361 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + 0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + 0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.8685528039932251, + -0.11434738337993622, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.809362530708313, + -0.33524879813194275, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.11434738337993622, + 0.8685528039932251, + 0.4822246730327606, + -0.08908827602863312 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.33524879813194275, + 0.809362530708313, + 0.48222461342811584, + -0.08908827602863312 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.12632815539836884 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 12 + ], + [ + 14, + 12, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 31, + 32, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 33 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 17 + ], + [ + 34, + 17, + 16 + ], + [ + 34, + 16, + 35 + ], + [ + 36, + 29, + 28 + ], + [ + 36, + 28, + 37 + ], + [ + 36, + 38, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 32 + ], + [ + 39, + 40, + 23 + ], + [ + 39, + 23, + 22 + ], + [ + 41, + 35, + 16 + ], + [ + 41, + 16, + 15 + ], + [ + 41, + 15, + 8 + ], + [ + 41, + 8, + 11 + ], + [ + 42, + 0, + 3 + ], + [ + 42, + 3, + 24 + ], + [ + 42, + 24, + 23 + ], + [ + 42, + 23, + 40 + ], + [ + 43, + 18, + 12 + ], + [ + 43, + 12, + 13 + ], + [ + 43, + 33, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 44, + 37, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 26 + ], + [ + 44, + 26, + 45 + ], + [ + 46, + 45, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 38 + ], + [ + 47, + 38, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 42 + ], + [ + 47, + 42, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 43 + ], + [ + 47, + 43, + 13 + ], + [ + 47, + 13, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 11 + ], + [ + 47, + 11, + 10 + ] + ], + "raw_bounds": [ + [ + -0.034254733473062515, + -0.034254733473062515, + 0.123046875 + ], + [ + 0.034254733473062515, + 0.034254733473062515, + 0.12632812559604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014821798540651798, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2c5c68ba1009c9b13f19d8b08472967af2d417 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19260341208428144, + "parts": [ + { + "vertices_raw": [ + [ + -0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + -0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.03243296593427658, + -1.985946293020134e-18, + 0.12632812559604645 + ], + [ + 0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.01621648296713829, + 0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + 0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + 0.01621648296713829, + -0.02808777242898941, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + -0.03132783994078636, + 0.12632812559604645 + ], + [ + 0.0, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + -0.02293356880545616, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + -0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + -0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.03243296593427658, + 5.957839085855555e-18, + 0.12632812559604645 + ], + [ + -0.03132783994078636, + 0.008394269272685051, + 0.12632812559604645 + ], + [ + -0.02808777242898941, + 0.01621648296713829, + 0.12632812559604645 + ], + [ + -0.02293356880545616, + 0.02293356880545616, + 0.12632812559604645 + ], + [ + 3.971892586040268e-18, + 0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.008394269272685051, + 0.03132783994078636, + 0.12632812559604645 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 8, + 11, + 12, + 17, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 0, + 3, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 27, + 26, + 31, + 26, + 25, + 33, + 34, + 33, + 25, + 24, + 34, + 24, + 23, + 35, + 36, + 21, + 20, + 37, + 36, + 6, + 5, + 21, + 38, + 28, + 27, + 32, + 38, + 1, + 0, + 28, + 39, + 29, + 3, + 2, + 39, + 40, + 30, + 29, + 41, + 22, + 4, + 7, + 41, + 35, + 23, + 22, + 42, + 9, + 8, + 16, + 42, + 16, + 15, + 43, + 44, + 17, + 12, + 13, + 44, + 45, + 18, + 17, + 46, + 37, + 20, + 19, + 46, + 19, + 18, + 45, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 40, + 47, + 40, + 39, + 2, + 1, + 38, + 32, + 31, + 33, + 34, + 35, + 41, + 7, + 6, + 36, + 37, + 46, + 45, + 44, + 13, + 10, + 9, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.12632817029953003 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.36735227704048157, + 0.8868666887283325, + 0.28021374344825745, + -0.06626614928245544 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.36735230684280396, + -0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.95172518491745, + 0.1252967268228531, + 0.2802138924598694, + -0.06626616418361664 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + 0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.125296950340271, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8868667483329773, + -0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + -0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + 0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + 0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.125296950340271, + 0.9517252445220947, + 0.2802139222621918, + -0.06626617163419724 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5843732357025146, + -0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.7615696787834167, + -0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + 0.36735230684280396, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + 0.5843732357025146, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.8868667483329773, + -0.36735230684280396, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.7615696787834167, + -0.5843732357025146, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + -0.8868667483329773, + 0.28021368384361267, + -0.06626614928245544 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + -0.7615696787834167, + 0.2802135646343231, + -0.06626613438129425 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843732357025146, + 0.7615696787834167, + 0.28021353483200073, + -0.06626612693071365 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.36735230684280396, + 0.8868667483329773, + 0.28021374344825745, + -0.06626615673303604 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.1296093463897705 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 12 + ], + [ + 14, + 12, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 33 + ], + [ + 34, + 33, + 25 + ], + [ + 34, + 25, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 35 + ], + [ + 36, + 21, + 20 + ], + [ + 36, + 20, + 37 + ], + [ + 36, + 6, + 5 + ], + [ + 36, + 5, + 21 + ], + [ + 38, + 28, + 27 + ], + [ + 38, + 27, + 32 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 28 + ], + [ + 39, + 29, + 3 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 40, + 30 + ], + [ + 39, + 30, + 29 + ], + [ + 41, + 22, + 4 + ], + [ + 41, + 4, + 7 + ], + [ + 41, + 35, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 42, + 9, + 8 + ], + [ + 42, + 8, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 17, + 12 + ], + [ + 44, + 12, + 13 + ], + [ + 44, + 45, + 18 + ], + [ + 44, + 18, + 17 + ], + [ + 46, + 37, + 20 + ], + [ + 46, + 20, + 19 + ], + [ + 46, + 19, + 18 + ], + [ + 46, + 18, + 45 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03243296593427658, + -0.03243296593427658, + 0.12632812559604645 + ], + [ + 0.03243296593427658, + 0.03243296593427658, + 0.1296093761920929 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013124067336320877, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json new file mode 100644 index 0000000000000000000000000000000000000000..55e0378f80343b340220de949047dfee634ce393 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19458848889917135, + "parts": [ + { + "vertices_raw": [ + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03146687522530556, + -1.9267904715134042e-18, + 0.1296093761920929 + ], + [ + 0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + -0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030394669622182846, + -0.008144226856529713, + 0.1296093761920929 + ], + [ + -0.03146687522530556, + 5.780371621335366e-18, + 0.1296093761920929 + ], + [ + -0.030394669622182846, + 0.008144226856529713, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + 0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + 0.02225044183433056, + 0.1296093761920929 + ], + [ + 0.027251115068793297, + -0.01573343761265278, + 0.1296093761920929 + ], + [ + 0.02225044183433056, + -0.02225044183433056, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + -0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + -0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + -0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + -0.030394669622182846, + 0.1296093761920929 + ], + [ + 0.01573343761265278, + 0.027251115068793297, + 0.1296093761920929 + ], + [ + 0.008144226856529713, + 0.030394669622182846, + 0.1296093761920929 + ], + [ + 3.8535809430268084e-18, + 0.03146687522530556, + 0.1296093761920929 + ], + [ + 0.0, + -0.03146687522530556, + 0.1296093761920929 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 11, + 10, + 19, + 20, + 21, + 6, + 9, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 4, + 1, + 0, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 7, + 6, + 21, + 31, + 21, + 20, + 32, + 33, + 19, + 10, + 13, + 33, + 32, + 20, + 19, + 34, + 29, + 0, + 3, + 34, + 35, + 30, + 29, + 36, + 5, + 4, + 28, + 36, + 28, + 27, + 37, + 38, + 22, + 9, + 8, + 38, + 39, + 23, + 22, + 40, + 12, + 11, + 18, + 40, + 18, + 17, + 41, + 42, + 37, + 27, + 26, + 42, + 26, + 25, + 43, + 44, + 45, + 15, + 14, + 44, + 14, + 30, + 35, + 46, + 16, + 15, + 45, + 46, + 41, + 17, + 16, + 47, + 39, + 38, + 8, + 7, + 31, + 32, + 33, + 13, + 12, + 40, + 41, + 46, + 45, + 44, + 35, + 34, + 3, + 2, + 5, + 36, + 37, + 42, + 43, + 47, + 43, + 25, + 24, + 47, + 24, + 23, + 39 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1361718475818634 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.8925064206123352, + -0.11750045418739319, + -0.4354606568813324, + 0.028355393558740616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + -0.5480117797851562, + -0.43546053767204285, + 0.028355378657579422 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.8316835761070251, + -0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + -0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8316834568977356, + 0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.8925063610076904, + 0.11750053614377975, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.8316835761070251, + 0.3444948196411133, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + 0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.8316834568977356, + -0.3444947600364685, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7141829133033752, + -0.5480117797851562, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.3444947600364685, + -0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.3444948196411133, + 0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + -0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3444948196411133, + -0.8316835761070251, + -0.43546050786972046, + 0.028355371206998825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3444947600364685, + 0.8316834568977356, + -0.43546047806739807, + 0.028355371206998825 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.5480117797851562, + 0.7141829133033752, + -0.43546050786972046, + 0.028355374932289124 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + 0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1296093612909317 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + 0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + -0.11750053614377975, + -0.8925063610076904, + -0.43546056747436523, + 0.02835538424551487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 11 + ], + [ + 14, + 11, + 10 + ], + [ + 14, + 10, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 6 + ], + [ + 14, + 6, + 9 + ], + [ + 14, + 9, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 4 + ], + [ + 14, + 4, + 1 + ], + [ + 14, + 1, + 0 + ], + [ + 14, + 0, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 7, + 6 + ], + [ + 31, + 6, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 32 + ], + [ + 33, + 19, + 10 + ], + [ + 33, + 10, + 13 + ], + [ + 33, + 32, + 20 + ], + [ + 33, + 20, + 19 + ], + [ + 34, + 29, + 0 + ], + [ + 34, + 0, + 3 + ], + [ + 34, + 35, + 30 + ], + [ + 34, + 30, + 29 + ], + [ + 36, + 5, + 4 + ], + [ + 36, + 4, + 28 + ], + [ + 36, + 28, + 27 + ], + [ + 36, + 27, + 37 + ], + [ + 38, + 22, + 9 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 39, + 23 + ], + [ + 38, + 23, + 22 + ], + [ + 40, + 12, + 11 + ], + [ + 40, + 11, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 41 + ], + [ + 42, + 37, + 27 + ], + [ + 42, + 27, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 42, + 25, + 43 + ], + [ + 44, + 45, + 15 + ], + [ + 44, + 15, + 14 + ], + [ + 44, + 14, + 30 + ], + [ + 44, + 30, + 35 + ], + [ + 46, + 16, + 15 + ], + [ + 46, + 15, + 45 + ], + [ + 46, + 41, + 17 + ], + [ + 46, + 17, + 16 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 8 + ], + [ + 47, + 8, + 7 + ], + [ + 47, + 7, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 33 + ], + [ + 47, + 33, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 3 + ], + [ + 47, + 3, + 2 + ], + [ + 47, + 2, + 5 + ], + [ + 47, + 5, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 25 + ], + [ + 47, + 25, + 24 + ], + [ + 47, + 24, + 23 + ], + [ + 47, + 23, + 39 + ] + ], + "raw_bounds": [ + [ + -0.03466876968741417, + -0.03466876968741417, + 0.1296093761920929 + ], + [ + 0.03466876968741417, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001131413970142603, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3ae8d9840a70362141718ce454d381238be3a2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19649425614625216, + "parts": [ + { + "vertices_raw": [ + [ + -0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.03466876968741417, + -2.1228498542764885e-18, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + 0.008972938172519207, + 0.1361718773841858 + ], + [ + -0.03466876968741417, + 6.3685495628294656e-18, + 0.1361718773841858 + ], + [ + -0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + -0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + -0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + -0.024514522403478622, + 0.1361718773841858 + ], + [ + 0.030024034902453423, + 0.017334384843707085, + 0.1361718773841858 + ], + [ + 0.024514522403478622, + 0.024514522403478622, + 0.1361718773841858 + ], + [ + -0.033487461507320404, + -0.008972938172519207, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + -0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + -0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.017334384843707085, + 0.030024034902453423, + 0.1361718773841858 + ], + [ + 0.008972938172519207, + 0.033487461507320404, + 0.1361718773841858 + ], + [ + 0.0, + -0.03466876968741417, + 0.1361718773841858 + ], + [ + 4.245699708552977e-18, + 0.03466876968741417, + 0.1361718773841858 + ] + ], + "indices_raw": [ + 12, + 14, + 15, + 16, + 17, + 18, + 5, + 4, + 19, + 20, + 21, + 22, + 23, + 2, + 1, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 8, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 11, + 10, + 13, + 31, + 32, + 20, + 19, + 31, + 19, + 4, + 7, + 33, + 34, + 22, + 21, + 33, + 21, + 20, + 32, + 35, + 24, + 1, + 0, + 35, + 36, + 25, + 24, + 37, + 9, + 8, + 30, + 37, + 30, + 29, + 38, + 39, + 14, + 12, + 13, + 39, + 40, + 15, + 14, + 41, + 3, + 2, + 23, + 41, + 23, + 22, + 34, + 42, + 38, + 29, + 28, + 42, + 28, + 27, + 43, + 44, + 45, + 17, + 16, + 44, + 16, + 15, + 40, + 46, + 43, + 27, + 26, + 46, + 26, + 25, + 36, + 47, + 45, + 44, + 40, + 39, + 13, + 10, + 9, + 37, + 38, + 42, + 43, + 46, + 36, + 35, + 0, + 3, + 41, + 34, + 33, + 32, + 31, + 7, + 6, + 47, + 6, + 5, + 18, + 47, + 18, + 17, + 45 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + -0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + 0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + -0.12987717986106873, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9865164160728455, + 0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7894094586372375, + 0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + 0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + 0.12987731397151947, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + 0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.6057353615760803, + -0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3807810842990875, + -0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + -0.3807810842990875, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + -0.6057353615760803, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9192869067192078, + 0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7894094586372375, + 0.6057353615760803, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.9192869067192078, + -0.3807810842990875, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9865164160728455, + -0.12987731397151947, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + -0.7894094586372375, + -0.09958525747060776, + -0.020640596747398376 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + -0.9192869067192078, + -0.09958519041538239, + -0.020640604197978973 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3807810842990875, + 0.9192869067192078, + -0.09958521276712418, + -0.020640602335333824 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6057353615760803, + 0.7894094586372375, + -0.09958520531654358, + -0.020640607923269272 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + -0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + -0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + }, + { + "index_base": 112, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1361718475818634 + ] + }, + { + "index_base": 136, + "num_vertices": 4, + "plane": [ + -0.12987731397151947, + 0.9865164160728455, + -0.09958508610725403, + -0.020640622824430466 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + 0.12987731397151947, + 0.9865164160728455, + -0.09958510100841522, + -0.020640622824430466 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 5 + ], + [ + 12, + 5, + 4 + ], + [ + 12, + 4, + 19 + ], + [ + 12, + 19, + 20 + ], + [ + 12, + 20, + 21 + ], + [ + 12, + 21, + 22 + ], + [ + 12, + 22, + 23 + ], + [ + 12, + 23, + 2 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 24 + ], + [ + 12, + 24, + 25 + ], + [ + 12, + 25, + 26 + ], + [ + 12, + 26, + 27 + ], + [ + 12, + 27, + 28 + ], + [ + 12, + 28, + 29 + ], + [ + 12, + 29, + 30 + ], + [ + 12, + 30, + 8 + ], + [ + 12, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 11, + 10 + ], + [ + 12, + 10, + 13 + ], + [ + 31, + 32, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 4 + ], + [ + 31, + 4, + 7 + ], + [ + 33, + 34, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 20 + ], + [ + 33, + 20, + 32 + ], + [ + 35, + 24, + 1 + ], + [ + 35, + 1, + 0 + ], + [ + 35, + 36, + 25 + ], + [ + 35, + 25, + 24 + ], + [ + 37, + 9, + 8 + ], + [ + 37, + 8, + 30 + ], + [ + 37, + 30, + 29 + ], + [ + 37, + 29, + 38 + ], + [ + 39, + 14, + 12 + ], + [ + 39, + 12, + 13 + ], + [ + 39, + 40, + 15 + ], + [ + 39, + 15, + 14 + ], + [ + 41, + 3, + 2 + ], + [ + 41, + 2, + 23 + ], + [ + 41, + 23, + 22 + ], + [ + 41, + 22, + 34 + ], + [ + 42, + 38, + 29 + ], + [ + 42, + 29, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 43 + ], + [ + 44, + 45, + 17 + ], + [ + 44, + 17, + 16 + ], + [ + 44, + 16, + 15 + ], + [ + 44, + 15, + 40 + ], + [ + 46, + 43, + 27 + ], + [ + 46, + 27, + 26 + ], + [ + 46, + 26, + 25 + ], + [ + 46, + 25, + 36 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 40 + ], + [ + 47, + 40, + 39 + ], + [ + 47, + 39, + 13 + ], + [ + 47, + 13, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 37 + ], + [ + 47, + 37, + 38 + ], + [ + 47, + 38, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 46 + ], + [ + 47, + 46, + 36 + ], + [ + 47, + 36, + 35 + ], + [ + 47, + 35, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 41 + ], + [ + 47, + 41, + 34 + ], + [ + 47, + 34, + 33 + ], + [ + 47, + 33, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 18 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 45 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.1361718773841858 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.13945312798023224 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012147650122642517, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json new file mode 100644 index 0000000000000000000000000000000000000000..9d94ea56ff1774fb83852891712402f3d7a12656 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19844508729875088, + "parts": [ + { + "vertices_raw": [ + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 4.286263818611965e-18, + 0.03500000014901161, + 0.13945312798023224 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.0, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.02474873699247837, + 0.02474873699247837, + 0.13945312798023224 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.02474873699247837, + -0.02474873699247837, + 0.13945312798023224 + ], + [ + -0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03500000014901161, + 6.4293957279179475e-18, + 0.13945312798023224 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + 0.03380740433931351, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + 0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + -2.1431319093059825e-18, + 0.13945312798023224 + ], + [ + 0.03380740433931351, + -0.009058666415512562, + 0.13945312798023224 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.13945312798023224 + ], + [ + -0.009058666415512562, + -0.03380740433931351, + 0.13945312798023224 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.13945312798023224 + ], + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ] + ], + "indices_raw": [ + 28, + 25, + 24, + 30, + 2, + 1, + 31, + 10, + 9, + 32, + 17, + 16, + 33, + 34, + 35, + 20, + 23, + 36, + 15, + 14, + 37, + 7, + 6, + 38, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 26, + 25, + 39, + 30, + 24, + 27, + 39, + 3, + 2, + 30, + 40, + 33, + 16, + 19, + 40, + 41, + 34, + 33, + 42, + 21, + 20, + 35, + 42, + 35, + 34, + 41, + 43, + 11, + 10, + 31, + 43, + 31, + 1, + 0, + 44, + 4, + 7, + 37, + 44, + 37, + 14, + 13, + 45, + 18, + 17, + 32, + 45, + 32, + 9, + 8, + 46, + 29, + 28, + 38, + 46, + 38, + 6, + 5, + 47, + 12, + 15, + 36, + 47, + 36, + 23, + 22, + 47, + 22, + 21, + 42, + 41, + 40, + 19, + 18, + 45, + 8, + 11, + 43, + 0, + 3, + 39, + 27, + 26, + 29, + 46, + 5, + 4, + 44, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13945315778255463 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + 0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.608610987663269, + -0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + 0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.13049383461475372, + -0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779274970293045 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + 0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + 0.608610987663269, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + 0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + 0.13049383461475372, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9236510396003723, + -0.38258880376815796, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9911996722221375, + -0.13049383461475372, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + 0.9911996722221375, + 0.022235119715332985, + -0.037792742252349854 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + 0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.38258880376815796, + -0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.13049383461475372, + -0.9911996722221375, + 0.022235039621591568, + -0.03779273107647896 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + 0.793157160282135, + 0.022235142067074776, + -0.03779275342822075 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + 0.9236510396003723, + 0.022235112264752388, + -0.03779274597764015 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9236510396003723, + -0.38258880376815796, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.793157160282135, + -0.608610987663269, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.38258880376815796, + -0.9236510396003723, + 0.022235041484236717, + -0.03779273480176926 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.608610987663269, + -0.793157160282135, + 0.022235114127397537, + -0.03779274597764015 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.149296835064888 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 30 + ], + [ + 28, + 30, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 31 + ], + [ + 28, + 31, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 32 + ], + [ + 28, + 32, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 36 + ], + [ + 28, + 36, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 37 + ], + [ + 28, + 37, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 38 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 26 + ], + [ + 28, + 26, + 25 + ], + [ + 39, + 30, + 24 + ], + [ + 39, + 24, + 27 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 30 + ], + [ + 40, + 33, + 16 + ], + [ + 40, + 16, + 19 + ], + [ + 40, + 41, + 34 + ], + [ + 40, + 34, + 33 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 35 + ], + [ + 42, + 35, + 34 + ], + [ + 42, + 34, + 41 + ], + [ + 43, + 11, + 10 + ], + [ + 43, + 10, + 31 + ], + [ + 43, + 31, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 44, + 4, + 7 + ], + [ + 44, + 7, + 37 + ], + [ + 44, + 37, + 14 + ], + [ + 44, + 14, + 13 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 32 + ], + [ + 45, + 32, + 9 + ], + [ + 45, + 9, + 8 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 38 + ], + [ + 46, + 38, + 6 + ], + [ + 46, + 6, + 5 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 36 + ], + [ + 47, + 36, + 23 + ], + [ + 47, + 23, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 45 + ], + [ + 47, + 45, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 29 + ], + [ + 47, + 29, + 46 + ], + [ + 47, + 46, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 44 + ], + [ + 47, + 44, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.13945312798023224 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.14929687976837158 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012681800872087479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json new file mode 100644 index 0000000000000000000000000000000000000000..c58ba8d7159751fadd353377a3f78622b58f22f8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20052201533690095, + "parts": [ + { + "vertices_raw": [ + [ + -0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + -2.1296106082180376e-18, + 0.14929687976837158 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + 0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + 0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + 0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + 0.017389589920639992, + -0.030119653791189194, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + -0.03359410911798477, + 0.14929687976837158 + ], + [ + 0.0, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + -0.02459259331226349, + -0.02459259331226349, + 0.14929687976837158 + ], + [ + -0.030119653791189194, + -0.017389589920639992, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + -0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.034779179841279984, + 6.3888316178589595e-18, + 0.14929687976837158 + ], + [ + -0.03359410911798477, + 0.009001513943076134, + 0.14929687976837158 + ], + [ + -0.017389589920639992, + 0.030119653791189194, + 0.14929687976837158 + ], + [ + -0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.259221216436075e-18, + 0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.009001513943076134, + 0.03359410911798477, + 0.14929687976837158 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 9, + 8, + 17, + 18, + 19, + 20, + 21, + 4, + 7, + 22, + 23, + 24, + 25, + 26, + 0, + 3, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 10, + 9, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 5, + 4, + 21, + 36, + 17, + 8, + 11, + 36, + 37, + 18, + 17, + 38, + 1, + 0, + 26, + 38, + 26, + 25, + 39, + 40, + 22, + 7, + 6, + 40, + 41, + 23, + 22, + 42, + 13, + 12, + 16, + 42, + 16, + 15, + 43, + 44, + 33, + 28, + 27, + 44, + 27, + 3, + 2, + 45, + 35, + 20, + 19, + 45, + 19, + 18, + 37, + 46, + 39, + 25, + 24, + 46, + 24, + 23, + 41, + 47, + 43, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 44, + 2, + 1, + 38, + 39, + 46, + 41, + 40, + 6, + 5, + 34, + 35, + 45, + 37, + 36, + 11, + 10, + 13, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.149296835064888 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + 0.6030778288841248, + 0.13632895052433014, + -0.05451318621635437 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.37911054491996765, + -0.9152538180351257, + 0.1363290399312973, + -0.05451320856809616 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9821884036064148, + 0.12930768728256226, + 0.13632893562316895, + -0.05451319366693497 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + 0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12930744886398315, + -0.9821884036064148, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + -0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + -0.6030778884887695, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + 0.37911057472229004, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + 0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + -0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.7859461903572083, + -0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.915253758430481, + 0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7859461903572083, + 0.6030778884887695, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.37911057472229004, + 0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.6030778884887695, + 0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + -0.915253758430481, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + -0.7859461903572083, + 0.13632896542549133, + -0.05451319366693497 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9821884036064148, + -0.12930744886398315, + 0.13632892072200775, + -0.05451319366693497 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.915253758430481, + -0.37911057472229004, + 0.1363290548324585, + -0.05451320484280586 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.6030778884887695, + 0.7859461903572083, + 0.13632892072200775, + -0.05451318621635437 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.37911057472229004, + 0.915253758430481, + 0.1363290399312973, + -0.054513201117515564 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15585941076278687 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 14, + 7, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 0 + ], + [ + 14, + 0, + 3 + ], + [ + 14, + 3, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 5, + 4 + ], + [ + 34, + 4, + 21 + ], + [ + 36, + 17, + 8 + ], + [ + 36, + 8, + 11 + ], + [ + 36, + 37, + 18 + ], + [ + 36, + 18, + 17 + ], + [ + 38, + 1, + 0 + ], + [ + 38, + 0, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 22, + 7 + ], + [ + 40, + 7, + 6 + ], + [ + 40, + 41, + 23 + ], + [ + 40, + 23, + 22 + ], + [ + 42, + 13, + 12 + ], + [ + 42, + 12, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 33, + 28 + ], + [ + 44, + 28, + 27 + ], + [ + 44, + 27, + 3 + ], + [ + 44, + 3, + 2 + ], + [ + 45, + 35, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 18 + ], + [ + 45, + 18, + 37 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 23 + ], + [ + 46, + 23, + 41 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 44 + ], + [ + 47, + 44, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 45 + ], + [ + 47, + 45, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 13 + ], + [ + 47, + 13, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.034779179841279984, + -0.034779179841279984, + 0.14929687976837158 + ], + [ + 0.034779179841279984, + 0.034779179841279984, + 0.15585938096046448 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012047658674418926, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe50057f3750fff26f500c9233f07ce78b0a3c4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2024940880946815, + "parts": [ + { + "vertices_raw": [ + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + -2.0738350602845057e-18, + 0.15585938096046448 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + -0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + 0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + 0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02933080494403839, + -0.016934148967266083, + 0.15585938096046448 + ], + [ + 0.02394850179553032, + -0.02394850179553032, + 0.15585938096046448 + ], + [ + 0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + 0.0, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + -0.03271426260471344, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + -0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + -0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.033868297934532166, + 6.221504974058364e-18, + 0.15585938096046448 + ], + [ + -0.03271426260471344, + 0.008765759877860546, + 0.15585938096046448 + ], + [ + -0.016934148967266083, + 0.02933080494403839, + 0.15585938096046448 + ], + [ + -0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 4.1476701205690115e-18, + 0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.008765759877860546, + 0.03271426260471344, + 0.15585938096046448 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 12, + 6, + 5, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 3, + 2, + 24, + 25, + 26, + 8, + 11, + 27, + 28, + 29, + 30, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 7, + 6, + 31, + 32, + 30, + 29, + 31, + 29, + 28, + 33, + 34, + 21, + 20, + 35, + 34, + 36, + 22, + 21, + 37, + 0, + 3, + 23, + 37, + 23, + 22, + 36, + 38, + 9, + 8, + 26, + 38, + 26, + 25, + 39, + 40, + 13, + 12, + 16, + 40, + 16, + 15, + 41, + 42, + 33, + 28, + 27, + 42, + 27, + 11, + 10, + 43, + 35, + 20, + 19, + 43, + 19, + 18, + 44, + 45, + 44, + 18, + 17, + 45, + 17, + 5, + 4, + 46, + 39, + 25, + 24, + 46, + 24, + 2, + 1, + 47, + 41, + 15, + 14, + 47, + 14, + 30, + 32, + 47, + 32, + 31, + 33, + 42, + 10, + 9, + 38, + 39, + 46, + 1, + 0, + 37, + 36, + 34, + 35, + 43, + 44, + 45, + 4, + 7, + 13, + 40, + 41 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15585941076278687 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7615699172019958, + 0.584372878074646, + 0.2802134156227112, + -0.07590720802545547 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9517252445220947, + 0.125296950340271, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + 0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.12529712915420532, + -0.9517252445220947, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + 0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + 0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + 0.5843730568885803, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + -0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + -0.7615697383880615, + 0.28021344542503357, + -0.07590721547603607 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.7615697383880615, + -0.5843730568885803, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9517252445220947, + -0.12529712915420532, + 0.28021353483200073, + -0.07590722292661667 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.8868668079376221, + -0.3673522472381592, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5843730568885803, + 0.7615697383880615, + 0.28021344542503357, + -0.07590720802545547 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.3673522472381592, + 0.8868668079376221, + 0.28021350502967834, + -0.07590721547603607 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16242192685604095 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 12 + ], + [ + 14, + 12, + 6 + ], + [ + 14, + 6, + 5 + ], + [ + 14, + 5, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 8 + ], + [ + 14, + 8, + 11 + ], + [ + 14, + 11, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 31, + 32, + 30 + ], + [ + 31, + 30, + 29 + ], + [ + 31, + 29, + 28 + ], + [ + 31, + 28, + 33 + ], + [ + 34, + 21, + 20 + ], + [ + 34, + 20, + 35 + ], + [ + 34, + 36, + 22 + ], + [ + 34, + 22, + 21 + ], + [ + 37, + 0, + 3 + ], + [ + 37, + 3, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 36 + ], + [ + 38, + 9, + 8 + ], + [ + 38, + 8, + 26 + ], + [ + 38, + 26, + 25 + ], + [ + 38, + 25, + 39 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 16 + ], + [ + 40, + 16, + 15 + ], + [ + 40, + 15, + 41 + ], + [ + 42, + 33, + 28 + ], + [ + 42, + 28, + 27 + ], + [ + 42, + 27, + 11 + ], + [ + 42, + 11, + 10 + ], + [ + 43, + 35, + 20 + ], + [ + 43, + 20, + 19 + ], + [ + 43, + 19, + 18 + ], + [ + 43, + 18, + 44 + ], + [ + 45, + 44, + 18 + ], + [ + 45, + 18, + 17 + ], + [ + 45, + 17, + 5 + ], + [ + 45, + 5, + 4 + ], + [ + 46, + 39, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 2 + ], + [ + 46, + 2, + 1 + ], + [ + 47, + 41, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 42 + ], + [ + 47, + 42, + 10 + ], + [ + 47, + 10, + 9 + ], + [ + 47, + 9, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ] + ], + "raw_bounds": [ + [ + -0.033868297934532166, + -0.033868297934532166, + 0.15585938096046448 + ], + [ + 0.033868297934532166, + 0.033868297934532166, + 0.16242188215255737 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001127659808844328, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json new file mode 100644 index 0000000000000000000000000000000000000000..68c8522dd03205a0803dd491652eb656cc346c90 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20432663010433316, + "parts": [ + { + "vertices_raw": [ + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.03193612024188042, + -1.955523417271046e-18, + 0.16242188215255737 + ], + [ + 0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + -0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + -0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.0, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + -0.008265675976872444, + -0.030847923830151558, + 0.16242188215255737 + ], + [ + -0.01596806012094021, + -0.027657490223646164, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + -0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.03193612024188042, + 5.8665700450179854e-18, + 0.16242188215255737 + ], + [ + -0.030847923830151558, + 0.008265675976872444, + 0.16242188215255737 + ], + [ + -0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + -0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 3.911046834542092e-18, + 0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.008265675976872444, + 0.030847923830151558, + 0.16242188215255737 + ], + [ + 0.01596806012094021, + 0.027657490223646164, + 0.16242188215255737 + ], + [ + 0.022582247853279114, + 0.022582247853279114, + 0.16242188215255737 + ], + [ + 0.027657490223646164, + 0.01596806012094021, + 0.16242188215255737 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 9, + 8, + 21, + 22, + 23, + 24, + 25, + 10, + 13, + 26, + 27, + 28, + 29, + 30, + 3, + 2, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 18, + 17, + 32, + 31, + 33, + 19, + 18, + 34, + 35, + 24, + 23, + 34, + 23, + 22, + 36, + 37, + 26, + 13, + 12, + 37, + 38, + 27, + 26, + 39, + 36, + 22, + 21, + 39, + 21, + 8, + 7, + 40, + 25, + 24, + 35, + 40, + 11, + 10, + 25, + 41, + 42, + 29, + 28, + 41, + 28, + 27, + 38, + 43, + 32, + 17, + 16, + 43, + 16, + 15, + 44, + 45, + 6, + 9, + 20, + 45, + 20, + 19, + 33, + 46, + 0, + 3, + 30, + 46, + 30, + 29, + 42, + 47, + 44, + 15, + 14, + 47, + 14, + 5, + 4, + 47, + 4, + 1, + 0, + 46, + 42, + 41, + 38, + 37, + 12, + 11, + 40, + 35, + 34, + 36, + 39, + 7, + 6, + 45, + 33, + 31, + 32, + 43, + 44 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16242192685604095 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + -0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.3478338420391083, + 0.8397449851036072, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + -0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + 0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + 0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + 0.11863957345485687, + 0.9011573791503906, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9011573791503906, + -0.11863957345485687, + 0.4169412851333618, + -0.09649986028671265 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.8397449254989624, + -0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.7211054563522339, + 0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + 0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + 0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + 0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.34783393144607544, + -0.8397449254989624, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.5533234477043152, + -0.7211054563522339, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.5533234477043152, + -0.7211054563522339, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.34783393144607544, + -0.8397449254989624, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + 0.34783393144607544, + 0.4169411063194275, + -0.09649983048439026 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + 0.5533234477043152, + 0.41694122552871704, + -0.09649984538555145 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7211054563522339, + -0.5533234477043152, + 0.41694116592407227, + -0.09649983048439026 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.8397449254989624, + -0.34783393144607544, + 0.4169411361217499, + -0.09649983793497086 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16570308804512024 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 20 + ], + [ + 14, + 20, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 10 + ], + [ + 14, + 10, + 13 + ], + [ + 14, + 13, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 18, + 17 + ], + [ + 31, + 17, + 32 + ], + [ + 31, + 33, + 19 + ], + [ + 31, + 19, + 18 + ], + [ + 34, + 35, + 24 + ], + [ + 34, + 24, + 23 + ], + [ + 34, + 23, + 22 + ], + [ + 34, + 22, + 36 + ], + [ + 37, + 26, + 13 + ], + [ + 37, + 13, + 12 + ], + [ + 37, + 38, + 27 + ], + [ + 37, + 27, + 26 + ], + [ + 39, + 36, + 22 + ], + [ + 39, + 22, + 21 + ], + [ + 39, + 21, + 8 + ], + [ + 39, + 8, + 7 + ], + [ + 40, + 25, + 24 + ], + [ + 40, + 24, + 35 + ], + [ + 40, + 11, + 10 + ], + [ + 40, + 10, + 25 + ], + [ + 41, + 42, + 29 + ], + [ + 41, + 29, + 28 + ], + [ + 41, + 28, + 27 + ], + [ + 41, + 27, + 38 + ], + [ + 43, + 32, + 17 + ], + [ + 43, + 17, + 16 + ], + [ + 43, + 16, + 15 + ], + [ + 43, + 15, + 44 + ], + [ + 45, + 6, + 9 + ], + [ + 45, + 9, + 20 + ], + [ + 45, + 20, + 19 + ], + [ + 45, + 19, + 33 + ], + [ + 46, + 0, + 3 + ], + [ + 46, + 3, + 30 + ], + [ + 46, + 30, + 29 + ], + [ + 46, + 29, + 42 + ], + [ + 47, + 44, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 46 + ], + [ + 47, + 46, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 38 + ], + [ + 47, + 38, + 37 + ], + [ + 47, + 37, + 12 + ], + [ + 47, + 12, + 11 + ], + [ + 47, + 11, + 40 + ], + [ + 47, + 40, + 35 + ], + [ + 47, + 35, + 34 + ], + [ + 47, + 34, + 36 + ], + [ + 47, + 36, + 39 + ], + [ + 47, + 39, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 45 + ], + [ + 47, + 45, + 33 + ], + [ + 47, + 33, + 31 + ], + [ + 47, + 31, + 32 + ], + [ + 47, + 32, + 43 + ], + [ + 47, + 43, + 44 + ] + ], + "raw_bounds": [ + [ + -0.03193612024188042, + -0.03193612024188042, + 0.16242188215255737 + ], + [ + 0.03193612024188042, + 0.03193612024188042, + 0.16570311784744263 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012089950032532215, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9e10c8738372508462827fb3072ee1d7607069 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20631462428718805, + "parts": [ + { + "vertices_raw": [ + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.0, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + -0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 3.725128479293755e-18, + 0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.03041798062622547, + 5.587692305350326e-18, + 0.16570311784744263 + ], + [ + 0.007872752845287323, + -0.029381513595581055, + 0.16570311784744263 + ], + [ + -0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + 0.02150876075029373, + 0.02150876075029373, + 0.16570311784744263 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02150876075029373, + -0.02150876075029373, + 0.16570311784744263 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.007872752845287323, + 0.029381513595581055, + 0.16570311784744263 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + -0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + -0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.026342744007706642, + 0.015208990313112736, + 0.16570311784744263 + ], + [ + -0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + -0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + -1.8625642396468775e-18, + 0.16570311784744263 + ], + [ + 0.029381513595581055, + 0.007872752845287323, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + 0.026342744007706642, + 0.16570311784744263 + ], + [ + 0.015208990313112736, + -0.026342744007706642, + 0.16570311784744263 + ] + ], + "indices_raw": [ + 37, + 14, + 5, + 6, + 32, + 23, + 30, + 10, + 13, + 15, + 31, + 2, + 29, + 25, + 8, + 7, + 36, + 20, + 19, + 35, + 34, + 33, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 3, + 5, + 15, + 13, + 12, + 15, + 12, + 0, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 11, + 23, + 24, + 8, + 25, + 24, + 9, + 8, + 26, + 17, + 16, + 27, + 19, + 21, + 27, + 21, + 9, + 24, + 1, + 0, + 12, + 11, + 22, + 4, + 3, + 17, + 26, + 28, + 29, + 1, + 24, + 25, + 29, + 2, + 1, + 30, + 11, + 10, + 30, + 23, + 11, + 31, + 15, + 0, + 31, + 0, + 2, + 32, + 6, + 4, + 22, + 32, + 22, + 23, + 33, + 34, + 28, + 26, + 33, + 26, + 16, + 35, + 19, + 27, + 35, + 27, + 28, + 34, + 36, + 7, + 9, + 36, + 9, + 21, + 36, + 21, + 20, + 37, + 3, + 14, + 37, + 18, + 17, + 37, + 17, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16570308804512024 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + 0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.1089945137500763, + -0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.1089945137500763, + 0.8278959393501282, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + -0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + -0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.10899452865123749, + -0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.8278960585594177, + 0.10899452865123749, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.6975746154785156, + 0.1869145631790161, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + -0.508340060710907, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.6624817252159119, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.5106601119041443, + -0.5106601119041443, + 0.691702663898468, + -0.13658463954925537 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + -0.10899452865123749, + 0.827895998954773, + 0.5501895546913147, + -0.11635104566812515 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7221823930740356, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.6254284381866455, + -0.3610912561416626, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.6254283785820007, + 0.3610911965370178, + 0.6917025446891785, + -0.13658460974693298 + ] + }, + { + "index_base": 72, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16898439824581146 + ] + }, + { + "index_base": 86, + "num_vertices": 4, + "plane": [ + -0.3195558190345764, + 0.7714762091636658, + 0.5501894354820251, + -0.11635103076696396 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + 0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + -0.31955596804618835, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.6624817252159119, + -0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.7714762687683105, + 0.31955596804618835, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + -0.6624817848205566, + 0.508340060710907, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 105, + "num_vertices": 4, + "plane": [ + -0.31955596804618835, + -0.7714762687683105, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.508340060710907, + -0.6624817848205566, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.8278959393501282, + -0.1089945137500763, + 0.5501894354820251, + -0.11635102331638336 + ] + }, + { + "index_base": 116, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + -0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 119, + "num_vertices": 3, + "plane": [ + 0.771476149559021, + 0.31955593824386597, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.827895998954773, + 0.10899464040994644, + 0.5501894354820251, + -0.11635103821754456 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + 0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3610912561416626, + 0.6254284381866455, + 0.6917026042938232, + -0.13658462464809418 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + 0.6624817252159119, + 0.5501893162727356, + -0.11635100841522217 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.31955593824386597, + -0.771476149559021, + 0.5501894950866699, + -0.11635103821754456 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.508340060710907, + -0.6624817252159119, + 0.5501893758773804, + -0.11635101586580276 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3610911965370178, + -0.6254283785820007, + 0.6917025446891785, + -0.13658460974693298 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 14, + 5 + ], + [ + 37, + 5, + 6 + ], + [ + 37, + 6, + 32 + ], + [ + 37, + 32, + 23 + ], + [ + 37, + 23, + 30 + ], + [ + 37, + 30, + 10 + ], + [ + 37, + 10, + 13 + ], + [ + 37, + 13, + 15 + ], + [ + 37, + 15, + 31 + ], + [ + 37, + 31, + 2 + ], + [ + 37, + 2, + 29 + ], + [ + 37, + 29, + 25 + ], + [ + 37, + 25, + 8 + ], + [ + 37, + 8, + 7 + ], + [ + 37, + 7, + 36 + ], + [ + 37, + 36, + 20 + ], + [ + 37, + 20, + 19 + ], + [ + 37, + 19, + 35 + ], + [ + 37, + 35, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 37, + 33, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 3, + 5 + ], + [ + 15, + 13, + 12 + ], + [ + 15, + 12, + 0 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 20, + 21 + ], + [ + 22, + 11, + 23 + ], + [ + 24, + 8, + 25 + ], + [ + 24, + 9, + 8 + ], + [ + 26, + 17, + 16 + ], + [ + 27, + 19, + 21 + ], + [ + 27, + 21, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 1 + ], + [ + 27, + 1, + 0 + ], + [ + 27, + 0, + 12 + ], + [ + 27, + 12, + 11 + ], + [ + 27, + 11, + 22 + ], + [ + 27, + 22, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 17 + ], + [ + 27, + 17, + 26 + ], + [ + 27, + 26, + 28 + ], + [ + 29, + 1, + 24 + ], + [ + 29, + 24, + 25 + ], + [ + 29, + 2, + 1 + ], + [ + 30, + 11, + 10 + ], + [ + 30, + 23, + 11 + ], + [ + 31, + 15, + 0 + ], + [ + 31, + 0, + 2 + ], + [ + 32, + 6, + 4 + ], + [ + 32, + 4, + 22 + ], + [ + 32, + 22, + 23 + ], + [ + 33, + 34, + 28 + ], + [ + 33, + 28, + 26 + ], + [ + 33, + 26, + 16 + ], + [ + 35, + 19, + 27 + ], + [ + 35, + 27, + 28 + ], + [ + 35, + 28, + 34 + ], + [ + 36, + 7, + 9 + ], + [ + 36, + 9, + 21 + ], + [ + 36, + 21, + 20 + ], + [ + 37, + 3, + 14 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 3 + ] + ], + "raw_bounds": [ + [ + -0.03041798062622547, + -0.03041798062622547, + 0.16570311784744263 + ], + [ + 0.03041798062622547, + 0.03041798062622547, + 0.16898436844348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012824400328099728, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json new file mode 100644 index 0000000000000000000000000000000000000000..c49f169763916acbc1b3095ed783dc5f15de329b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2084427522495389, + "parts": [ + { + "vertices_raw": [ + [ + 0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + 3.458081903927442e-18, + 0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.012697161175310612, + 0.02199212834239006, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.02823738195002079, + 5.187123062686316e-18, + 0.16898436844348907 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.0, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.019966844469308853, + 0.019966844469308853, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + 0.027275215834379196, + 0.16898436844348907 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.019966844469308853, + -0.019966844469308853, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.02445429004728794, + -0.014118690975010395, + 0.16898436844348907 + ], + [ + 0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.024529030546545982, + -0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + -0.007308372296392918, + -0.027275215834379196, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + 0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + -1.729040951963721e-18, + 0.16898436844348907 + ], + [ + 0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + -0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + -0.02445429004728794, + 0.014118690975010395, + 0.16898436844348907 + ], + [ + -0.027275215834379196, + -0.007308372296392918, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + 0.02445429004728794, + 0.16898436844348907 + ], + [ + 0.014118690975010395, + -0.02445429004728794, + 0.16898436844348907 + ] + ], + "indices_raw": [ + 37, + 12, + 11, + 29, + 23, + 22, + 25, + 35, + 7, + 6, + 34, + 5, + 33, + 20, + 1, + 0, + 36, + 14, + 13, + 30, + 31, + 32, + 16, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 3, + 9, + 10, + 11, + 12, + 9, + 11, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 1, + 20, + 19, + 2, + 1, + 21, + 22, + 23, + 21, + 23, + 10, + 21, + 24, + 25, + 22, + 26, + 13, + 15, + 27, + 17, + 16, + 27, + 28, + 26, + 15, + 2, + 19, + 4, + 3, + 8, + 24, + 21, + 10, + 9, + 17, + 29, + 10, + 23, + 29, + 11, + 10, + 30, + 13, + 26, + 30, + 26, + 28, + 31, + 32, + 31, + 28, + 27, + 32, + 27, + 16, + 33, + 4, + 19, + 20, + 33, + 5, + 4, + 34, + 6, + 3, + 34, + 3, + 5, + 35, + 25, + 24, + 35, + 24, + 8, + 35, + 8, + 7, + 36, + 0, + 2, + 36, + 2, + 15, + 36, + 15, + 14, + 37, + 9, + 12, + 37, + 18, + 17, + 37, + 17, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.16898438334465027 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.46857351064682007, + 0.46857351064682007, + 0.7489176988601685, + -0.14526726305484772 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + 0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + 0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.0, + -0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + 0.461772084236145, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.6017931699752808, + -0.4617721140384674, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + 0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.0, + 0.662662923336029, + 0.748917818069458, + -0.1452672779560089 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.4617721140384674, + -0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6017931699752808, + -0.4617721140384674, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + 0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.5738829970359802, + -0.3313314616680145, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 70, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.17226561903953552 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.29028207063674927, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.09900987893342972, + -0.7520542144775391, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + 0.2902820408344269, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 93, + "num_vertices": 4, + "plane": [ + 0.7520542740821838, + 0.09900996088981628, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 97, + "num_vertices": 4, + "plane": [ + 0.7520543336868286, + -0.09900989383459091, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.7008030414581299, + -0.29028207063674927, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.2902820110321045, + 0.7008031010627747, + 0.6516221165657043, + -0.13134999573230743 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.4617721438407898, + 0.6017932891845703, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.7008031606674194, + 0.29028210043907166, + 0.6516219973564148, + -0.13134998083114624 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + -0.6017932891845703, + 0.4617721438407898, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.7008031010627747, + -0.29028213024139404, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + -0.6400834321975708, + -0.17150983214378357, + 0.7489176392555237, + -0.14526724815368652 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + -0.7520543336868286, + -0.09900989383459091, + 0.6516220569610596, + -0.13134999573230743 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.29028207063674927, + 0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + 0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.4617721140384674, + 0.6017931699752808, + 0.6516221165657043, + -0.13135001063346863 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.2902820408344269, + -0.7008030414581299, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.461772084236145, + -0.6017931699752808, + 0.6516221761703491, + -0.13135001063346863 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.3313314616680145, + -0.5738829970359802, + 0.7489176988601685, + -0.14526724815368652 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 12, + 11 + ], + [ + 37, + 11, + 29 + ], + [ + 37, + 29, + 23 + ], + [ + 37, + 23, + 22 + ], + [ + 37, + 22, + 25 + ], + [ + 37, + 25, + 35 + ], + [ + 37, + 35, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 34 + ], + [ + 37, + 34, + 5 + ], + [ + 37, + 5, + 33 + ], + [ + 37, + 33, + 20 + ], + [ + 37, + 20, + 1 + ], + [ + 37, + 1, + 0 + ], + [ + 37, + 0, + 36 + ], + [ + 37, + 36, + 14 + ], + [ + 37, + 14, + 13 + ], + [ + 37, + 13, + 30 + ], + [ + 37, + 30, + 31 + ], + [ + 37, + 31, + 32 + ], + [ + 37, + 32, + 16 + ], + [ + 37, + 16, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 3 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 9, + 11 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 1, + 20 + ], + [ + 19, + 2, + 1 + ], + [ + 21, + 22, + 23 + ], + [ + 21, + 23, + 10 + ], + [ + 21, + 24, + 25 + ], + [ + 21, + 25, + 22 + ], + [ + 26, + 13, + 15 + ], + [ + 27, + 17, + 16 + ], + [ + 27, + 28, + 26 + ], + [ + 27, + 26, + 15 + ], + [ + 27, + 15, + 2 + ], + [ + 27, + 2, + 19 + ], + [ + 27, + 19, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 8 + ], + [ + 27, + 8, + 24 + ], + [ + 27, + 24, + 21 + ], + [ + 27, + 21, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 17 + ], + [ + 29, + 10, + 23 + ], + [ + 29, + 11, + 10 + ], + [ + 30, + 13, + 26 + ], + [ + 30, + 26, + 28 + ], + [ + 30, + 28, + 31 + ], + [ + 32, + 31, + 28 + ], + [ + 32, + 28, + 27 + ], + [ + 32, + 27, + 16 + ], + [ + 33, + 4, + 19 + ], + [ + 33, + 19, + 20 + ], + [ + 33, + 5, + 4 + ], + [ + 34, + 6, + 3 + ], + [ + 34, + 3, + 5 + ], + [ + 35, + 25, + 24 + ], + [ + 35, + 24, + 8 + ], + [ + 35, + 8, + 7 + ], + [ + 36, + 0, + 2 + ], + [ + 36, + 2, + 15 + ], + [ + 36, + 15, + 14 + ], + [ + 37, + 9, + 12 + ], + [ + 37, + 18, + 17 + ], + [ + 37, + 17, + 9 + ] + ], + "raw_bounds": [ + [ + -0.02823738195002079, + -0.02823738195002079, + 0.16898436844348907 + ], + [ + 0.02823738195002079, + 0.02823738195002079, + 0.17226561903953552 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001499675214290619, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json new file mode 100644 index 0000000000000000000000000000000000000000..79a616f74403944b7e3ea9ae28f7f89817afbff3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json @@ -0,0 +1,861 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21078199008479714, + "parts": [ + { + "vertices_raw": [ + [ + -0.012697161175310612, + -0.02199212834239006, + 0.17226561903953552 + ], + [ + 0.0, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + -0.01101340726017952, + 0.019075781106948853, + 0.17554686963558197 + ], + [ + -0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + -0.025394322350621223, + 4.6648610762550355e-18, + 0.17226561903953552 + ], + [ + 0.006572534330189228, + 0.024529030546545982, + 0.17226561903953552 + ], + [ + 3.109907522033459e-18, + 0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01795649714767933, + 0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.006572534330189228, + -0.024529030546545982, + 0.17226561903953552 + ], + [ + 0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + 0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.024529030546545982, + 0.006572534330189228, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + 0.012697161175310612, + 0.17226561903953552 + ], + [ + 0.02199212834239006, + -0.012697161175310612, + 0.17226561903953552 + ], + [ + -0.01795649714767933, + -0.01795649714767933, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + -1.5549537610167296e-18, + 0.17226561903953552 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + -0.005700958892703056, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ] + ], + "indices_raw": [ + 22, + 17, + 16, + 1, + 0, + 23, + 6, + 9, + 20, + 4, + 3, + 11, + 10, + 14, + 21, + 24, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 15, + 2, + 1, + 16, + 17, + 18, + 15, + 16, + 15, + 1, + 19, + 5, + 4, + 20, + 9, + 8, + 20, + 8, + 19, + 20, + 19, + 4, + 21, + 14, + 13, + 22, + 18, + 17, + 25, + 26, + 24, + 25, + 24, + 21, + 25, + 21, + 13, + 27, + 18, + 22, + 27, + 22, + 24, + 27, + 24, + 26, + 28, + 23, + 0, + 28, + 0, + 2, + 28, + 7, + 6, + 23, + 29, + 11, + 3, + 29, + 3, + 5, + 29, + 5, + 19, + 8, + 7, + 28, + 2, + 15, + 18, + 27, + 26, + 25, + 13, + 12, + 29, + 12, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17226560413837433 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.20580582320690155, + -0.7680777907371521, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.3975863754749298, + 0.6886398792266846, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.6859841346740723, + -0.18380887806415558, + 0.7040172219276428, + -0.1386980563402176 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0914917066693306, + 0.6949476003646851, + 0.7132160067558289, + -0.14051032066345215 + ] + }, + { + "index_base": 29, + "num_vertices": 4, + "plane": [ + 0.35509154200553894, + 0.6150364875793457, + 0.704017162322998, + -0.1386980414390564 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.3550914525985718, + -0.6150364875793457, + 0.7040171027183533, + -0.1386980414390564 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.09149173647165298, + -0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.4406450390815735, + 0.4406450390815735, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.6949474811553955, + 0.0914916843175888, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.6019324660301208, + 0.16128729283809662, + 0.782089352607727, + -0.15055200457572937 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.6886398792266846, + 0.3975863754749298, + 0.6063829660415649, + -0.12396375834941864 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.5560963749885559, + 0.42670780420303345, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.5560962557792664, + -0.42670774459838867, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + 0.09149157255887985, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + 0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + 0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.539677619934082, + -0.31158310174942017, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.7680777907371521, + -0.20580582320690155, + 0.6063830852508545, + -0.12396377325057983 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.6949474215507507, + -0.09149155765771866, + 0.7132161855697632, + -0.14051035046577454 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.42670774459838867, + -0.5560962557792664, + 0.713216245174408, + -0.14051035046577454 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.31158310174942017, + -0.539677619934082, + 0.7820894718170166, + -0.15055201947689056 + ] + }, + { + "index_base": 85, + "num_vertices": 4, + "plane": [ + -0.5560963749885559, + -0.42670780420303345, + 0.713216245174408, + -0.14051036536693573 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.09149173647165298, + 0.6949476003646851, + 0.7132160663604736, + -0.14051032066345215 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.2682397961616516, + 0.6475880146026611, + 0.7132160663604736, + -0.14051033556461334 + ] + }, + { + "index_base": 95, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.17554685473442078 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6231661438941956, + 0.7820894122123718, + -0.15055200457572937 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 22, + 17, + 16 + ], + [ + 22, + 16, + 1 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 23 + ], + [ + 22, + 23, + 6 + ], + [ + 22, + 6, + 9 + ], + [ + 22, + 9, + 20 + ], + [ + 22, + 20, + 4 + ], + [ + 22, + 4, + 3 + ], + [ + 22, + 3, + 11 + ], + [ + 22, + 11, + 10 + ], + [ + 22, + 10, + 14 + ], + [ + 22, + 14, + 21 + ], + [ + 22, + 21, + 24 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 10, + 13, + 14 + ], + [ + 15, + 2, + 1 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 15 + ], + [ + 16, + 15, + 1 + ], + [ + 19, + 5, + 4 + ], + [ + 20, + 9, + 8 + ], + [ + 20, + 8, + 19 + ], + [ + 20, + 19, + 4 + ], + [ + 21, + 14, + 13 + ], + [ + 22, + 18, + 17 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 21 + ], + [ + 25, + 21, + 13 + ], + [ + 27, + 18, + 22 + ], + [ + 27, + 22, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 23, + 0 + ], + [ + 28, + 0, + 2 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 23 + ], + [ + 29, + 11, + 3 + ], + [ + 29, + 3, + 5 + ], + [ + 29, + 5, + 19 + ], + [ + 29, + 19, + 8 + ], + [ + 29, + 8, + 7 + ], + [ + 29, + 7, + 28 + ], + [ + 29, + 28, + 2 + ], + [ + 29, + 2, + 15 + ], + [ + 29, + 15, + 18 + ], + [ + 29, + 18, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 11 + ] + ], + "raw_bounds": [ + [ + -0.025394322350621223, + -0.025394322350621223, + 0.17226561903953552 + ], + [ + 0.025394322350621223, + 0.025394322350621223, + 0.17554686963558197 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012432481162250042, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f42819fcadf466440d640a1e63df3b703e5b7b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json @@ -0,0 +1,849 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21280340617522597, + "parts": [ + { + "vertices_raw": [ + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.0, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + 0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + -0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + -0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + -0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.02202681452035904, + 4.046260259011848e-18, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + 0.021276269108057022, + 0.17554686963558197 + ], + [ + 2.6975067014777965e-18, + 0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.015575309284031391, + 0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.005700958892703056, + -0.021276269108057022, + 0.17554686963558197 + ], + [ + 0.015575309284031391, + -0.015575309284031391, + 0.17554686963558197 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.019075781106948853, + -0.01101340726017952, + 0.17554686963558197 + ], + [ + 0.021276269108057022, + 0.005700958892703056, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + -1.3487533507388983e-18, + 0.17554686963558197 + ], + [ + 0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ] + ], + "indices_raw": [ + 23, + 24, + 22, + 19, + 18, + 2, + 6, + 9, + 8, + 12, + 21, + 5, + 7, + 14, + 13, + 17, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 2, + 1, + 7, + 5, + 4, + 8, + 9, + 10, + 8, + 10, + 11, + 12, + 13, + 14, + 15, + 13, + 15, + 16, + 17, + 18, + 19, + 20, + 0, + 18, + 0, + 2, + 21, + 12, + 11, + 21, + 11, + 3, + 21, + 3, + 5, + 22, + 20, + 19, + 25, + 26, + 24, + 23, + 25, + 23, + 17, + 16, + 27, + 10, + 9, + 27, + 9, + 6, + 27, + 6, + 1, + 28, + 14, + 7, + 28, + 7, + 4, + 28, + 15, + 14, + 29, + 20, + 22, + 29, + 22, + 24, + 29, + 24, + 26, + 29, + 26, + 25, + 16, + 15, + 28, + 4, + 3, + 11, + 10, + 27, + 1, + 0, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.17554686963558197 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + 0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.10564523935317993, + -0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + 0.773627519607544, + 0.4494445025920868, + -0.09790484607219696 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.6421238780021667, + -0.4927191138267517, + 0.5872860550880432, + -0.12077176570892334 + ] + }, + { + "index_base": 31, + "num_vertices": 4, + "plane": [ + -0.7887431383132935, + -0.21134310960769653, + 0.5772507190704346, + -0.1187080591917038 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.10564523935317993, + 0.8024553060531616, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + 0.7071678042411804, + 0.5772504806518555, + -0.11870801448822021 + ] + }, + { + "index_base": 42, + "num_vertices": 4, + "plane": [ + 0.40828362107276917, + -0.7071678638458252, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + 0.10564522445201874, + -0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8024551272392273, + 0.10564522445201874, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.7053255438804626, + 0.18899142742156982, + 0.6832263469696045, + -0.1360223889350891 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.773627519607544, + 0.44665414094924927, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.6421239972114563, + -0.49271920323371887, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 61, + "num_vertices": 4, + "plane": [ + 0.8024551868438721, + 0.10564521700143814, + 0.5872858762741089, + -0.12077173590660095 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + 0.7071678638458252, + 0.40828362107276917, + 0.5772504806518555, + -0.11870802193880081 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.5163341760635376, + -0.5163341760635376, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.44665414094924927, + -0.773627519607544, + 0.44944456219673157, + -0.09790485352277756 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + -0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.10564522445201874, + 0.8024552464485168, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.3097364604473114, + 0.7477692365646362, + 0.5872857570648193, + -0.12077171355485916 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.0, + 0.7302068471908569, + 0.6832261085510254, + -0.13602234423160553 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.6323776245117188, + -0.36510345339775085, + 0.6832261681556702, + -0.13602234423160553 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.8628695607185364, + -0.23120519518852234, + 0.44944432377815247, + -0.09790481626987457 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.8024551272392273, + -0.10564497858285904, + 0.5872859954833984, + -0.12077175080776215 + ] + }, + { + "index_base": 96, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1788281500339508 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 24, + 22 + ], + [ + 23, + 22, + 19 + ], + [ + 23, + 19, + 18 + ], + [ + 23, + 18, + 2 + ], + [ + 23, + 2, + 6 + ], + [ + 23, + 6, + 9 + ], + [ + 23, + 9, + 8 + ], + [ + 23, + 8, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 5 + ], + [ + 23, + 5, + 7 + ], + [ + 23, + 7, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 12 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 0 + ], + [ + 18, + 0, + 2 + ], + [ + 21, + 12, + 11 + ], + [ + 21, + 11, + 3 + ], + [ + 21, + 3, + 5 + ], + [ + 22, + 20, + 19 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 17 + ], + [ + 25, + 17, + 16 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 6 + ], + [ + 27, + 6, + 1 + ], + [ + 28, + 14, + 7 + ], + [ + 28, + 7, + 4 + ], + [ + 28, + 15, + 14 + ], + [ + 29, + 20, + 22 + ], + [ + 29, + 22, + 24 + ], + [ + 29, + 24, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 11 + ], + [ + 29, + 11, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 20 + ] + ], + "raw_bounds": [ + [ + -0.02202681452035904, + -0.02202681452035904, + 0.17554686963558197 + ], + [ + 0.02202681452035904, + 0.02202681452035904, + 0.17882812023162842 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013789418153464794, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json new file mode 100644 index 0000000000000000000000000000000000000000..e7499620ab3aa12bcc9dc075b5a42f3b691900af --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json @@ -0,0 +1,885 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21483274921774864, + "parts": [ + { + "vertices_raw": [ + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.009633280336856842, + 0.016685331240296364, + 0.18210937082767487 + ], + [ + -0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.01699608936905861, + 0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.01387724932283163, + 0.01387724932283163, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01699608936905861, + -0.00981269683688879, + 0.17882812023162842 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + -0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.01387724932283163, + -0.01387724932283163, + 0.17882812023162842 + ], + [ + -0.016685331240296364, + -0.009633280336856842, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.01962539367377758, + 3.605126492698543e-18, + 0.17882812023162842 + ], + [ + -0.018956676125526428, + 0.005079425871372223, + 0.17882812023162842 + ], + [ + -0.00981269683688879, + -0.01699608936905861, + 0.17882812023162842 + ], + [ + 0.005079425871372223, + 0.018956676125526428, + 0.17882812023162842 + ], + [ + 2.4034177307307466e-18, + 0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.005079425871372223, + -0.018956676125526428, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + -1.2017088653653733e-18, + 0.17882812023162842 + ], + [ + 0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 23, + 2, + 19, + 14, + 13, + 17, + 18, + 5, + 12, + 21, + 20, + 7, + 6, + 24, + 9, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 5, + 4, + 13, + 14, + 15, + 13, + 15, + 16, + 13, + 16, + 17, + 18, + 17, + 16, + 18, + 16, + 3, + 18, + 3, + 5, + 19, + 2, + 1, + 20, + 21, + 22, + 20, + 22, + 8, + 7, + 23, + 11, + 10, + 0, + 23, + 0, + 2, + 25, + 26, + 24, + 25, + 24, + 6, + 25, + 6, + 8, + 27, + 10, + 9, + 27, + 9, + 24, + 27, + 24, + 26, + 28, + 21, + 12, + 28, + 12, + 4, + 28, + 22, + 21, + 29, + 14, + 19, + 29, + 19, + 1, + 29, + 1, + 0, + 10, + 27, + 26, + 25, + 8, + 22, + 28, + 4, + 3, + 16, + 15, + 29, + 15, + 14 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1788281500339508 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6755065321922302, + 0.6755065321922302, + 0.29560407996177673, + -0.07161065936088562 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + 0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.7887309193611145, + -0.6052143573760986, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.4977850914001465, + 0.8621888756752014, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + -0.4977850914001465, + -0.09402280300855637, + -0.0020587779581546783 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + -0.24725249409675598, + 0.2956043481826782, + -0.0716107115149498 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + -0.12976539134979248, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.9856682419776917, + 0.12976539134979248, + 0.10779131203889847, + -0.038620248436927795 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.9227590560913086, + 0.24725249409675598, + 0.2956043779850006, + -0.0716107189655304 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.8621888756752014, + 0.4977850914001465, + -0.09402286261320114, + -0.002058766782283783 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.2576724886894226, + -0.9616467356681824, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 55, + "num_vertices": 4, + "plane": [ + 0.4972335994243622, + 0.8612337112426758, + 0.10504791885614395, + -0.03763731196522713 + ] + }, + { + "index_base": 59, + "num_vertices": 4, + "plane": [ + 0.49723368883132935, + -0.8612338304519653, + 0.10504798591136932, + -0.03763732686638832 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.12976539134979248, + -0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + 0.12976548075675964, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + 0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.8273232579231262, + 0.4776553809642792, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + 0.8273231983184814, + -0.4776553511619568, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + 0.9616467356681824, + -0.2576724886894226, + -0.09402340650558472, + -0.0020586661994457245 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + 0.9856682419776917, + -0.12976549565792084, + 0.10779131948947906, + -0.038620248436927795 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.12976539134979248, + 0.9856682419776917, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + -0.380453884601593, + 0.9184965491294861, + 0.107791468501091, + -0.038620270788669586 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9553107023239136, + 0.29560378193855286, + -0.07161061465740204 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + -0.6052143573760986, + -0.7887309193611145, + 0.10779131203889847, + -0.0386202447116375 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.4776553511619568, + -0.8273231983184814, + 0.29560384154319763, + -0.07161062955856323 + ] + }, + { + "index_base": 99, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18210938572883606 + ] + }, + { + "index_base": 113, + "num_vertices": 3, + "plane": [ + -0.788730800151825, + -0.6052144169807434, + 0.1077912449836731, + -0.0386202298104763 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 23, + 2, + 19 + ], + [ + 23, + 19, + 14 + ], + [ + 23, + 14, + 13 + ], + [ + 23, + 13, + 17 + ], + [ + 23, + 17, + 18 + ], + [ + 23, + 18, + 5 + ], + [ + 23, + 5, + 12 + ], + [ + 23, + 12, + 21 + ], + [ + 23, + 21, + 20 + ], + [ + 23, + 20, + 7 + ], + [ + 23, + 7, + 6 + ], + [ + 23, + 6, + 24 + ], + [ + 23, + 24, + 9 + ], + [ + 23, + 9, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 5, + 4 + ], + [ + 13, + 14, + 15 + ], + [ + 13, + 15, + 16 + ], + [ + 13, + 16, + 17 + ], + [ + 18, + 17, + 16 + ], + [ + 18, + 16, + 3 + ], + [ + 18, + 3, + 5 + ], + [ + 19, + 2, + 1 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 8 + ], + [ + 20, + 8, + 7 + ], + [ + 23, + 11, + 10 + ], + [ + 23, + 10, + 0 + ], + [ + 23, + 0, + 2 + ], + [ + 25, + 26, + 24 + ], + [ + 25, + 24, + 6 + ], + [ + 25, + 6, + 8 + ], + [ + 27, + 10, + 9 + ], + [ + 27, + 9, + 24 + ], + [ + 27, + 24, + 26 + ], + [ + 28, + 21, + 12 + ], + [ + 28, + 12, + 4 + ], + [ + 28, + 22, + 21 + ], + [ + 29, + 14, + 19 + ], + [ + 29, + 19, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 10 + ], + [ + 29, + 10, + 27 + ], + [ + 29, + 27, + 26 + ], + [ + 29, + 26, + 25 + ], + [ + 29, + 25, + 8 + ], + [ + 29, + 8, + 22 + ], + [ + 29, + 22, + 28 + ], + [ + 29, + 28, + 4 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 14 + ] + ], + "raw_bounds": [ + [ + -0.01962539367377758, + -0.01962539367377758, + 0.17882812023162842 + ], + [ + 0.01962539367377758, + 0.01962539367377758, + 0.18210937082767487 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010110950097441673, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json new file mode 100644 index 0000000000000000000000000000000000000000..34a5cded2eb8351a37dd5c8f278bbc77d52a203b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json @@ -0,0 +1,895 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21663599088788033, + "parts": [ + { + "vertices_raw": [ + [ + -0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + -0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + 0.019266560673713684, + -1.1797366735492804e-18, + 0.18210937082767487 + ], + [ + 0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.018610069528222084, + 0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.019266560673713684, + 3.539210124045418e-18, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 2.3594733470985608e-18, + 0.019266560673713684, + 0.18210937082767487 + ], + [ + -0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + -0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.0, + -0.019266560673713684, + 0.18210937082767487 + ], + [ + 0.016685331240296364, + 0.009633280336856842, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + 0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + 0.018610069528222084, + 0.18210937082767487 + ], + [ + 0.018610069528222084, + -0.0049865529872477055, + 0.18210937082767487 + ], + [ + 0.013623516075313091, + -0.013623516075313091, + 0.18210937082767487 + ], + [ + 0.0049865529872477055, + -0.018610069528222084, + 0.18210937082767487 + ] + ], + "indices_raw": [ + 11, + 12, + 13, + 9, + 8, + 14, + 15, + 16, + 3, + 1, + 0, + 17, + 4, + 6, + 7, + 18, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 7, + 6, + 5, + 8, + 9, + 10, + 19, + 20, + 17, + 19, + 17, + 0, + 19, + 0, + 2, + 21, + 2, + 3, + 21, + 3, + 16, + 21, + 16, + 22, + 23, + 5, + 4, + 23, + 4, + 17, + 23, + 17, + 20, + 24, + 25, + 18, + 24, + 18, + 7, + 24, + 7, + 5, + 26, + 27, + 14, + 26, + 14, + 8, + 26, + 8, + 10, + 28, + 22, + 16, + 15, + 28, + 15, + 14, + 27, + 29, + 10, + 9, + 13, + 29, + 13, + 12, + 30, + 31, + 30, + 12, + 11, + 31, + 11, + 18, + 25, + 31, + 25, + 24, + 5, + 23, + 20, + 19, + 2, + 21, + 22, + 28, + 27, + 26, + 10, + 29, + 30 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1853906363248825 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.7911277413368225, + 0.6070536971092224, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + 0.7911276817321777, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.7911276817321777, + -0.6070536971092224, + -0.07485150545835495, + -0.005416984669864178 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.6070536971092224, + -0.7911277413368225, + -0.07485149800777435, + -0.005416988395154476 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.9886636137962341, + 0.13016001880168915, + -0.07485152781009674, + -0.0054169828072190285 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + 0.13015983998775482, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + 0.256758451461792, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + 0.4820060729980469, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + 0.8348588347434998, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + 0.9582359194755554, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + 0.9886636137962341, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.8348588347434998, + -0.4820060729980469, + -0.2658586800098419, + 0.030475031584501266 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.9582359194755554, + -0.256758451461792, + 0.12593327462673187, + -0.04204680770635605 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + -0.9886636137962341, + -0.13015983998775482, + -0.07485152781009674, + -0.005416983738541603 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + -0.13015983998775482, + -0.9886636137962341, + -0.07485153526067734, + -0.005416981875896454 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + -0.256758451461792, + -0.9582359194755554, + 0.12593324482440948, + -0.04204680398106575 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + -0.4820060729980469, + -0.8348588347434998, + -0.26585865020751953, + 0.03047502413392067 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.7911277413368225, + 0.6070535182952881, + -0.07485149055719376, + -0.005416986532509327 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + 0.8591307997703552, + 0.4960193336009979, + 0.12593309581279755, + -0.04204677417874336 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.9311641454696655, + 0.24950462579727173, + -0.26585865020751953, + 0.03047502227127552 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + 0.9886636137962341, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.49866828322410583, + 0.8637188673019409, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9886636137962341, + -0.13016001880168915, + -0.07485140115022659, + -0.0054170070216059685 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8637188673019409, + -0.49866828322410583, + -0.07293524593114853, + -0.005278311669826508 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.4986683130264282, + -0.8637189269065857, + -0.07293513417243958, + -0.005278333090245724 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.13016001880168915, + -0.9886636137962341, + -0.074851393699646, + -0.005417007952928543 + ] + }, + { + "index_base": 100, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18210937082767487 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 14 + ], + [ + 11, + 14, + 15 + ], + [ + 11, + 15, + 16 + ], + [ + 11, + 16, + 3 + ], + [ + 11, + 3, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 17 + ], + [ + 11, + 17, + 4 + ], + [ + 11, + 4, + 6 + ], + [ + 11, + 6, + 7 + ], + [ + 11, + 7, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 9, + 10 + ], + [ + 19, + 20, + 17 + ], + [ + 19, + 17, + 0 + ], + [ + 19, + 0, + 2 + ], + [ + 21, + 2, + 3 + ], + [ + 21, + 3, + 16 + ], + [ + 21, + 16, + 22 + ], + [ + 23, + 5, + 4 + ], + [ + 23, + 4, + 17 + ], + [ + 23, + 17, + 20 + ], + [ + 24, + 25, + 18 + ], + [ + 24, + 18, + 7 + ], + [ + 24, + 7, + 5 + ], + [ + 26, + 27, + 14 + ], + [ + 26, + 14, + 8 + ], + [ + 26, + 8, + 10 + ], + [ + 28, + 22, + 16 + ], + [ + 28, + 16, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 27 + ], + [ + 29, + 10, + 9 + ], + [ + 29, + 9, + 13 + ], + [ + 29, + 13, + 12 + ], + [ + 29, + 12, + 30 + ], + [ + 31, + 30, + 12 + ], + [ + 31, + 12, + 11 + ], + [ + 31, + 11, + 18 + ], + [ + 31, + 18, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 5 + ], + [ + 31, + 5, + 23 + ], + [ + 31, + 23, + 20 + ], + [ + 31, + 20, + 19 + ], + [ + 31, + 19, + 2 + ], + [ + 31, + 2, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 28 + ], + [ + 31, + 28, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 10 + ], + [ + 31, + 10, + 29 + ], + [ + 31, + 29, + 30 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.18210937082767487 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.1853906214237213 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009687598794698715, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json new file mode 100644 index 0000000000000000000000000000000000000000..e9684b830ca9d6f4c343200162cf5f63ddfbf66f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21843098802492023, + "parts": [ + { + "vertices_raw": [ + [ + -0.009757491759955883, + 0.016900472342967987, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.016900472342967987, + 0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + 0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.013641918078064919, + 0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.01885002665221691, + 0.005050849635154009, + 0.1853906214237213 + ], + [ + -0.019514983519911766, + 3.5848444376690494e-18, + 0.1853906214237213 + ], + [ + -0.01929258555173874, + 3.543990400805362e-18, + 0.19200000166893005 + ], + [ + 0.005050849635154009, + 0.01885002665221691, + 0.1853906214237213 + ], + [ + 2.3898962228476486e-18, + 0.019514983519911766, + 0.1853906214237213 + ], + [ + 2.3626604739987276e-18, + 0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.01885002665221691, + -0.005050849635154009, + 0.1853906214237213 + ], + [ + 0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + 0.009757491759955883, + -0.016900472342967987, + 0.1853906214237213 + ], + [ + 0.0, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + -0.005050849635154009, + -0.01885002665221691, + 0.1853906214237213 + ], + [ + -0.01379917748272419, + -0.01379917748272419, + 0.1853906214237213 + ], + [ + -0.016900472342967987, + -0.009757491759955883, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + -1.1949481114238243e-18, + 0.1853906214237213 + ], + [ + -0.004993288777768612, + 0.018635207787156105, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + -0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + 0.004993288777768612, + 0.19200000166893005 + ], + [ + 0.01929258555173874, + -1.1813302369993638e-18, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + -0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.0, + -0.01929258555173874, + 0.19200000166893005 + ], + [ + 0.013641918078064919, + -0.013641918078064919, + 0.19200000166893005 + ], + [ + -0.016707871109247208, + 0.00964629277586937, + 0.19200000166893005 + ], + [ + -0.004993288777768612, + -0.018635207787156105, + 0.19200000166893005 + ], + [ + 0.00964629277586937, + 0.016707871109247208, + 0.19200000166893005 + ], + [ + 0.018635207787156105, + -0.004993288777768612, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 7, + 6, + 1, + 0, + 10, + 9, + 4, + 3, + 19, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 20, + 11, + 10, + 20, + 10, + 0, + 20, + 0, + 2, + 21, + 8, + 7, + 18, + 21, + 18, + 17, + 22, + 23, + 24, + 19, + 23, + 19, + 3, + 23, + 3, + 5, + 25, + 26, + 15, + 14, + 25, + 14, + 13, + 27, + 28, + 2, + 1, + 28, + 1, + 6, + 28, + 6, + 8, + 29, + 22, + 17, + 16, + 29, + 16, + 15, + 26, + 30, + 5, + 4, + 30, + 4, + 9, + 30, + 9, + 11, + 31, + 27, + 13, + 12, + 31, + 12, + 19, + 24, + 31, + 24, + 23, + 5, + 30, + 11, + 20, + 2, + 28, + 8, + 21, + 22, + 29, + 26, + 25, + 27 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.1853906214237213 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.6084230542182922, + 0.7929122447967529, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.7929122447967529, + 0.6084230542182922, + 0.03334248438477516, + -0.025518659502267838 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9908936619758606, + 0.13045360147953033, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.13045360147953033, + 0.9908936619758606, + 0.03334242105484009, + -0.025518648326396942 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.13045340776443481, + 0.9908936023712158, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.2582406997680664, + 0.9637676477432251, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.4956285059452057, + 0.8584535121917725, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 37, + "num_vertices": 4, + "plane": [ + -0.9654159545898438, + -0.25868234038352966, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + -0.7929121851921082, + -0.608423113822937, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.9908936023712158, + 0.13045340776443481, + 0.03334242105484009, + -0.025518646463751793 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + 0.9637676477432251, + 0.2582406997680664, + -0.06680972874164581, + -0.0064220130443573 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + 0.8584535121917725, + 0.4956285059452057, + 0.13194657862186432, + -0.04380602389574051 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + 0.25868234038352966, + -0.9654159545898438, + 0.03248504921793938, + -0.02486250177025795 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.608423113822937, + -0.7929121851921082, + 0.03334229439496994, + -0.025518622249364853 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + -0.792911946773529, + 0.608423113822937, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 65, + "num_vertices": 3, + "plane": [ + -0.8640905022621155, + 0.49888280034065247, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 68, + "num_vertices": 3, + "plane": [ + -0.9574806094169617, + 0.25655597448349, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 71, + "num_vertices": 4, + "plane": [ + -0.4997360110282898, + -0.8655682802200317, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 75, + "num_vertices": 4, + "plane": [ + -0.13045349717140198, + -0.9908936023712158, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.608423113822937, + 0.792911946773529, + 0.03334248065948486, + -0.02551865577697754 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.49888280034065247, + 0.8640905022621155, + -0.06680983304977417, + -0.006421995349228382 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.25655597448349, + 0.9574806094169617, + 0.13194642961025238, + -0.04380599409341812 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8655682802200317, + -0.4997360110282898, + 0.03248508274555206, + -0.02486250549554825 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.9908936023712158, + -0.13045349717140198, + 0.03334225341677666, + -0.025518614798784256 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 12, + 15, + 16 + ], + [ + 12, + 16, + 17 + ], + [ + 12, + 17, + 18 + ], + [ + 12, + 18, + 7 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 1 + ], + [ + 12, + 1, + 0 + ], + [ + 12, + 0, + 10 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 4 + ], + [ + 12, + 4, + 3 + ], + [ + 12, + 3, + 19 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 20, + 10, + 0 + ], + [ + 20, + 0, + 2 + ], + [ + 21, + 8, + 7 + ], + [ + 21, + 7, + 18 + ], + [ + 21, + 18, + 17 + ], + [ + 21, + 17, + 22 + ], + [ + 23, + 24, + 19 + ], + [ + 23, + 19, + 3 + ], + [ + 23, + 3, + 5 + ], + [ + 25, + 26, + 15 + ], + [ + 25, + 15, + 14 + ], + [ + 25, + 14, + 13 + ], + [ + 25, + 13, + 27 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 6 + ], + [ + 28, + 6, + 8 + ], + [ + 29, + 22, + 17 + ], + [ + 29, + 17, + 16 + ], + [ + 29, + 16, + 15 + ], + [ + 29, + 15, + 26 + ], + [ + 30, + 5, + 4 + ], + [ + 30, + 4, + 9 + ], + [ + 30, + 9, + 11 + ], + [ + 31, + 27, + 13 + ], + [ + 31, + 13, + 12 + ], + [ + 31, + 12, + 19 + ], + [ + 31, + 19, + 24 + ], + [ + 31, + 24, + 23 + ], + [ + 31, + 23, + 5 + ], + [ + 31, + 5, + 30 + ], + [ + 31, + 30, + 11 + ], + [ + 31, + 11, + 20 + ], + [ + 31, + 20, + 2 + ], + [ + 31, + 2, + 28 + ], + [ + 31, + 28, + 8 + ], + [ + 31, + 8, + 21 + ], + [ + 31, + 21, + 22 + ], + [ + 31, + 22, + 29 + ], + [ + 31, + 29, + 26 + ], + [ + 31, + 26, + 25 + ], + [ + 31, + 25, + 27 + ] + ], + "raw_bounds": [ + [ + -0.019514983519911766, + -0.019514983519911766, + 0.1853906214237213 + ], + [ + 0.019514983519911766, + 0.019514983519911766, + 0.19200000166893005 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001107462216168642, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json new file mode 100644 index 0000000000000000000000000000000000000000..da90d0c5653e5cb6a210ae820cdad0ca8850fcbf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json @@ -0,0 +1,160 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22028795210644603, + "parts": [ + { + "vertices_raw": [ + [ + 0.0, + 0.0, + 0.21119999885559082 + ], + [ + -0.006200000178068876, + 7.592810266825178e-19, + 0.20960000157356262 + ], + [ + -1.1389215141743826e-18, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.0, + 0.20960000157356262 + ], + [ + 3.796405133412589e-19, + 0.006200000178068876, + 0.20960000157356262 + ] + ], + "indices_raw": [ + 4, + 3, + 2, + 1, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 1, + 0, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.20960000157356262 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + -0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.242423877120018, + 0.242423877120018, + 0.9393941164016724, + -0.19840003550052643 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.006200000178068876, + -0.006200000178068876, + 0.20960000157356262 + ], + [ + 0.006200000178068876, + 0.006200000178068876, + 0.21119999885559082 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.00048207491636276245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json new file mode 100644 index 0000000000000000000000000000000000000000..d6b849fd3cad026e888e231d570573cb36b1c9d8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json @@ -0,0 +1,871 @@ +{ + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22171165933832526, + "parts": [ + { + "vertices_raw": [ + [ + 0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.020999999716877937, + 0.0, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.0, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + -3.8576374367507685e-18, + -0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.19200000166893005 + ], + [ + -0.020999999716877937, + 2.571758291167179e-18, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.2094999998807907 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.2094999998807907 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.2094999998807907 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.2094999998807907 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.2094999998807907 + ], + [ + 1.2858791455835895e-18, + 0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.006095978431403637, + -0.020095746964216232, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.020095746964216232, + -0.006095978431403637, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + -0.014849242754280567, + 0.19200000166893005 + ], + [ + -0.006095978431403637, + 0.020095746964216232, + 0.19200000166893005 + ], + [ + -0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.020095746964216232, + 0.006095978431403637, + 0.19200000166893005 + ], + [ + 0.014849242754280567, + 0.014849242754280567, + 0.19200000166893005 + ], + [ + 0.01852034591138363, + -0.009899331256747246, + 0.19200000166893005 + ], + [ + -0.009899331256747246, + -0.01852034591138363, + 0.19200000166893005 + ], + [ + -0.01852034591138363, + 0.009899331256747246, + 0.19200000166893005 + ], + [ + 0.009899331256747246, + 0.01852034591138363, + 0.19200000166893005 + ] + ], + "indices_raw": [ + 9, + 10, + 11, + 12, + 6, + 8, + 13, + 14, + 3, + 5, + 15, + 16, + 0, + 2, + 17, + 18, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 19, + 10, + 20, + 21, + 16, + 15, + 20, + 15, + 5, + 4, + 22, + 23, + 14, + 13, + 22, + 13, + 8, + 7, + 24, + 25, + 12, + 11, + 24, + 11, + 10, + 19, + 26, + 27, + 18, + 17, + 26, + 17, + 2, + 1, + 28, + 1, + 0, + 28, + 0, + 16, + 28, + 16, + 21, + 29, + 4, + 3, + 29, + 3, + 14, + 29, + 14, + 23, + 30, + 7, + 6, + 30, + 6, + 12, + 30, + 12, + 25, + 31, + 19, + 9, + 31, + 9, + 18, + 31, + 18, + 27, + 31, + 27, + 26, + 1, + 28, + 21, + 20, + 4, + 29, + 23, + 22, + 7, + 30, + 25, + 24, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.2094999998807907 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270857989788 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.5141027569770813, + -0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.1467304527759552, + -0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + -0.8577286601066589, + -0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9891765713691711, + -0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5141027569770813, + 0.8577286601066589, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.1467304527759552, + 0.9891765713691711, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.8577286601066589, + 0.5141027569770813, + 0.0, + -0.020370658487081528 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + 0.9891765713691711, + 0.1467304527759552, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.9694538712501526, + -0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.8572181463241577, + -0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.8032076358795166, + -0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.24283559620380402, + -0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.5137967467308044, + -0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.5956991910934448, + -0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.9694538712501526, + 0.24283559620380402, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.8572181463241577, + 0.5137967467308044, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + -0.8032076358795166, + 0.5956991910934448, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.24283559620380402, + 0.9694538712501526, + -0.03449653089046478, + -0.013735197484493256 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.5137967467308044, + 0.8572181463241577, + 0.034496452659368515, + -0.02758554182946682 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.5956991910934448, + 0.8032076358795166, + 0.0, + -0.02077270671725273 + ] + }, + { + "index_base": 96, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.19199998676776886 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 9, + 12, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 13 + ], + [ + 9, + 13, + 14 + ], + [ + 9, + 14, + 3 + ], + [ + 9, + 3, + 5 + ], + [ + 9, + 5, + 15 + ], + [ + 9, + 15, + 16 + ], + [ + 9, + 16, + 0 + ], + [ + 9, + 0, + 2 + ], + [ + 9, + 2, + 17 + ], + [ + 9, + 17, + 18 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 19, + 10 + ], + [ + 20, + 21, + 16 + ], + [ + 20, + 16, + 15 + ], + [ + 20, + 15, + 5 + ], + [ + 20, + 5, + 4 + ], + [ + 22, + 23, + 14 + ], + [ + 22, + 14, + 13 + ], + [ + 22, + 13, + 8 + ], + [ + 22, + 8, + 7 + ], + [ + 24, + 25, + 12 + ], + [ + 24, + 12, + 11 + ], + [ + 24, + 11, + 10 + ], + [ + 24, + 10, + 19 + ], + [ + 26, + 27, + 18 + ], + [ + 26, + 18, + 17 + ], + [ + 26, + 17, + 2 + ], + [ + 26, + 2, + 1 + ], + [ + 28, + 1, + 0 + ], + [ + 28, + 0, + 16 + ], + [ + 28, + 16, + 21 + ], + [ + 29, + 4, + 3 + ], + [ + 29, + 3, + 14 + ], + [ + 29, + 14, + 23 + ], + [ + 30, + 7, + 6 + ], + [ + 30, + 6, + 12 + ], + [ + 30, + 12, + 25 + ], + [ + 31, + 19, + 9 + ], + [ + 31, + 9, + 18 + ], + [ + 31, + 18, + 27 + ], + [ + 31, + 27, + 26 + ], + [ + 31, + 26, + 1 + ], + [ + 31, + 1, + 28 + ], + [ + 31, + 28, + 21 + ], + [ + 31, + 21, + 20 + ], + [ + 31, + 20, + 4 + ], + [ + 31, + 4, + 29 + ], + [ + 31, + 29, + 23 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 7 + ], + [ + 31, + 7, + 30 + ], + [ + 31, + 30, + 25 + ], + [ + 31, + 25, + 24 + ], + [ + 31, + 24, + 19 + ] + ], + "raw_bounds": [ + [ + -0.020999999716877937, + -0.020999999716877937, + 0.19200000166893005 + ], + [ + 0.020999999716877937, + 0.020999999716877937, + 0.2094999998807907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015910412184894085, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json new file mode 100644 index 0000000000000000000000000000000000000000..51ea13258cd0660cfd441a30297e145c89419f76 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json @@ -0,0 +1,929 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.224419420119375, + "parts": [ + { + "vertices_raw": [ + [ + -0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.013749999925494194, + 0.0238157007843256, + 0.0 + ], + [ + -0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.013749999925494194, + -0.0238157007843256, + 0.0 + ], + [ + 0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.01944543980062008, + 0.01944543980062008, + 0.0 + ], + [ + 0.007117520086467266, + 0.02656296081840992, + 0.0 + ], + [ + 0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.007117520086467266, + -0.02656296081840992, + 0.0 + ], + [ + 0.01944543980062008, + -0.01944543980062008, + 0.0 + ], + [ + 0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.0238157007843256, + -0.013749999925494194, + 0.0 + ], + [ + -0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + -0.027499999850988388, + 0.0, + 0.0 + ], + [ + -0.0238157007843256, + 0.013749999925494194, + 0.0 + ], + [ + -0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.0238157007843256, + 0.013749999925494194, + 0.0 + ], + [ + 0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + 0.027499999850988388, + 0.0, + 0.0 + ], + [ + 0.0238157007843256, + -0.013749999925494194, + 0.0 + ], + [ + 0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.007117520086467266, + 0.02656296081840992, + 0.0 + ], + [ + 0.0, + 0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.007117520086467266, + -0.02656296081840992, + 0.0 + ], + [ + 0.0, + -0.03150000050663948, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ] + ], + "indices_raw": [ + 33, + 29, + 31, + 10, + 13, + 25, + 22, + 21, + 7, + 6, + 30, + 27, + 32, + 0, + 2, + 19, + 16, + 15, + 4, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 10, + 11, + 12, + 10, + 12, + 13, + 14, + 5, + 4, + 15, + 16, + 17, + 14, + 15, + 14, + 4, + 18, + 2, + 1, + 19, + 2, + 18, + 19, + 18, + 17, + 16, + 20, + 8, + 7, + 21, + 20, + 21, + 22, + 23, + 24, + 23, + 22, + 25, + 24, + 25, + 13, + 12, + 26, + 27, + 9, + 28, + 5, + 14, + 17, + 18, + 1, + 26, + 9, + 8, + 20, + 23, + 24, + 12, + 11, + 28, + 11, + 29, + 30, + 6, + 9, + 30, + 9, + 27, + 31, + 11, + 10, + 31, + 29, + 11, + 32, + 27, + 26, + 32, + 26, + 1, + 0, + 33, + 3, + 5, + 28, + 33, + 28, + 29 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 20, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.003199998987838626 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.38228145241737366, + 0.49819836020469666, + -0.7782411575317383, + -0.017121313139796257 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.38228145241737366, + -0.49819841980934143, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.3822818100452423, + 0.49819889664649963, + -0.7782406210899353, + -0.0171213336288929 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.2719515860080719, + 0.471034437417984, + -0.839147686958313, + -0.014447690919041634 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.2719515860080719, + -0.471034437417984, + -0.839147686958313, + -0.014447690919041634 + ] + }, + { + "index_base": 35, + "num_vertices": 3, + "plane": [ + 0.3822818100452423, + -0.49819889664649963, + -0.7782407402992249, + -0.0171213336288929 + ] + }, + { + "index_base": 38, + "num_vertices": 3, + "plane": [ + -0.38459810614585876, + -0.38459810614585876, + -0.8391475677490234, + -0.01444769836962223 + ] + }, + { + "index_base": 41, + "num_vertices": 4, + "plane": [ + -0.616123378276825, + -0.16508980095386505, + -0.7701540589332581, + -0.016943393275141716 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.49819836020469666, + -0.38228145241737366, + -0.7782411575317383, + -0.017121313139796257 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.38459810614585876, + 0.38459810614585876, + -0.8391475677490234, + -0.01444769836962223 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.49819841980934143, + 0.38228145241737366, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 54, + "num_vertices": 4, + "plane": [ + -0.6161234378814697, + 0.1650896817445755, + -0.7701540589332581, + -0.016943397000432014 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.49819859862327576, + 0.3822816014289856, + -0.7782408595085144, + -0.017121322453022003 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + 0.616123378276825, + 0.16508980095386505, + -0.7701540589332581, + -0.016943393275141716 + ] + }, + { + "index_base": 66, + "num_vertices": 4, + "plane": [ + 0.6161233186721802, + -0.16508978605270386, + -0.7701541185379028, + -0.016943391412496567 + ] + }, + { + "index_base": 70, + "num_vertices": 4, + "plane": [ + 0.49819859862327576, + -0.3822816014289856, + -0.7782408595085144, + -0.017121322453022003 + ] + }, + { + "index_base": 74, + "num_vertices": 3, + "plane": [ + 0.0, + 0.5439034700393677, + -0.8391478061676025, + -0.01444768626242876 + ] + }, + { + "index_base": 77, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.0, + -0.5439034700393677, + -0.8391478061676025, + -0.01444768626242876 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.24031183123588562, + 0.5801645517349243, + -0.7782412171363831, + -0.017121313139796257 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.08196622133255005, + 0.6225932240486145, + -0.7782410979270935, + -0.017121316865086555 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + 0.24031183123588562, + -0.5801645517349243, + -0.7782410979270935, + -0.017121313139796257 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + 0.08196622878313065, + -0.6225932836532593, + -0.7782410979270935, + -0.017121318727731705 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + -0.08196622878313065, + 0.6225932836532593, + -0.7782410979270935, + -0.017121318727731705 + ] + }, + { + "index_base": 109, + "num_vertices": 4, + "plane": [ + -0.24031178653240204, + 0.5801646113395691, + -0.7782410979270935, + -0.017121313139796257 + ] + }, + { + "index_base": 113, + "num_vertices": 4, + "plane": [ + -0.24031184613704681, + -0.5801646113395691, + -0.7782410979270935, + -0.017121315002441406 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + -0.08196622133255005, + -0.6225932240486145, + -0.7782410979270935, + -0.017121316865086555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 33, + 29, + 31 + ], + [ + 33, + 31, + 10 + ], + [ + 33, + 10, + 13 + ], + [ + 33, + 13, + 25 + ], + [ + 33, + 25, + 22 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 7 + ], + [ + 33, + 7, + 6 + ], + [ + 33, + 6, + 30 + ], + [ + 33, + 30, + 27 + ], + [ + 33, + 27, + 32 + ], + [ + 33, + 32, + 0 + ], + [ + 33, + 0, + 2 + ], + [ + 33, + 2, + 19 + ], + [ + 33, + 19, + 16 + ], + [ + 33, + 16, + 15 + ], + [ + 33, + 15, + 4 + ], + [ + 33, + 4, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 14, + 5, + 4 + ], + [ + 15, + 16, + 17 + ], + [ + 15, + 17, + 14 + ], + [ + 15, + 14, + 4 + ], + [ + 18, + 2, + 1 + ], + [ + 19, + 2, + 18 + ], + [ + 19, + 18, + 17 + ], + [ + 19, + 17, + 16 + ], + [ + 20, + 8, + 7 + ], + [ + 20, + 7, + 21 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 23, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 24, + 25, + 13 + ], + [ + 24, + 13, + 12 + ], + [ + 26, + 27, + 9 + ], + [ + 28, + 5, + 14 + ], + [ + 28, + 14, + 17 + ], + [ + 28, + 17, + 18 + ], + [ + 28, + 18, + 1 + ], + [ + 28, + 1, + 26 + ], + [ + 28, + 26, + 9 + ], + [ + 28, + 9, + 8 + ], + [ + 28, + 8, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 24 + ], + [ + 28, + 24, + 12 + ], + [ + 28, + 12, + 11 + ], + [ + 28, + 11, + 29 + ], + [ + 30, + 6, + 9 + ], + [ + 30, + 9, + 27 + ], + [ + 31, + 11, + 10 + ], + [ + 31, + 29, + 11 + ], + [ + 32, + 27, + 26 + ], + [ + 32, + 26, + 1 + ], + [ + 32, + 1, + 0 + ], + [ + 33, + 3, + 5 + ], + [ + 33, + 5, + 28 + ], + [ + 33, + 28, + 29 + ] + ], + "raw_bounds": [ + [ + -0.03150000050663948, + -0.03150000050663948, + 0.0 + ], + [ + 0.03150000050663948, + 0.03150000050663948, + 0.0031999999191612005 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0018816189840435982, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json new file mode 100644 index 0000000000000000000000000000000000000000..24c10a0c68c14f87d5e2945870ac21997ad35794 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.227473390288651, + "parts": [ + { + "vertices_raw": [ + [ + 0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + 0.03400000184774399, + 0.010700000450015068 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + -0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.02227386087179184, + 0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.027279799804091454, + 0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + 0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.02227386087179184, + -0.02227386087179184, + 0.0031999999191612005 + ], + [ + -0.027279799804091454, + -0.01575000025331974, + 0.0031999999191612005 + ], + [ + -0.01575000025331974, + -0.027279799804091454, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.0, + 0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.0, + -0.03150000050663948, + 0.0031999999191612005 + ], + [ + -0.030426660552620888, + 0.008152799680829048, + 0.0031999999191612005 + ], + [ + -0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + -0.030426660552620888, + -0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.030426660552620888, + 0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.03150000050663948, + 0.0, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + -0.030426660552620888, + 0.0031999999191612005 + ], + [ + 0.030426660552620888, + -0.008152799680829048, + 0.0031999999191612005 + ], + [ + 0.008152799680829048, + 0.030426660552620888, + 0.0031999999191612005 + ] + ], + "indices_raw": [ + 10, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 4, + 7, + 8, + 27, + 28, + 29, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 10, + 3, + 2, + 11, + 30, + 31, + 17, + 16, + 30, + 16, + 15, + 32, + 33, + 22, + 21, + 34, + 33, + 35, + 23, + 22, + 36, + 32, + 15, + 14, + 36, + 14, + 13, + 37, + 38, + 39, + 25, + 24, + 38, + 24, + 23, + 35, + 40, + 41, + 19, + 18, + 40, + 18, + 17, + 31, + 42, + 34, + 21, + 20, + 42, + 20, + 19, + 41, + 43, + 1, + 0, + 29, + 43, + 29, + 28, + 44, + 45, + 5, + 4, + 26, + 45, + 26, + 25, + 39, + 46, + 27, + 8, + 9, + 46, + 44, + 28, + 27, + 47, + 12, + 10, + 11, + 47, + 11, + 2, + 1, + 43, + 44, + 46, + 9, + 6, + 5, + 45, + 39, + 38, + 35, + 33, + 34, + 42, + 41, + 40, + 31, + 30, + 32, + 36, + 37, + 47, + 37, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.010700001381337643 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.7532827854156494, + 0.5780147910118103, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.5780147910118103, + -0.7532827854156494, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7532831430435181, + -0.5780142545700073, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5780142545700073, + 0.7532831430435181, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7532831430435181, + 0.5780142545700073, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5780142545700073, + 0.7532831430435181, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7532831430435181, + -0.5780142545700073, + -0.3137899339199066, + -0.02864900790154934 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5780142545700073, + -0.7532831430435181, + -0.31378990411758423, + -0.02864900976419449 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.3633556663990021, + 0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.12393344938755035, + 0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.12393344938755035, + -0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.3633556663990021, + -0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.941369354724884, + 0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.8772163391113281, + 0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8772163391113281, + -0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.941369354724884, + -0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8772163391113281, + 0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.941369354724884, + 0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3633556663990021, + -0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.12393344938755035, + -0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.8772163391113281, + -0.3633556663990021, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.941369354724884, + -0.12393344938755035, + -0.3137902319431305, + -0.02864900231361389 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.3633556663990021, + 0.8772163391113281, + -0.3137900233268738, + -0.02864900417625904 + ] + }, + { + "index_base": 116, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.003199999686330557 + ] + }, + { + "index_base": 140, + "num_vertices": 4, + "plane": [ + 0.12393344938755035, + 0.941369354724884, + -0.3137902319431305, + -0.02864900231361389 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 12, + 13 + ], + [ + 10, + 13, + 14 + ], + [ + 10, + 14, + 15 + ], + [ + 10, + 15, + 16 + ], + [ + 10, + 16, + 17 + ], + [ + 10, + 17, + 18 + ], + [ + 10, + 18, + 19 + ], + [ + 10, + 19, + 20 + ], + [ + 10, + 20, + 21 + ], + [ + 10, + 21, + 22 + ], + [ + 10, + 22, + 23 + ], + [ + 10, + 23, + 24 + ], + [ + 10, + 24, + 25 + ], + [ + 10, + 25, + 26 + ], + [ + 10, + 26, + 4 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 8 + ], + [ + 10, + 8, + 27 + ], + [ + 10, + 27, + 28 + ], + [ + 10, + 28, + 29 + ], + [ + 10, + 29, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 30, + 31, + 17 + ], + [ + 30, + 17, + 16 + ], + [ + 30, + 16, + 15 + ], + [ + 30, + 15, + 32 + ], + [ + 33, + 22, + 21 + ], + [ + 33, + 21, + 34 + ], + [ + 33, + 35, + 23 + ], + [ + 33, + 23, + 22 + ], + [ + 36, + 32, + 15 + ], + [ + 36, + 15, + 14 + ], + [ + 36, + 14, + 13 + ], + [ + 36, + 13, + 37 + ], + [ + 38, + 39, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 35 + ], + [ + 40, + 41, + 19 + ], + [ + 40, + 19, + 18 + ], + [ + 40, + 18, + 17 + ], + [ + 40, + 17, + 31 + ], + [ + 42, + 34, + 21 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 19 + ], + [ + 42, + 19, + 41 + ], + [ + 43, + 1, + 0 + ], + [ + 43, + 0, + 29 + ], + [ + 43, + 29, + 28 + ], + [ + 43, + 28, + 44 + ], + [ + 45, + 5, + 4 + ], + [ + 45, + 4, + 26 + ], + [ + 45, + 26, + 25 + ], + [ + 45, + 25, + 39 + ], + [ + 46, + 27, + 8 + ], + [ + 46, + 8, + 9 + ], + [ + 46, + 44, + 28 + ], + [ + 46, + 28, + 27 + ], + [ + 47, + 12, + 10 + ], + [ + 47, + 10, + 11 + ], + [ + 47, + 11, + 2 + ], + [ + 47, + 2, + 1 + ], + [ + 47, + 1, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 9 + ], + [ + 47, + 9, + 6 + ], + [ + 47, + 6, + 5 + ], + [ + 47, + 5, + 45 + ], + [ + 47, + 45, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 42 + ], + [ + 47, + 42, + 41 + ], + [ + 47, + 41, + 40 + ], + [ + 47, + 40, + 31 + ], + [ + 47, + 31, + 30 + ], + [ + 47, + 30, + 32 + ], + [ + 47, + 32, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.03400000184774399, + -0.03400000184774399, + 0.0031999999191612005 + ], + [ + 0.03400000184774399, + 0.03400000184774399, + 0.010700000450015068 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0016840500757098198, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json new file mode 100644 index 0000000000000000000000000000000000000000..96985f9563fdca90ffa808b456bcbd1fdc40fcca --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23007476096972823, + "parts": [ + { + "vertices_raw": [ + [ + -0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.0, + -0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.0, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + -0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + 0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.0, + 0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.0, + 0.03400000184774399, + 0.010700000450015068 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.010700000450015068 + ], + [ + -0.03400000184774399, + 0.0, + 0.010700000450015068 + ], + [ + -0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.010700000450015068 + ], + [ + -0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.010700000450015068 + ], + [ + 0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.010700000450015068 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.010700000450015068 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.010700000450015068 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.010700000450015068 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.010700000450015068 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.010700000450015068 + ] + ], + "indices_raw": [ + 24, + 7, + 6, + 13, + 25, + 26, + 27, + 18, + 10, + 9, + 28, + 29, + 30, + 14, + 17, + 20, + 31, + 32, + 33, + 3, + 2, + 22, + 34, + 35, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 6, + 5, + 14, + 15, + 16, + 17, + 18, + 19, + 11, + 10, + 20, + 17, + 16, + 21, + 22, + 2, + 1, + 23, + 36, + 15, + 14, + 30, + 36, + 30, + 29, + 37, + 38, + 19, + 18, + 27, + 38, + 27, + 26, + 39, + 40, + 0, + 3, + 33, + 40, + 33, + 32, + 41, + 42, + 4, + 7, + 24, + 42, + 24, + 35, + 43, + 44, + 31, + 20, + 21, + 44, + 41, + 32, + 31, + 45, + 34, + 22, + 23, + 45, + 43, + 35, + 34, + 46, + 37, + 29, + 28, + 46, + 28, + 9, + 8, + 47, + 39, + 26, + 25, + 47, + 25, + 13, + 12, + 47, + 12, + 5, + 4, + 42, + 43, + 45, + 23, + 1, + 0, + 40, + 41, + 44, + 21, + 16, + 15, + 36, + 37, + 46, + 8, + 11, + 19, + 38, + 39 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.026899997144937515 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13028250634670258, + -0.9895933270454407, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9895933270454407, + -0.13028250634670258, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13028250634670258, + 0.9895933270454407, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9895933270454407, + 0.13028250634670258, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.9895933270454407, + 0.13028250634670258, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.13028250634670258, + 0.9895933270454407, + -0.06108590215444565, + -0.03299255669116974 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9895933270454407, + -0.13028250634670258, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13028250634670258, + -0.9895933270454407, + -0.06108590215444565, + -0.03299256041646004 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9221541285514832, + 0.38196900486946106, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.791871964931488, + 0.6076242923736572, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.38196900486946106, + 0.9221541285514832, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6076242923736572, + 0.791871964931488, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.38196900486946106, + -0.9221541285514832, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6076242923736572, + -0.791871964931488, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9221541285514832, + -0.38196900486946106, + -0.06108566373586655, + -0.032992564141750336 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.791871964931488, + -0.6076242923736572, + -0.061086177825927734, + -0.03299254924058914 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9221540689468384, + -0.3819689452648163, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.791871964931488, + -0.607624351978302, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3819689452648163, + -0.9221540689468384, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.607624351978302, + -0.791871964931488, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.607624351978302, + 0.791871964931488, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.3819689452648163, + 0.9221540689468384, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.791871964931488, + 0.607624351978302, + -0.06108630821108818, + -0.03299254924058914 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9221540689468384, + 0.3819689452648163, + -0.06108621507883072, + -0.03299254924058914 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.010700001381337643 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 13 + ], + [ + 24, + 13, + 25 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 24, + 27, + 18 + ], + [ + 24, + 18, + 10 + ], + [ + 24, + 10, + 9 + ], + [ + 24, + 9, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 30 + ], + [ + 24, + 30, + 14 + ], + [ + 24, + 14, + 17 + ], + [ + 24, + 17, + 20 + ], + [ + 24, + 20, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 3 + ], + [ + 24, + 3, + 2 + ], + [ + 24, + 2, + 22 + ], + [ + 24, + 22, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 6 + ], + [ + 12, + 6, + 5 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 11 + ], + [ + 18, + 11, + 10 + ], + [ + 20, + 17, + 16 + ], + [ + 20, + 16, + 21 + ], + [ + 22, + 2, + 1 + ], + [ + 22, + 1, + 23 + ], + [ + 36, + 15, + 14 + ], + [ + 36, + 14, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 37 + ], + [ + 38, + 19, + 18 + ], + [ + 38, + 18, + 27 + ], + [ + 38, + 27, + 26 + ], + [ + 38, + 26, + 39 + ], + [ + 40, + 0, + 3 + ], + [ + 40, + 3, + 33 + ], + [ + 40, + 33, + 32 + ], + [ + 40, + 32, + 41 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 24 + ], + [ + 42, + 24, + 35 + ], + [ + 42, + 35, + 43 + ], + [ + 44, + 31, + 20 + ], + [ + 44, + 20, + 21 + ], + [ + 44, + 41, + 32 + ], + [ + 44, + 32, + 31 + ], + [ + 45, + 34, + 22 + ], + [ + 45, + 22, + 23 + ], + [ + 45, + 43, + 35 + ], + [ + 45, + 35, + 34 + ], + [ + 46, + 37, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 39, + 26 + ], + [ + 47, + 26, + 25 + ], + [ + 47, + 25, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 42 + ], + [ + 47, + 42, + 43 + ], + [ + 47, + 43, + 45 + ], + [ + 47, + 45, + 23 + ], + [ + 47, + 23, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 44 + ], + [ + 47, + 44, + 21 + ], + [ + 47, + 21, + 16 + ], + [ + 47, + 16, + 15 + ], + [ + 47, + 15, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 19 + ], + [ + 47, + 19, + 38 + ], + [ + 47, + 38, + 39 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.010700000450015068 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.026900000870227814 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014029447920620441, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json new file mode 100644 index 0000000000000000000000000000000000000000..375effd69cee673652196e213fe775a085547b04 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2321054912172258, + "parts": [ + { + "vertices_raw": [ + [ + -0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.0, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.0, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + 0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0, + 0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.0, + 0.03500000014901161, + 0.026900000870227814 + ], + [ + -0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.02474874071776867, + 0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + -0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.03500000014901161, + 0.0, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + -0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + 0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + 0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + -0.030310889706015587, + 0.026900000870227814 + ], + [ + -0.02474874071776867, + -0.02474874071776867, + 0.026900000870227814 + ], + [ + -0.030310889706015587, + -0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.03380740061402321, + 0.00905867014080286, + 0.026900000870227814 + ], + [ + -0.017500000074505806, + 0.030310889706015587, + 0.026900000870227814 + ], + [ + 0.00905867014080286, + 0.03380740061402321, + 0.026900000870227814 + ], + [ + 0.030310889706015587, + 0.017500000074505806, + 0.026900000870227814 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ] + ], + "indices_raw": [ + 28, + 29, + 30, + 26, + 2, + 1, + 31, + 32, + 33, + 22, + 25, + 34, + 17, + 16, + 35, + 11, + 10, + 36, + 21, + 20, + 37, + 13, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 7, + 6, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 3, + 2, + 38, + 23, + 22, + 33, + 38, + 33, + 32, + 39, + 40, + 27, + 26, + 30, + 40, + 30, + 29, + 41, + 42, + 8, + 11, + 35, + 42, + 35, + 16, + 15, + 43, + 12, + 13, + 37, + 43, + 37, + 20, + 19, + 44, + 14, + 17, + 34, + 44, + 34, + 25, + 24, + 45, + 18, + 21, + 36, + 45, + 36, + 10, + 9, + 46, + 39, + 32, + 31, + 46, + 31, + 1, + 0, + 47, + 41, + 29, + 28, + 47, + 28, + 5, + 4, + 47, + 4, + 7, + 12, + 43, + 19, + 18, + 45, + 9, + 8, + 42, + 15, + 14, + 44, + 24, + 23, + 38, + 39, + 46, + 0, + 3, + 27, + 40, + 41 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.026899995282292366 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.13024209439754486, + -0.9892863035202026, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9892863035202026, + -0.13024209439754486, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.13024206459522247, + 0.9892862439155579, + 0.06595229357481003, + -0.03639913350343704 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.9892862439155579, + 0.13024206459522247, + 0.06595229357481003, + -0.03639913350343704 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.7916262149810791, + 0.6074357628822327, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.6074357628822327, + 0.7916262149810791, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9892863035202026, + -0.13024209439754486, + 0.06595201045274734, + -0.03639913350343704 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.13024209439754486, + -0.9892863035202026, + 0.06595201045274734, + -0.03639913350343704 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.9218680262565613, + -0.3818505108356476, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.7916261553764343, + -0.6074357032775879, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.3818505108356476, + -0.9218680262565613, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.6074357032775879, + -0.7916261553764343, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.3818505108356476, + 0.9218680262565613, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.6074357032775879, + 0.7916261553764343, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9218680262565613, + 0.3818505108356476, + 0.06595204770565033, + -0.03639913350343704 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.7916261553764343, + 0.6074357032775879, + 0.06595258414745331, + -0.03639914095401764 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9218679666519165, + 0.3818504810333252, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9892863035202026, + 0.13024209439754486, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.3818504810333252, + 0.9218679666519165, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13024209439754486, + 0.9892863035202026, + 0.06595200300216675, + -0.036399129778146744 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.6074357628822327, + -0.7916262149810791, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.3818504810333252, + -0.9218679666519165, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.7916262149810791, + -0.6074357628822327, + 0.06595274060964584, + -0.036399148404598236 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.9218679666519165, + -0.3818504810333252, + 0.06595264375209808, + -0.036399152129888535 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.041899994015693665 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 29, + 30 + ], + [ + 28, + 30, + 26 + ], + [ + 28, + 26, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 31 + ], + [ + 28, + 31, + 32 + ], + [ + 28, + 32, + 33 + ], + [ + 28, + 33, + 22 + ], + [ + 28, + 22, + 25 + ], + [ + 28, + 25, + 34 + ], + [ + 28, + 34, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 35 + ], + [ + 28, + 35, + 11 + ], + [ + 28, + 11, + 10 + ], + [ + 28, + 10, + 36 + ], + [ + 28, + 36, + 21 + ], + [ + 28, + 21, + 20 + ], + [ + 28, + 20, + 37 + ], + [ + 28, + 37, + 13 + ], + [ + 28, + 13, + 6 + ], + [ + 28, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 7, + 6 + ], + [ + 12, + 6, + 13 + ], + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 17 + ], + [ + 18, + 19, + 20 + ], + [ + 18, + 20, + 21 + ], + [ + 22, + 23, + 24 + ], + [ + 22, + 24, + 25 + ], + [ + 26, + 27, + 3 + ], + [ + 26, + 3, + 2 + ], + [ + 38, + 23, + 22 + ], + [ + 38, + 22, + 33 + ], + [ + 38, + 33, + 32 + ], + [ + 38, + 32, + 39 + ], + [ + 40, + 27, + 26 + ], + [ + 40, + 26, + 30 + ], + [ + 40, + 30, + 29 + ], + [ + 40, + 29, + 41 + ], + [ + 42, + 8, + 11 + ], + [ + 42, + 11, + 35 + ], + [ + 42, + 35, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 43, + 12, + 13 + ], + [ + 43, + 13, + 37 + ], + [ + 43, + 37, + 20 + ], + [ + 43, + 20, + 19 + ], + [ + 44, + 14, + 17 + ], + [ + 44, + 17, + 34 + ], + [ + 44, + 34, + 25 + ], + [ + 44, + 25, + 24 + ], + [ + 45, + 18, + 21 + ], + [ + 45, + 21, + 36 + ], + [ + 45, + 36, + 10 + ], + [ + 45, + 10, + 9 + ], + [ + 46, + 39, + 32 + ], + [ + 46, + 32, + 31 + ], + [ + 46, + 31, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 41, + 29 + ], + [ + 47, + 29, + 28 + ], + [ + 47, + 28, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 12 + ], + [ + 47, + 12, + 43 + ], + [ + 47, + 43, + 19 + ], + [ + 47, + 19, + 18 + ], + [ + 47, + 18, + 45 + ], + [ + 47, + 45, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 42 + ], + [ + 47, + 42, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 44 + ], + [ + 47, + 44, + 24 + ], + [ + 47, + 24, + 23 + ], + [ + 47, + 23, + 38 + ], + [ + 47, + 38, + 39 + ], + [ + 47, + 39, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 27 + ], + [ + 47, + 27, + 40 + ], + [ + 47, + 40, + 41 + ] + ], + "raw_bounds": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.026900000870227814 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.04190000146627426 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011178762651979923, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json new file mode 100644 index 0000000000000000000000000000000000000000..6165f4d2d18806305eb49f9cb523e010f58895e1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23386427527293563, + "parts": [ + { + "vertices_raw": [ + [ + 0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + 0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + 0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.0, + -0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.0, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + 0.0, + 0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.0, + 0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + 0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + 0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + 0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + -0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + -0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + -0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.02944486029446125, + -0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + -0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.03400000184774399, + 0.0, + 0.04190000146627426 + ], + [ + -0.032841481268405914, + 0.008799850009381771, + 0.04190000146627426 + ], + [ + -0.02944486029446125, + 0.017000000923871994, + 0.04190000146627426 + ], + [ + -0.02404163032770157, + 0.02404163032770157, + 0.04190000146627426 + ], + [ + -0.017000000923871994, + 0.02944486029446125, + 0.04190000146627426 + ], + [ + -0.008799850009381771, + 0.032841481268405914, + 0.04190000146627426 + ], + [ + -0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + -0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ] + ], + "indices_raw": [ + 14, + 15, + 16, + 3, + 2, + 5, + 17, + 18, + 19, + 9, + 8, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 12, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 2, + 1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 31, + 32, + 23, + 22, + 31, + 22, + 21, + 33, + 34, + 28, + 27, + 35, + 34, + 36, + 29, + 28, + 37, + 13, + 12, + 30, + 37, + 30, + 29, + 36, + 38, + 39, + 25, + 24, + 38, + 24, + 23, + 32, + 40, + 33, + 21, + 20, + 40, + 20, + 8, + 7, + 41, + 35, + 27, + 26, + 41, + 26, + 25, + 39, + 42, + 0, + 3, + 16, + 42, + 16, + 15, + 43, + 44, + 6, + 9, + 19, + 44, + 19, + 18, + 45, + 46, + 45, + 18, + 17, + 46, + 17, + 5, + 4, + 47, + 43, + 15, + 14, + 47, + 14, + 11, + 10, + 47, + 10, + 13, + 37, + 36, + 34, + 35, + 41, + 39, + 38, + 32, + 31, + 33, + 40, + 7, + 6, + 44, + 45, + 46, + 4, + 1, + 0, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.041899990290403366 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9140605330467224, + 0.12033820152282715, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.9140605330467224, + -0.12033822387456894, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.12033820152282715, + -0.9140605330467224, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.12033822387456894, + 0.9140605330467224, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.73143070936203, + -0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5612461566925049, + -0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.73143070936203, + 0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5612461566925049, + 0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.12033820152282715, + 0.9140605330467224, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.35281431674957275, + 0.8517686724662781, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.9140605330467224, + -0.12033820152282715, + 0.3873140215873718, + -0.04730651527643204 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.8517686724662781, + -0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.3528144061565399, + -0.8517688512802124, + 0.38731345534324646, + -0.04730649292469025 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.12033822387456894, + -0.9140605330467224, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8517688512802124, + 0.3528144061565399, + 0.38731345534324646, + -0.04730649292469025 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9140605330467224, + 0.12033822387456894, + 0.3873140513896942, + -0.047306519001722336 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.8517686724662781, + 0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + 0.73143070936203, + 0.5612461566925049, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.35281431674957275, + -0.8517686724662781, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.5612461566925049, + -0.73143070936203, + 0.387313574552536, + -0.047306500375270844 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.7314307689666748, + -0.5612462759017944, + 0.38731345534324646, + -0.047306496649980545 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8517686128616333, + -0.35281431674957275, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.5612462759017944, + 0.7314307689666748, + 0.38731345534324646, + -0.047306496649980545 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.35281431674957275, + 0.8517686128616333, + 0.387314110994339, + -0.04730651527643204 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.05369998514652252 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 14, + 15, + 16 + ], + [ + 14, + 16, + 3 + ], + [ + 14, + 3, + 2 + ], + [ + 14, + 2, + 5 + ], + [ + 14, + 5, + 17 + ], + [ + 14, + 17, + 18 + ], + [ + 14, + 18, + 19 + ], + [ + 14, + 19, + 9 + ], + [ + 14, + 9, + 8 + ], + [ + 14, + 8, + 20 + ], + [ + 14, + 20, + 21 + ], + [ + 14, + 21, + 22 + ], + [ + 14, + 22, + 23 + ], + [ + 14, + 23, + 24 + ], + [ + 14, + 24, + 25 + ], + [ + 14, + 25, + 26 + ], + [ + 14, + 26, + 27 + ], + [ + 14, + 27, + 28 + ], + [ + 14, + 28, + 29 + ], + [ + 14, + 29, + 30 + ], + [ + 14, + 30, + 12 + ], + [ + 14, + 12, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 13 + ], + [ + 31, + 32, + 23 + ], + [ + 31, + 23, + 22 + ], + [ + 31, + 22, + 21 + ], + [ + 31, + 21, + 33 + ], + [ + 34, + 28, + 27 + ], + [ + 34, + 27, + 35 + ], + [ + 34, + 36, + 29 + ], + [ + 34, + 29, + 28 + ], + [ + 37, + 13, + 12 + ], + [ + 37, + 12, + 30 + ], + [ + 37, + 30, + 29 + ], + [ + 37, + 29, + 36 + ], + [ + 38, + 39, + 25 + ], + [ + 38, + 25, + 24 + ], + [ + 38, + 24, + 23 + ], + [ + 38, + 23, + 32 + ], + [ + 40, + 33, + 21 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 8 + ], + [ + 40, + 8, + 7 + ], + [ + 41, + 35, + 27 + ], + [ + 41, + 27, + 26 + ], + [ + 41, + 26, + 25 + ], + [ + 41, + 25, + 39 + ], + [ + 42, + 0, + 3 + ], + [ + 42, + 3, + 16 + ], + [ + 42, + 16, + 15 + ], + [ + 42, + 15, + 43 + ], + [ + 44, + 6, + 9 + ], + [ + 44, + 9, + 19 + ], + [ + 44, + 19, + 18 + ], + [ + 44, + 18, + 45 + ], + [ + 46, + 45, + 18 + ], + [ + 46, + 18, + 17 + ], + [ + 46, + 17, + 5 + ], + [ + 46, + 5, + 4 + ], + [ + 47, + 43, + 15 + ], + [ + 47, + 15, + 14 + ], + [ + 47, + 14, + 11 + ], + [ + 47, + 11, + 10 + ], + [ + 47, + 10, + 13 + ], + [ + 47, + 13, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 34 + ], + [ + 47, + 34, + 35 + ], + [ + 47, + 35, + 41 + ], + [ + 47, + 41, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 32 + ], + [ + 47, + 32, + 31 + ], + [ + 47, + 31, + 33 + ], + [ + 47, + 33, + 40 + ], + [ + 47, + 40, + 7 + ], + [ + 47, + 7, + 6 + ], + [ + 47, + 6, + 44 + ], + [ + 47, + 44, + 45 + ], + [ + 47, + 45, + 46 + ], + [ + 47, + 46, + 4 + ], + [ + 47, + 4, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.03400000184774399, + -0.03400000184774399, + 0.04190000146627426 + ], + [ + 0.03400000184774399, + 0.03400000184774399, + 0.053700000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012942468747496605, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json new file mode 100644 index 0000000000000000000000000000000000000000..f14038585cdbc587a4f01a0482879a5547b4e624 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2360136192291975, + "parts": [ + { + "vertices_raw": [ + [ + -0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + -0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.020506100729107857, + 0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.020506100729107857, + -0.020506100729107857, + 0.053700000047683716 + ], + [ + 0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + 0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.0, + 0.028999999165534973, + 0.053700000047683716 + ], + [ + -0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + -0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + 0.0, + -0.028999999165534973, + 0.053700000047683716 + ], + [ + 0.0, + -0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + 0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + -0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.014499999582767487, + 0.025114739313721657, + 0.053700000047683716 + ], + [ + -0.014499999582767487, + -0.025114739313721657, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + 0.014499999582767487, + 0.053700000047683716 + ], + [ + 0.025114739313721657, + -0.014499999582767487, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + -0.0075057498179376125, + 0.053700000047683716 + ], + [ + -0.028999999165534973, + 0.0, + 0.053700000047683716 + ], + [ + 0.0075057498179376125, + -0.028011849150061607, + 0.053700000047683716 + ], + [ + -0.028011849150061607, + 0.0075057498179376125, + 0.053700000047683716 + ], + [ + 0.0075057498179376125, + 0.028011849150061607, + 0.053700000047683716 + ] + ], + "indices_raw": [ + 28, + 25, + 24, + 30, + 10, + 9, + 31, + 17, + 16, + 32, + 2, + 1, + 33, + 34, + 35, + 7, + 6, + 36, + 20, + 23, + 37, + 15, + 14, + 38, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 26, + 25, + 39, + 32, + 16, + 19, + 39, + 3, + 2, + 32, + 40, + 21, + 20, + 36, + 40, + 36, + 6, + 5, + 41, + 30, + 24, + 27, + 41, + 11, + 10, + 30, + 42, + 29, + 28, + 38, + 42, + 38, + 14, + 13, + 43, + 4, + 7, + 35, + 43, + 35, + 34, + 44, + 45, + 12, + 15, + 37, + 45, + 37, + 23, + 22, + 46, + 44, + 34, + 33, + 46, + 33, + 1, + 0, + 47, + 18, + 17, + 31, + 47, + 31, + 9, + 8, + 47, + 8, + 11, + 41, + 27, + 26, + 29, + 42, + 13, + 12, + 45, + 22, + 21, + 40, + 5, + 4, + 43, + 44, + 46, + 0, + 3, + 39, + 19, + 18 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.06560000777244568 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.792665958404541, + 0.6082337498664856, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7926660180091858, + -0.6082338094711304, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.6082337498664856, + 0.792665958404541, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.6082338094711304, + -0.7926660180091858, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.13041312992572784, + 0.9905857443809509, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.13041315972805023, + -0.9905857443809509, + -0.041621141135692596, + -0.026491932570934296 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.9905857443809509, + 0.13041312992572784, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.9905857443809509, + -0.13041315972805023, + -0.041621141135692596, + -0.026491932570934296 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.38235148787498474, + 0.9230791330337524, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.6082338094711304, + 0.7926660180091858, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.38235148787498474, + -0.9230791330337524, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.6082337498664856, + -0.792665958404541, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9230791330337524, + 0.38235148787498474, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.7926660180091858, + 0.6082338094711304, + -0.04162069410085678, + -0.026491962373256683 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9230791330337524, + -0.38235148787498474, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.792665958404541, + -0.6082337498664856, + -0.04162115976214409, + -0.026491930708289146 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9230791330337524, + -0.38235148787498474, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9905857443809509, + -0.13041312992572784, + -0.041621141135692596, + -0.026491930708289146 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + 0.38235148787498474, + -0.9230791330337524, + -0.0416211299598217, + -0.026491932570934296 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.13041312992572784, + -0.9905857443809509, + -0.041621141135692596, + -0.026491930708289146 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.9905857443809509, + 0.13041314482688904, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.9230791330337524, + 0.38235148787498474, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.13041314482688904, + 0.9905857443809509, + -0.04162133112549782, + -0.0264919213950634 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.38235148787498474, + 0.9230791330337524, + -0.04162116348743439, + -0.026491928845643997 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.05369998514652252 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 28, + 25, + 24 + ], + [ + 28, + 24, + 30 + ], + [ + 28, + 30, + 10 + ], + [ + 28, + 10, + 9 + ], + [ + 28, + 9, + 31 + ], + [ + 28, + 31, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 28, + 16, + 32 + ], + [ + 28, + 32, + 2 + ], + [ + 28, + 2, + 1 + ], + [ + 28, + 1, + 33 + ], + [ + 28, + 33, + 34 + ], + [ + 28, + 34, + 35 + ], + [ + 28, + 35, + 7 + ], + [ + 28, + 7, + 6 + ], + [ + 28, + 6, + 36 + ], + [ + 28, + 36, + 20 + ], + [ + 28, + 20, + 23 + ], + [ + 28, + 23, + 37 + ], + [ + 28, + 37, + 15 + ], + [ + 28, + 15, + 14 + ], + [ + 28, + 14, + 38 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 28, + 29, + 26 + ], + [ + 28, + 26, + 25 + ], + [ + 39, + 32, + 16 + ], + [ + 39, + 16, + 19 + ], + [ + 39, + 3, + 2 + ], + [ + 39, + 2, + 32 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 36 + ], + [ + 40, + 36, + 6 + ], + [ + 40, + 6, + 5 + ], + [ + 41, + 30, + 24 + ], + [ + 41, + 24, + 27 + ], + [ + 41, + 11, + 10 + ], + [ + 41, + 10, + 30 + ], + [ + 42, + 29, + 28 + ], + [ + 42, + 28, + 38 + ], + [ + 42, + 38, + 14 + ], + [ + 42, + 14, + 13 + ], + [ + 43, + 4, + 7 + ], + [ + 43, + 7, + 35 + ], + [ + 43, + 35, + 34 + ], + [ + 43, + 34, + 44 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 15, + 37 + ], + [ + 45, + 37, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 46, + 44, + 34 + ], + [ + 46, + 34, + 33 + ], + [ + 46, + 33, + 1 + ], + [ + 46, + 1, + 0 + ], + [ + 47, + 18, + 17 + ], + [ + 47, + 17, + 31 + ], + [ + 47, + 31, + 9 + ], + [ + 47, + 9, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 41 + ], + [ + 47, + 41, + 27 + ], + [ + 47, + 27, + 26 + ], + [ + 47, + 26, + 29 + ], + [ + 47, + 29, + 42 + ], + [ + 47, + 42, + 13 + ], + [ + 47, + 13, + 12 + ], + [ + 47, + 12, + 45 + ], + [ + 47, + 45, + 22 + ], + [ + 47, + 22, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 43 + ], + [ + 47, + 43, + 44 + ], + [ + 47, + 44, + 46 + ], + [ + 47, + 46, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 39 + ], + [ + 47, + 39, + 19 + ], + [ + 47, + 19, + 18 + ] + ], + "raw_bounds": [ + [ + -0.029500000178813934, + -0.029500000178813934, + 0.053700000047683716 + ], + [ + 0.029500000178813934, + 0.029500000178813934, + 0.06560000032186508 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0013365419581532478, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a462be49c74d75f47d63a39df1151a058e2395 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2382600549608469, + "parts": [ + { + "vertices_raw": [ + [ + -0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + -0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + -0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + 0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.020859649404883385, + 0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.020859649404883385, + -0.020859649404883385, + 0.06560000032186508 + ], + [ + 0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.014750000089406967, + 0.025547750294208527, + 0.06560000032186508 + ], + [ + -0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.014750000089406967, + -0.025547750294208527, + 0.06560000032186508 + ], + [ + 0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025547750294208527, + 0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025547750294208527, + -0.014750000089406967, + 0.06560000032186508 + ], + [ + 0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + 0.032999999821186066, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + -0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + 0.029500000178813934, + 0.06560000032186508 + ], + [ + -0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.0, + -0.029500000178813934, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + 0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + 0.007635159883648157, + 0.06560000032186508 + ], + [ + -0.029500000178813934, + 0.0, + 0.06560000032186508 + ], + [ + -0.028494810685515404, + -0.007635159883648157, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + 0.028494810685515404, + 0.06560000032186508 + ], + [ + 0.007635159883648157, + -0.028494810685515404, + 0.06560000032186508 + ] + ], + "indices_raw": [ + 24, + 15, + 14, + 22, + 25, + 26, + 27, + 20, + 10, + 9, + 28, + 29, + 30, + 16, + 2, + 1, + 31, + 32, + 33, + 7, + 6, + 18, + 34, + 35, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 3, + 2, + 18, + 6, + 5, + 19, + 20, + 21, + 11, + 10, + 22, + 14, + 13, + 23, + 36, + 17, + 16, + 30, + 36, + 30, + 29, + 37, + 38, + 34, + 18, + 19, + 38, + 39, + 35, + 34, + 40, + 21, + 20, + 27, + 40, + 27, + 26, + 41, + 42, + 25, + 22, + 23, + 42, + 41, + 26, + 25, + 43, + 44, + 32, + 31, + 43, + 31, + 1, + 0, + 45, + 4, + 7, + 33, + 45, + 33, + 32, + 44, + 46, + 37, + 29, + 28, + 46, + 28, + 9, + 8, + 47, + 12, + 15, + 24, + 47, + 24, + 35, + 39, + 47, + 39, + 38, + 19, + 5, + 4, + 45, + 44, + 43, + 0, + 3, + 17, + 36, + 37, + 46, + 8, + 11, + 21, + 40, + 41, + 42, + 23, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.08070001006126404 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.7731991410255432, + 0.5932971835136414, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.7731992602348328, + -0.5932972431182861, + -0.22396700084209442, + -0.013812404125928879 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5932971835136414, + 0.7731991410255432, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5932972431182861, + -0.7731992602348328, + -0.22396700084209442, + -0.013812404125928879 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + -0.5932971835136414, + 0.7731991410255432, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + -0.5932973623275757, + -0.7731993198394775, + -0.22396701574325562, + -0.013812405988574028 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.7731991410255432, + 0.5932971835136414, + -0.22396725416183472, + -0.013812381774187088 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.7731993198394775, + -0.5932973623275757, + -0.22396701574325562, + -0.013812405988574028 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.37296172976493835, + 0.9004100561141968, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.1272105574607849, + 0.9662588238716125, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.37296172976493835, + -0.9004100561141968, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + -0.1272105574607849, + -0.9662588238716125, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.9004100561141968, + 0.37296172976493835, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9662588238716125, + 0.1272105574607849, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.9004100561141968, + -0.37296172976493835, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.9662588238716125, + -0.1272105574607849, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.9662588238716125, + 0.1272105574607849, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9004100561141968, + 0.37296172976493835, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9004100561141968, + -0.37296172976493835, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.9662588238716125, + -0.1272105574607849, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.1272105574607849, + 0.9662588238716125, + -0.22396720945835114, + -0.013812387362122536 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.37296172976493835, + 0.9004100561141968, + -0.22396734356880188, + -0.01381237804889679 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.37296172976493835, + -0.9004100561141968, + -0.2239672988653183, + -0.013812381774187088 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.1272105574607849, + -0.9662588238716125, + -0.2239672690629959, + -0.013812381774187088 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.06560000777244568 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 24, + 15, + 14 + ], + [ + 24, + 14, + 22 + ], + [ + 24, + 22, + 25 + ], + [ + 24, + 25, + 26 + ], + [ + 24, + 26, + 27 + ], + [ + 24, + 27, + 20 + ], + [ + 24, + 20, + 10 + ], + [ + 24, + 10, + 9 + ], + [ + 24, + 9, + 28 + ], + [ + 24, + 28, + 29 + ], + [ + 24, + 29, + 30 + ], + [ + 24, + 30, + 16 + ], + [ + 24, + 16, + 2 + ], + [ + 24, + 2, + 1 + ], + [ + 24, + 1, + 31 + ], + [ + 24, + 31, + 32 + ], + [ + 24, + 32, + 33 + ], + [ + 24, + 33, + 7 + ], + [ + 24, + 7, + 6 + ], + [ + 24, + 6, + 18 + ], + [ + 24, + 18, + 34 + ], + [ + 24, + 34, + 35 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 18, + 6, + 5 + ], + [ + 18, + 5, + 19 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 10 + ], + [ + 22, + 14, + 13 + ], + [ + 22, + 13, + 23 + ], + [ + 36, + 17, + 16 + ], + [ + 36, + 16, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 37 + ], + [ + 38, + 34, + 18 + ], + [ + 38, + 18, + 19 + ], + [ + 38, + 39, + 35 + ], + [ + 38, + 35, + 34 + ], + [ + 40, + 21, + 20 + ], + [ + 40, + 20, + 27 + ], + [ + 40, + 27, + 26 + ], + [ + 40, + 26, + 41 + ], + [ + 42, + 25, + 22 + ], + [ + 42, + 22, + 23 + ], + [ + 42, + 41, + 26 + ], + [ + 42, + 26, + 25 + ], + [ + 43, + 44, + 32 + ], + [ + 43, + 32, + 31 + ], + [ + 43, + 31, + 1 + ], + [ + 43, + 1, + 0 + ], + [ + 45, + 4, + 7 + ], + [ + 45, + 7, + 33 + ], + [ + 45, + 33, + 32 + ], + [ + 45, + 32, + 44 + ], + [ + 46, + 37, + 29 + ], + [ + 46, + 29, + 28 + ], + [ + 46, + 28, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 12, + 15 + ], + [ + 47, + 15, + 24 + ], + [ + 47, + 24, + 35 + ], + [ + 47, + 35, + 39 + ], + [ + 47, + 39, + 38 + ], + [ + 47, + 38, + 19 + ], + [ + 47, + 19, + 5 + ], + [ + 47, + 5, + 4 + ], + [ + 47, + 4, + 45 + ], + [ + 47, + 45, + 44 + ], + [ + 47, + 44, + 43 + ], + [ + 47, + 43, + 0 + ], + [ + 47, + 0, + 3 + ], + [ + 47, + 3, + 17 + ], + [ + 47, + 17, + 36 + ], + [ + 47, + 36, + 37 + ], + [ + 47, + 37, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 21 + ], + [ + 47, + 21, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 42 + ], + [ + 47, + 42, + 23 + ], + [ + 47, + 23, + 13 + ], + [ + 47, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.032999999821186066, + -0.032999999821186066, + 0.06560000032186508 + ], + [ + 0.032999999821186066, + 0.032999999821186066, + 0.08070000261068344 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014874846674501896, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ca286952c827aaef101f9a821fd3df17838c44 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24098377814516425, + "parts": [ + { + "vertices_raw": [ + [ + 0.0, + 0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.0, + 0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.0, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.0, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + 0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + -0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + 0.016499999910593033, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + 0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + 0.031875550746917725, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + 0.02857884019613266, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + 0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.0, + 0.08070000261068344 + ], + [ + 0.031875550746917725, + -0.008541029877960682, + 0.08070000261068344 + ], + [ + 0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.008541029877960682, + -0.031875550746917725, + 0.08070000261068344 + ], + [ + -0.016499999910593033, + -0.02857884019613266, + 0.08070000261068344 + ], + [ + -0.023334519937634468, + -0.023334519937634468, + 0.08070000261068344 + ], + [ + -0.02857884019613266, + -0.016499999910593033, + 0.08070000261068344 + ], + [ + 0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + -0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + -0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ] + ], + "indices_raw": [ + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 3, + 2, + 23, + 10, + 9, + 24, + 25, + 26, + 12, + 15, + 27, + 6, + 5, + 28, + 29, + 30, + 31, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 32, + 7, + 6, + 27, + 32, + 27, + 15, + 14, + 33, + 20, + 19, + 34, + 33, + 35, + 21, + 20, + 36, + 37, + 31, + 30, + 36, + 30, + 29, + 38, + 39, + 11, + 10, + 23, + 39, + 23, + 2, + 1, + 40, + 13, + 12, + 26, + 40, + 26, + 25, + 41, + 42, + 34, + 19, + 18, + 42, + 18, + 17, + 43, + 44, + 0, + 3, + 22, + 44, + 22, + 21, + 35, + 45, + 38, + 29, + 28, + 45, + 28, + 5, + 4, + 46, + 41, + 25, + 24, + 46, + 24, + 9, + 8, + 47, + 43, + 17, + 16, + 47, + 16, + 31, + 37, + 47, + 37, + 36, + 38, + 45, + 4, + 7, + 32, + 14, + 13, + 40, + 41, + 46, + 8, + 11, + 39, + 1, + 0, + 44, + 35, + 33, + 34, + 42, + 43 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.08070001751184464 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.1271391212940216, + 0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.127139151096344, + -0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.7727642059326172, + 0.5929635167121887, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.7727642059326172, + -0.5929635763168335, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.372751921415329, + -0.8999034762382507, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.5929635167121887, + -0.7727642059326172, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.7727642059326172, + 0.5929635763168335, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.5929635167121887, + 0.7727642059326172, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.7727642059326172, + -0.5929635167121887, + 0.22633975744247437, + -0.05013422295451164 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.5929635763168335, + -0.7727642059326172, + 0.22633978724479675, + -0.05013422667980194 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.5929636359214783, + 0.772764265537262, + 0.22633951902389526, + -0.05013420432806015 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.372751921415329, + 0.8999034762382507, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + 0.8999034762382507, + -0.372751921415329, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.9657152891159058, + -0.1271391212940216, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + -0.8999034762382507, + 0.372751921415329, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + -0.9657152891159058, + 0.1271391212940216, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + -0.1271391361951828, + 0.9657152891159058, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.372751921415329, + 0.8999034762382507, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.372751921415329, + -0.8999034762382507, + 0.22633983194828033, + -0.05013422667980194 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + -0.1271391212940216, + -0.9657152891159058, + 0.22633977234363556, + -0.05013422667980194 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + 0.9657152891159058, + 0.1271391361951828, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + 0.8999034762382507, + 0.372751921415329, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + -0.9657152891159058, + -0.1271391361951828, + 0.22633954882621765, + -0.05013420805335045 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + -0.8999034762382507, + -0.372751921415329, + 0.22633980214595795, + -0.05013422667980194 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09350000321865082 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 20 + ], + [ + 16, + 20, + 21 + ], + [ + 16, + 21, + 22 + ], + [ + 16, + 22, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 23 + ], + [ + 16, + 23, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 16, + 9, + 24 + ], + [ + 16, + 24, + 25 + ], + [ + 16, + 25, + 26 + ], + [ + 16, + 26, + 12 + ], + [ + 16, + 12, + 15 + ], + [ + 16, + 15, + 27 + ], + [ + 16, + 27, + 6 + ], + [ + 16, + 6, + 5 + ], + [ + 16, + 5, + 28 + ], + [ + 16, + 28, + 29 + ], + [ + 16, + 29, + 30 + ], + [ + 16, + 30, + 31 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 32, + 7, + 6 + ], + [ + 32, + 6, + 27 + ], + [ + 32, + 27, + 15 + ], + [ + 32, + 15, + 14 + ], + [ + 33, + 20, + 19 + ], + [ + 33, + 19, + 34 + ], + [ + 33, + 35, + 21 + ], + [ + 33, + 21, + 20 + ], + [ + 36, + 37, + 31 + ], + [ + 36, + 31, + 30 + ], + [ + 36, + 30, + 29 + ], + [ + 36, + 29, + 38 + ], + [ + 39, + 11, + 10 + ], + [ + 39, + 10, + 23 + ], + [ + 39, + 23, + 2 + ], + [ + 39, + 2, + 1 + ], + [ + 40, + 13, + 12 + ], + [ + 40, + 12, + 26 + ], + [ + 40, + 26, + 25 + ], + [ + 40, + 25, + 41 + ], + [ + 42, + 34, + 19 + ], + [ + 42, + 19, + 18 + ], + [ + 42, + 18, + 17 + ], + [ + 42, + 17, + 43 + ], + [ + 44, + 0, + 3 + ], + [ + 44, + 3, + 22 + ], + [ + 44, + 22, + 21 + ], + [ + 44, + 21, + 35 + ], + [ + 45, + 38, + 29 + ], + [ + 45, + 29, + 28 + ], + [ + 45, + 28, + 5 + ], + [ + 45, + 5, + 4 + ], + [ + 46, + 41, + 25 + ], + [ + 46, + 25, + 24 + ], + [ + 46, + 24, + 9 + ], + [ + 46, + 9, + 8 + ], + [ + 47, + 43, + 17 + ], + [ + 47, + 17, + 16 + ], + [ + 47, + 16, + 31 + ], + [ + 47, + 31, + 37 + ], + [ + 47, + 37, + 36 + ], + [ + 47, + 36, + 38 + ], + [ + 47, + 38, + 45 + ], + [ + 47, + 45, + 4 + ], + [ + 47, + 4, + 7 + ], + [ + 47, + 7, + 32 + ], + [ + 47, + 32, + 14 + ], + [ + 47, + 14, + 13 + ], + [ + 47, + 13, + 40 + ], + [ + 47, + 40, + 41 + ], + [ + 47, + 41, + 46 + ], + [ + 47, + 46, + 8 + ], + [ + 47, + 8, + 11 + ], + [ + 47, + 11, + 39 + ], + [ + 47, + 39, + 1 + ], + [ + 47, + 1, + 0 + ], + [ + 47, + 0, + 44 + ], + [ + 47, + 44, + 35 + ], + [ + 47, + 35, + 33 + ], + [ + 47, + 33, + 34 + ], + [ + 47, + 34, + 42 + ], + [ + 47, + 42, + 43 + ] + ], + "raw_bounds": [ + [ + -0.032999999821186066, + -0.032999999821186066, + 0.08070000261068344 + ], + [ + 0.032999999821186066, + 0.032999999821186066, + 0.09350000321865082 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0020949291065335274, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json new file mode 100644 index 0000000000000000000000000000000000000000..b64af432f06fdeae5d3c890931e6bb998f43f8f2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24444392509758472, + "parts": [ + { + "vertices_raw": [ + [ + -0.01905255950987339, + -0.010999999940395355, + 0.10100000351667404 + ], + [ + -0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.010999999940395355, + -0.01905255950987339, + 0.10100000351667404 + ], + [ + -0.01905255950987339, + 0.010999999940395355, + 0.10100000351667404 + ], + [ + -0.010999999940395355, + 0.01905255950987339, + 0.10100000351667404 + ], + [ + -0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + -0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.015556350350379944, + -0.015556350350379944, + 0.10100000351667404 + ], + [ + 0.005694020073860884, + -0.021250370889902115, + 0.10100000351667404 + ], + [ + 0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.0, + 0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.005694020073860884, + 0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + -0.02199999988079071, + 0.0, + 0.10100000351667404 + ], + [ + -0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + -0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + 0.021213199943304062, + 0.021213199943304062, + 0.09350000321865082 + ], + [ + 0.015556350350379944, + 0.015556350350379944, + 0.10100000351667404 + ], + [ + 0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.005694020073860884, + 0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.005694020073860884, + -0.021250370889902115, + 0.10100000351667404 + ], + [ + -0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.0, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.021250370889902115, + 0.005694020073860884, + 0.10100000351667404 + ], + [ + 0.021250370889902115, + -0.005694020073860884, + 0.10100000351667404 + ], + [ + 0.02199999988079071, + 0.0, + 0.10100000351667404 + ], + [ + -0.025980759412050247, + -0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.014999999664723873, + -0.025980759412050247, + 0.09350000321865082 + ], + [ + 0.007764569949358702, + -0.02897777035832405, + 0.09350000321865082 + ], + [ + -0.025980759412050247, + 0.014999999664723873, + 0.09350000321865082 + ], + [ + -0.007764569949358702, + 0.02897777035832405, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + 0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.0, + 0.09350000321865082 + ], + [ + 0.02897777035832405, + -0.007764569949358702, + 0.09350000321865082 + ], + [ + 0.014999999664723873, + 0.025980759412050247, + 0.09350000321865082 + ] + ], + "indices_raw": [ + 37, + 19, + 18, + 34, + 35, + 36, + 21, + 8, + 7, + 31, + 25, + 24, + 30, + 1, + 29, + 14, + 16, + 17, + 32, + 5, + 6, + 33, + 12, + 11, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 5, + 4, + 7, + 8, + 9, + 7, + 9, + 10, + 11, + 12, + 13, + 14, + 0, + 15, + 14, + 15, + 16, + 17, + 16, + 15, + 17, + 15, + 3, + 18, + 19, + 20, + 21, + 9, + 8, + 22, + 13, + 12, + 23, + 24, + 25, + 23, + 25, + 10, + 26, + 18, + 20, + 27, + 9, + 21, + 27, + 28, + 26, + 20, + 13, + 22, + 4, + 3, + 15, + 0, + 2, + 23, + 10, + 9, + 29, + 0, + 14, + 29, + 1, + 0, + 30, + 24, + 23, + 2, + 30, + 2, + 1, + 31, + 7, + 10, + 31, + 10, + 25, + 32, + 17, + 3, + 32, + 3, + 5, + 33, + 6, + 4, + 22, + 33, + 22, + 12, + 34, + 18, + 26, + 34, + 26, + 28, + 35, + 36, + 35, + 28, + 27, + 36, + 27, + 21, + 37, + 11, + 13, + 37, + 13, + 20, + 37, + 20, + 19 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09350000321865082 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.4601903259754181, + -0.4601903259754181, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.4601903259754181, + 0.4601903259754181, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.41825786232948303, + 0.5450838804244995, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.4182578921318054, + -0.5450839996337891, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + 0.32540374994277954, + -0.5636156797409058, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + 0.08968012779951096, + 0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.6286317110061646, + -0.1684413105249405, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.6811853051185608, + -0.08968009799718857, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.6811853051185608, + 0.08968008309602737, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.6286317110061646, + 0.1684413105249405, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + 0.5450839996337891, + 0.4182578921318054, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + 0.5450839996337891, + -0.4182579219341278, + 0.7265973687171936, + -0.08837242424488068 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6508073210716248, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + -0.08968012779951096, + -0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6508073210716248, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.5636156797409058, + 0.32540374994277954, + 0.7592428922653198, + -0.0905134305357933 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + 0.5636156797409058, + -0.32540372014045715, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 75, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.10099998861551285 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.6347638964653015, + -0.2629276216030121, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.5450838804244995, + -0.41825786232948303, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 95, + "num_vertices": 4, + "plane": [ + -0.2629278600215912, + -0.6347639560699463, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.41825786232948303, + -0.5450838804244995, + 0.7265974283218384, + -0.08837242424488068 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + 0.26292768120765686, + -0.6347640752792358, + 0.7265973091125488, + -0.08837241679430008 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + 0.08968015760183334, + -0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + -0.6347638964653015, + 0.2629276216030121, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + -0.5450838804244995, + 0.41825786232948303, + 0.7265974283218384, + -0.08837242424488068 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + -0.2629278004169464, + 0.6347638368606567, + 0.7265974879264832, + -0.08837242424488068 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + -0.08968015760183334, + 0.6811855435371399, + 0.7265973091125488, + -0.08837240934371948 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + 0.6347640752792358, + 0.26292768120765686, + 0.7265973091125488, + -0.08837241679430008 + ] + }, + { + "index_base": 124, + "num_vertices": 4, + "plane": [ + 0.6811853647232056, + 0.08967979997396469, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 128, + "num_vertices": 4, + "plane": [ + 0.6811853647232056, + -0.08967981487512589, + 0.7265976071357727, + -0.08837243914604187 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.6347640156745911, + -0.2629276514053345, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.2629276514053345, + 0.6347640156745911, + 0.726597249507904, + -0.08837240934371948 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.32540372014045715, + 0.5636156797409058, + 0.7592429518699646, + -0.0905134379863739 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.4182579219341278, + 0.5450839996337891, + 0.7265973687171936, + -0.08837242424488068 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 19, + 18 + ], + [ + 37, + 18, + 34 + ], + [ + 37, + 34, + 35 + ], + [ + 37, + 35, + 36 + ], + [ + 37, + 36, + 21 + ], + [ + 37, + 21, + 8 + ], + [ + 37, + 8, + 7 + ], + [ + 37, + 7, + 31 + ], + [ + 37, + 31, + 25 + ], + [ + 37, + 25, + 24 + ], + [ + 37, + 24, + 30 + ], + [ + 37, + 30, + 1 + ], + [ + 37, + 1, + 29 + ], + [ + 37, + 29, + 14 + ], + [ + 37, + 14, + 16 + ], + [ + 37, + 16, + 17 + ], + [ + 37, + 17, + 32 + ], + [ + 37, + 32, + 5 + ], + [ + 37, + 5, + 6 + ], + [ + 37, + 6, + 33 + ], + [ + 37, + 33, + 12 + ], + [ + 37, + 12, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 8, + 9 + ], + [ + 7, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 14, + 0, + 15 + ], + [ + 14, + 15, + 16 + ], + [ + 17, + 16, + 15 + ], + [ + 17, + 15, + 3 + ], + [ + 18, + 19, + 20 + ], + [ + 21, + 9, + 8 + ], + [ + 22, + 13, + 12 + ], + [ + 23, + 24, + 25 + ], + [ + 23, + 25, + 10 + ], + [ + 26, + 18, + 20 + ], + [ + 27, + 9, + 21 + ], + [ + 27, + 28, + 26 + ], + [ + 27, + 26, + 20 + ], + [ + 27, + 20, + 13 + ], + [ + 27, + 13, + 22 + ], + [ + 27, + 22, + 4 + ], + [ + 27, + 4, + 3 + ], + [ + 27, + 3, + 15 + ], + [ + 27, + 15, + 0 + ], + [ + 27, + 0, + 2 + ], + [ + 27, + 2, + 23 + ], + [ + 27, + 23, + 10 + ], + [ + 27, + 10, + 9 + ], + [ + 29, + 0, + 14 + ], + [ + 29, + 1, + 0 + ], + [ + 30, + 24, + 23 + ], + [ + 30, + 23, + 2 + ], + [ + 30, + 2, + 1 + ], + [ + 31, + 7, + 10 + ], + [ + 31, + 10, + 25 + ], + [ + 32, + 17, + 3 + ], + [ + 32, + 3, + 5 + ], + [ + 33, + 6, + 4 + ], + [ + 33, + 4, + 22 + ], + [ + 33, + 22, + 12 + ], + [ + 34, + 18, + 26 + ], + [ + 34, + 26, + 28 + ], + [ + 34, + 28, + 35 + ], + [ + 36, + 35, + 28 + ], + [ + 36, + 28, + 27 + ], + [ + 36, + 27, + 21 + ], + [ + 37, + 11, + 13 + ], + [ + 37, + 13, + 20 + ], + [ + 37, + 20, + 19 + ] + ], + "raw_bounds": [ + [ + -0.029999999329447746, + -0.029999999329447746, + 0.09350000321865082 + ], + [ + 0.029999999329447746, + 0.029999999329447746, + 0.10100000351667404 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015907259657979012, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json new file mode 100644 index 0000000000000000000000000000000000000000..1420517b02da434b1842966fee05c6f6058aa6f6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json @@ -0,0 +1,421 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24677603598684072, + "parts": [ + { + "vertices_raw": [ + [ + 0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.0, + -0.012000000104308128, + 0.1185000017285347 + ], + [ + 0.004949749913066626, + -0.004949749913066626, + 0.11500000208616257 + ], + [ + 0.007000000216066837, + 0.0, + 0.11500000208616257 + ], + [ + 0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + 0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.004949749913066626, + 0.004949749913066626, + 0.11500000208616257 + ], + [ + 0.0, + 0.012000000104308128, + 0.1185000017285347 + ], + [ + -0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + -0.007000000216066837, + 0.0, + 0.11500000208616257 + ], + [ + -0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.0018117299769073725, + -0.006761480122804642, + 0.11500000208616257 + ], + [ + -0.0018117299769073725, + 0.006761480122804642, + 0.11500000208616257 + ] + ], + "indices_raw": [ + 11, + 9, + 8, + 1, + 0, + 4, + 5, + 7, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 4, + 3, + 6, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 10, + 9, + 12, + 2, + 1, + 12, + 1, + 8, + 12, + 8, + 10, + 13, + 10, + 11, + 13, + 11, + 7, + 13, + 7, + 6, + 3, + 2, + 12, + 10, + 13, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1185000017285347 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.22001852095127106, + -0.5533033609390259, + -0.8033972978591919, + 0.08856294304132462 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.5234160423278809, + -0.22251155972480774, + -0.8225109577178955, + 0.09092485159635544 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.525780975818634, + 0.22686037421226501, + -0.8198102116584778, + 0.09057524800300598 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.22001855075359344, + 0.5533034205436707, + -0.8033972978591919, + 0.08856294304132462 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.5230258703231812, + -0.22567163407802582, + -0.8218979239463806, + 0.09085708111524582 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.5230258703231812, + 0.22567163407802582, + -0.8218979239463806, + 0.09085708111524582 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.13843467831611633, + -0.5166460275650024, + -0.8449335694313049, + 0.093924880027771 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.23660553991794586, + -0.5950164198875427, + -0.7680971622467041, + 0.08387931436300278 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.37062010169029236, + -0.28438708186149597, + -0.884174644947052, + 0.0990857481956482 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.37062010169029236, + 0.2843870520591736, + -0.884174644947052, + 0.0990857481956482 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.23660553991794586, + 0.5950164198875427, + -0.7680971622467041, + 0.08387931436300278 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.13843469321727753, + 0.5166460275650024, + -0.8449335694313049, + 0.093924880027771 + ] + }, + { + "index_base": 46, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11500000208616257 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 1 + ], + [ + 11, + 1, + 0 + ], + [ + 11, + 0, + 4 + ], + [ + 11, + 4, + 5 + ], + [ + 11, + 5, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 11, + 10, + 9 + ], + [ + 12, + 2, + 1 + ], + [ + 12, + 1, + 8 + ], + [ + 12, + 8, + 10 + ], + [ + 13, + 10, + 11 + ], + [ + 13, + 11, + 7 + ], + [ + 13, + 7, + 6 + ], + [ + 3, + 2, + 12 + ], + [ + 3, + 12, + 10 + ], + [ + 3, + 10, + 13 + ], + [ + 3, + 13, + 6 + ] + ], + "raw_bounds": [ + [ + -0.012500000186264515, + -0.012000000104308128, + 0.11500000208616257 + ], + [ + 0.012500000186264515, + 0.012000000104308128, + 0.1185000017285347 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009623141959309578, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa648378565159bb037ef0f334694a792a8fcba --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json @@ -0,0 +1,733 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2484635771252215, + "parts": [ + { + "vertices_raw": [ + [ + 0.003235240001231432, + -0.0115911103785038, + 0.1185000017285347 + ], + [ + 0.0, + -0.017500000074505806, + 0.12349999696016312 + ], + [ + -0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.0062500000931322575, + -0.010392299853265285, + 0.1185000017285347 + ], + [ + 0.003235240001231432, + 0.0115911103785038, + 0.1185000017285347 + ], + [ + -0.0062500000931322575, + 0.010392299853265285, + 0.1185000017285347 + ], + [ + 0.0, + 0.017500000074505806, + 0.12349999696016312 + ], + [ + -0.010825320146977901, + -0.006000000052154064, + 0.1185000017285347 + ], + [ + -0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + -0.010825320146977901, + 0.006000000052154064, + 0.1185000017285347 + ], + [ + -0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.008838829584419727, + 0.008485279977321625, + 0.1185000017285347 + ], + [ + 0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + 0.008838829584419727, + -0.008485279977321625, + 0.1185000017285347 + ], + [ + -0.012500000186264515, + 0.0, + 0.1185000017285347 + ], + [ + -0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.008999999612569809, + 0.01515544019639492, + 0.12349999696016312 + ], + [ + 0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.01738665997982025, + 0.00452932994812727, + 0.12349999696016312 + ], + [ + 0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + 0.01738665997982025, + -0.00452932994812727, + 0.12349999696016312 + ] + ], + "indices_raw": [ + 25, + 24, + 23, + 21, + 22, + 6, + 18, + 10, + 17, + 15, + 16, + 8, + 2, + 1, + 19, + 20, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 3, + 8, + 9, + 10, + 5, + 9, + 5, + 4, + 11, + 12, + 13, + 0, + 3, + 7, + 14, + 15, + 14, + 7, + 16, + 16, + 7, + 8, + 17, + 10, + 9, + 17, + 9, + 14, + 15, + 2, + 8, + 3, + 18, + 6, + 5, + 18, + 5, + 10, + 19, + 1, + 0, + 19, + 0, + 13, + 20, + 21, + 11, + 4, + 22, + 22, + 4, + 6, + 23, + 24, + 12, + 23, + 12, + 11, + 23, + 11, + 21, + 25, + 20, + 13, + 25, + 13, + 12, + 25, + 12, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.12349999696016312 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.07850620150566101, + -0.618563711643219, + -0.7818029522895813, + 0.08572779595851898 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.07819334417581558, + 0.6186820864677429, + -0.7817404866218567, + 0.08571802079677582 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + -0.44703006744384766, + -0.46565714478492737, + -0.7637588381767273, + 0.08287224173545837 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + -0.44703006744384766, + 0.46565714478492737, + -0.7637588381767273, + 0.08287224173545837 + ] + }, + { + "index_base": 29, + "num_vertices": 10, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.1185000091791153 + ] + }, + { + "index_base": 39, + "num_vertices": 4, + "plane": [ + -0.6597011685371399, + -0.18275822699069977, + -0.728967547416687, + 0.0781446248292923 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + -0.5310513377189636, + -0.4191330671310425, + -0.7364183068275452, + 0.07900197803974152 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.5310513973236084, + 0.41913309693336487, + -0.7364183068275452, + 0.07900197803974152 + ] + }, + { + "index_base": 49, + "num_vertices": 4, + "plane": [ + -0.6597011685371399, + 0.18275822699069977, + -0.728967547416687, + 0.0781446248292923 + ] + }, + { + "index_base": 53, + "num_vertices": 3, + "plane": [ + -0.34961745142936707, + -0.6228572726249695, + -0.6998688578605652, + 0.07427643239498138 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.17294712364673615, + 0.6638875007629395, + -0.727559506893158, + 0.07823556661605835 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + -0.4037435054779053, + 0.5412030816078186, + -0.7376248240470886, + 0.07926080375909805 + ] + }, + { + "index_base": 62, + "num_vertices": 3, + "plane": [ + 0.08582612127065659, + -0.6705378890037537, + -0.7368940114974976, + 0.07927200198173523 + ] + }, + { + "index_base": 65, + "num_vertices": 4, + "plane": [ + 0.33484703302383423, + -0.5996320247650146, + -0.7268553972244263, + 0.07808466255664825 + ] + }, + { + "index_base": 69, + "num_vertices": 4, + "plane": [ + 0.33484703302383423, + 0.5996320247650146, + -0.7268553972244263, + 0.07808466255664825 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + 0.08582613617181778, + 0.6705378890037537, + -0.7368940114974976, + 0.07927200198173523 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.669899046421051, + 0.09071441739797592, + -0.7368895411491394, + 0.07894767820835114 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.5718383193016052, + 0.2467328906059265, + -0.7823835015296936, + 0.08556447178125381 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5882795453071594, + 0.3493470251560211, + -0.7293036580085754, + 0.07825848460197449 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.5882795453071594, + -0.34934699535369873, + -0.7293035984039307, + 0.07825847715139389 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.5718382596969604, + -0.24673286080360413, + -0.7823835611343384, + 0.08556448668241501 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6698991060256958, + -0.09071439504623413, + -0.7368895411491394, + 0.07894767820835114 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 21 + ], + [ + 25, + 21, + 22 + ], + [ + 25, + 22, + 6 + ], + [ + 25, + 6, + 18 + ], + [ + 25, + 18, + 10 + ], + [ + 25, + 10, + 17 + ], + [ + 25, + 17, + 15 + ], + [ + 25, + 15, + 16 + ], + [ + 25, + 16, + 8 + ], + [ + 25, + 8, + 2 + ], + [ + 25, + 2, + 1 + ], + [ + 25, + 1, + 19 + ], + [ + 25, + 19, + 20 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 3, + 8 + ], + [ + 9, + 10, + 5 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 9, + 12, + 13 + ], + [ + 9, + 13, + 0 + ], + [ + 9, + 0, + 3 + ], + [ + 9, + 3, + 7 + ], + [ + 9, + 7, + 14 + ], + [ + 15, + 14, + 7 + ], + [ + 15, + 7, + 16 + ], + [ + 16, + 7, + 8 + ], + [ + 17, + 10, + 9 + ], + [ + 17, + 9, + 14 + ], + [ + 17, + 14, + 15 + ], + [ + 2, + 8, + 3 + ], + [ + 18, + 6, + 5 + ], + [ + 18, + 5, + 10 + ], + [ + 19, + 1, + 0 + ], + [ + 19, + 0, + 13 + ], + [ + 19, + 13, + 20 + ], + [ + 21, + 11, + 4 + ], + [ + 21, + 4, + 22 + ], + [ + 22, + 4, + 6 + ], + [ + 23, + 24, + 12 + ], + [ + 23, + 12, + 11 + ], + [ + 23, + 11, + 21 + ], + [ + 25, + 20, + 13 + ], + [ + 25, + 13, + 12 + ], + [ + 25, + 12, + 24 + ] + ], + "raw_bounds": [ + [ + -0.017999999225139618, + -0.017500000074505806, + 0.1185000017285347 + ], + [ + 0.017999999225139618, + 0.017500000074505806, + 0.12349999696016312 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0010084579698741436, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json new file mode 100644 index 0000000000000000000000000000000000000000..7868eb37afdeee2ae481a0ee819325e8cabbbdc8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json @@ -0,0 +1,873 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2501837471500039, + "parts": [ + { + "vertices_raw": [ + [ + 0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.004658740013837814, + 0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.0, + 0.020999999716877937, + 0.13050000369548798 + ], + [ + 0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + 0.0, + -0.020999999716877937, + 0.13050000369548798 + ], + [ + -0.004658740013837814, + -0.016903700307011604, + 0.12349999696016312 + ], + [ + -0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + -0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + -0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ], + [ + -0.010999999940395355, + 0.018186530098319054, + 0.13050000369548798 + ], + [ + 0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.012727919965982437, + -0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + 0.017999999225139618, + 0.0, + 0.12349999696016312 + ], + [ + 0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + 0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.012727919965982437, + 0.012374370358884335, + 0.12349999696016312 + ], + [ + 0.015588459558784962, + -0.008750000037252903, + 0.12349999696016312 + ], + [ + 0.015588459558784962, + 0.008750000037252903, + 0.12349999696016312 + ] + ], + "indices_raw": [ + 26, + 21, + 20, + 2, + 14, + 12, + 11, + 7, + 6, + 10, + 18, + 4, + 15, + 17, + 23, + 25, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 6, + 8, + 9, + 6, + 9, + 10, + 11, + 12, + 13, + 11, + 13, + 8, + 11, + 8, + 7, + 14, + 2, + 1, + 15, + 4, + 3, + 15, + 3, + 16, + 17, + 18, + 10, + 19, + 5, + 18, + 5, + 4, + 20, + 21, + 22, + 0, + 20, + 0, + 2, + 23, + 24, + 25, + 26, + 25, + 24, + 19, + 10, + 9, + 27, + 13, + 12, + 27, + 12, + 14, + 27, + 14, + 1, + 28, + 24, + 23, + 28, + 23, + 17, + 28, + 17, + 16, + 29, + 22, + 21, + 29, + 21, + 26, + 29, + 26, + 24, + 29, + 24, + 28, + 16, + 3, + 5, + 19, + 9, + 8, + 13, + 27, + 1, + 0, + 22 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.13049998879432678 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8630825281143188, + -0.505062997341156, + 0.047785986214876175 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8630825281143188, + -0.505062997341156, + 0.047785986214876175 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.8620842695236206, + -0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.8068468570709229, + -0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + -0.7811633944511414, + -0.4724815785884857, + -0.40809905529022217, + 0.03408888727426529 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.7811633944511414, + 0.4724815785884857, + -0.4080989956855774, + 0.03408887982368469 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.8068468570709229, + 0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + -0.8620842695236206, + 0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + -0.2299097329378128, + 0.8988926410675049, + -0.37300586700439453, + 0.029800524935126305 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.11162963509559631, + -0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 46, + "num_vertices": 4, + "plane": [ + 0.43783193826675415, + -0.7800148129463196, + -0.4470794200897217, + 0.03998942673206329 + ] + }, + { + "index_base": 50, + "num_vertices": 4, + "plane": [ + -0.431790292263031, + -0.7834960222244263, + -0.44686809182167053, + 0.039964888244867325 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.11162963509559631, + -0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 57, + "num_vertices": 4, + "plane": [ + 0.431790292263031, + 0.7834960222244263, + -0.44686809182167053, + 0.039964888244867325 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.11162963509559631, + 0.8882861137390137, + -0.44551846385002136, + 0.03948615491390228 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.8620842695236206, + -0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + 0.8620842695236206, + 0.1188996434211731, + -0.4926191568374634, + 0.04532095044851303 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.6917893290519714, + -0.545995831489563, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.6917893886566162, + 0.5459957718849182, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.5233991146087646, + 0.7145887017250061, + -0.464129775762558, + 0.041815660893917084 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.41912442445755005, + 0.7466866374015808, + -0.5165207386016846, + 0.049215950071811676 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.8068468570709229, + -0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.7811633944511414, + -0.4724815785884857, + -0.4080989956855774, + 0.03408887982368469 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.6917893886566162, + -0.5459957718849182, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6917893290519714, + 0.545995831489563, + -0.47256332635879517, + 0.0428001768887043 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + 0.7811633944511414, + 0.4724815785884857, + -0.40809905529022217, + 0.03408888727426529 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + 0.8068468570709229, + 0.22237065434455872, + -0.5473110675811768, + 0.05306967347860336 + ] + }, + { + "index_base": 100, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.12350000441074371 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 26, + 21, + 20 + ], + [ + 26, + 20, + 2 + ], + [ + 26, + 2, + 14 + ], + [ + 26, + 14, + 12 + ], + [ + 26, + 12, + 11 + ], + [ + 26, + 11, + 7 + ], + [ + 26, + 7, + 6 + ], + [ + 26, + 6, + 10 + ], + [ + 26, + 10, + 18 + ], + [ + 26, + 18, + 4 + ], + [ + 26, + 4, + 15 + ], + [ + 26, + 15, + 17 + ], + [ + 26, + 17, + 23 + ], + [ + 26, + 23, + 25 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 11, + 12, + 13 + ], + [ + 11, + 13, + 8 + ], + [ + 11, + 8, + 7 + ], + [ + 14, + 2, + 1 + ], + [ + 15, + 4, + 3 + ], + [ + 15, + 3, + 16 + ], + [ + 15, + 16, + 17 + ], + [ + 18, + 10, + 19 + ], + [ + 18, + 19, + 5 + ], + [ + 18, + 5, + 4 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 0 + ], + [ + 20, + 0, + 2 + ], + [ + 23, + 24, + 25 + ], + [ + 26, + 25, + 24 + ], + [ + 19, + 10, + 9 + ], + [ + 27, + 13, + 12 + ], + [ + 27, + 12, + 14 + ], + [ + 27, + 14, + 1 + ], + [ + 28, + 24, + 23 + ], + [ + 28, + 23, + 17 + ], + [ + 28, + 17, + 16 + ], + [ + 29, + 22, + 21 + ], + [ + 29, + 21, + 26 + ], + [ + 29, + 26, + 24 + ], + [ + 29, + 24, + 28 + ], + [ + 29, + 28, + 16 + ], + [ + 29, + 16, + 3 + ], + [ + 29, + 3, + 5 + ], + [ + 29, + 5, + 19 + ], + [ + 29, + 19, + 9 + ], + [ + 29, + 9, + 8 + ], + [ + 29, + 8, + 13 + ], + [ + 29, + 13, + 27 + ], + [ + 29, + 27, + 1 + ], + [ + 29, + 1, + 0 + ], + [ + 29, + 0, + 22 + ] + ], + "raw_bounds": [ + [ + -0.02199999988079071, + -0.020999999716877937, + 0.12349999696016312 + ], + [ + 0.02199999988079071, + 0.020999999716877937, + 0.13050000369548798 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011551100760698318, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json new file mode 100644 index 0000000000000000000000000000000000000000..757a8c5a020b8f0bb28c98335bd544aeed0e167a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json @@ -0,0 +1,1113 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25199915934354067, + "parts": [ + { + "vertices_raw": [ + [ + 0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.005694020073860884, + 0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.0, + 0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + 0.0, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + -0.005694020073860884, + -0.020284440368413925, + 0.13050000369548798 + ], + [ + -0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + -0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + -0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + 0.02199999988079071, + 0.0, + 0.13050000369548798 + ], + [ + 0.021250370889902115, + 0.0054351999424397945, + 0.13050000369548798 + ], + [ + 0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.021250370889902115, + -0.0054351999424397945, + 0.13050000369548798 + ], + [ + -0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.01905255950987339, + -0.010499999858438969, + 0.13050000369548798 + ], + [ + -0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.01905255950987339, + 0.010499999858438969, + 0.13050000369548798 + ], + [ + 0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.01905255950987339, + 0.010499999858438969, + 0.13050000369548798 + ], + [ + 0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.01905255950987339, + -0.010499999858438969, + 0.13050000369548798 + ], + [ + -0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + -0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.015556350350379944, + -0.014849239960312843, + 0.13050000369548798 + ], + [ + -0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.015556350350379944, + 0.014849239960312843, + 0.13050000369548798 + ], + [ + 0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 39, + 22, + 2, + 34, + 18, + 20, + 30, + 6, + 9, + 11, + 27, + 38, + 36, + 21, + 4, + 35, + 23, + 25, + 32, + 16, + 12, + 15, + 29, + 41, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 9, + 8, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 13, + 12, + 18, + 1, + 19, + 18, + 19, + 20, + 21, + 5, + 4, + 22, + 0, + 2, + 23, + 3, + 24, + 23, + 24, + 25, + 11, + 10, + 26, + 27, + 15, + 14, + 28, + 29, + 30, + 31, + 7, + 6, + 32, + 33, + 17, + 16, + 34, + 1, + 18, + 34, + 2, + 1, + 35, + 3, + 23, + 35, + 4, + 3, + 36, + 37, + 5, + 36, + 5, + 21, + 36, + 38, + 37, + 39, + 40, + 0, + 39, + 0, + 22, + 39, + 41, + 40, + 26, + 37, + 38, + 27, + 28, + 40, + 41, + 29, + 30, + 20, + 19, + 31, + 32, + 25, + 24, + 33, + 33, + 24, + 3, + 5, + 37, + 26, + 10, + 8, + 7, + 31, + 19, + 1, + 0, + 40, + 28, + 14, + 13, + 17 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000004529953003 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9472106695175171, + -0.320611834526062, + 0.022626206278800964 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9472106695175171, + -0.320611834526062, + 0.022626206278800964 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + -0.9586281180381775, + 0.1318778395652771, + -0.25227057933807373, + 0.011831490322947502 + ] + }, + { + "index_base": 34, + "num_vertices": 4, + "plane": [ + -0.9586281180381775, + -0.1318778246641159, + -0.25227057933807373, + 0.011831492185592651 + ] + }, + { + "index_base": 38, + "num_vertices": 4, + "plane": [ + 0.9586281180381775, + 0.1318778246641159, + -0.25227057933807373, + 0.011831492185592651 + ] + }, + { + "index_base": 42, + "num_vertices": 4, + "plane": [ + 0.9586281180381775, + -0.1318778395652771, + -0.25227057933807373, + 0.011831490322947502 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.4570726156234741, + 0.8293715119361877, + -0.3212904930114746, + 0.022502493113279343 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.5736663341522217, + 0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.12123076617717743, + -0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.12123076617717743, + 0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.4570726156234741, + -0.8293715119361877, + -0.3212904930114746, + 0.022502493113279343 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.5736663341522217, + -0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + -0.8878868818283081, + -0.3843042850494385, + -0.2529168426990509, + 0.01205393671989441 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.8878868818283081, + 0.3843042850494385, + -0.2529168426990509, + 0.01205393671989441 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.8878868818283081, + 0.3843042850494385, + -0.2529168128967285, + 0.01205393485724926 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + 0.8878868818283081, + -0.3843042850494385, + -0.2529168128967285, + 0.01205393485724926 + ] + }, + { + "index_base": 80, + "num_vertices": 3, + "plane": [ + -0.3572310507297516, + 0.8991308808326721, + -0.2528826892375946, + 0.012728745117783546 + ] + }, + { + "index_base": 83, + "num_vertices": 3, + "plane": [ + -0.12123078107833862, + 0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 86, + "num_vertices": 3, + "plane": [ + 0.3572310507297516, + -0.8991308808326721, + -0.2528826892375946, + 0.012728745117783546 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + 0.12123078107833862, + -0.9600280523300171, + -0.2522881031036377, + 0.012759676203131676 + ] + }, + { + "index_base": 92, + "num_vertices": 3, + "plane": [ + -0.45707252621650696, + -0.8293715119361877, + -0.3212904632091522, + 0.022502491250634193 + ] + }, + { + "index_base": 95, + "num_vertices": 3, + "plane": [ + -0.3572309911251068, + -0.8991308212280273, + -0.2528826594352722, + 0.012728743255138397 + ] + }, + { + "index_base": 98, + "num_vertices": 3, + "plane": [ + -0.5736663341522217, + -0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 101, + "num_vertices": 3, + "plane": [ + 0.45707252621650696, + 0.8293715119361877, + -0.3212904632091522, + 0.022502491250634193 + ] + }, + { + "index_base": 104, + "num_vertices": 3, + "plane": [ + 0.3572309911251068, + 0.8991308212280273, + -0.2528826594352722, + 0.012728743255138397 + ] + }, + { + "index_base": 107, + "num_vertices": 3, + "plane": [ + 0.5736663341522217, + 0.7794300317764282, + -0.25178560614585876, + 0.012359924614429474 + ] + }, + { + "index_base": 110, + "num_vertices": 4, + "plane": [ + -0.7547827959060669, + -0.605194628238678, + -0.2530660331249237, + 0.012296771630644798 + ] + }, + { + "index_base": 114, + "num_vertices": 4, + "plane": [ + 0.7547827959060669, + 0.605194628238678, + -0.2530660331249237, + 0.012296771630644798 + ] + }, + { + "index_base": 118, + "num_vertices": 4, + "plane": [ + -0.7547827959060669, + 0.605194628238678, + -0.2530660629272461, + 0.012296775355935097 + ] + }, + { + "index_base": 122, + "num_vertices": 4, + "plane": [ + 0.7547827959060669, + -0.605194628238678, + -0.2530660629272461, + 0.012296775355935097 + ] + }, + { + "index_base": 126, + "num_vertices": 18, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.13050000369548798 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 39, + 22, + 2 + ], + [ + 39, + 2, + 34 + ], + [ + 39, + 34, + 18 + ], + [ + 39, + 18, + 20 + ], + [ + 39, + 20, + 30 + ], + [ + 39, + 30, + 6 + ], + [ + 39, + 6, + 9 + ], + [ + 39, + 9, + 11 + ], + [ + 39, + 11, + 27 + ], + [ + 39, + 27, + 38 + ], + [ + 39, + 38, + 36 + ], + [ + 39, + 36, + 21 + ], + [ + 39, + 21, + 4 + ], + [ + 39, + 4, + 35 + ], + [ + 39, + 35, + 23 + ], + [ + 39, + 23, + 25 + ], + [ + 39, + 25, + 32 + ], + [ + 39, + 32, + 16 + ], + [ + 39, + 16, + 12 + ], + [ + 39, + 12, + 15 + ], + [ + 39, + 15, + 29 + ], + [ + 39, + 29, + 41 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 9, + 8, + 10 + ], + [ + 9, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 13 + ], + [ + 16, + 13, + 12 + ], + [ + 18, + 1, + 19 + ], + [ + 18, + 19, + 20 + ], + [ + 21, + 5, + 4 + ], + [ + 22, + 0, + 2 + ], + [ + 23, + 3, + 24 + ], + [ + 23, + 24, + 25 + ], + [ + 11, + 10, + 26 + ], + [ + 11, + 26, + 27 + ], + [ + 15, + 14, + 28 + ], + [ + 15, + 28, + 29 + ], + [ + 30, + 31, + 7 + ], + [ + 30, + 7, + 6 + ], + [ + 32, + 33, + 17 + ], + [ + 32, + 17, + 16 + ], + [ + 34, + 1, + 18 + ], + [ + 34, + 2, + 1 + ], + [ + 35, + 3, + 23 + ], + [ + 35, + 4, + 3 + ], + [ + 36, + 37, + 5 + ], + [ + 36, + 5, + 21 + ], + [ + 36, + 38, + 37 + ], + [ + 39, + 40, + 0 + ], + [ + 39, + 0, + 22 + ], + [ + 39, + 41, + 40 + ], + [ + 26, + 37, + 38 + ], + [ + 26, + 38, + 27 + ], + [ + 28, + 40, + 41 + ], + [ + 28, + 41, + 29 + ], + [ + 30, + 20, + 19 + ], + [ + 30, + 19, + 31 + ], + [ + 32, + 25, + 24 + ], + [ + 32, + 24, + 33 + ], + [ + 33, + 24, + 3 + ], + [ + 33, + 3, + 5 + ], + [ + 33, + 5, + 37 + ], + [ + 33, + 37, + 26 + ], + [ + 33, + 26, + 10 + ], + [ + 33, + 10, + 8 + ], + [ + 33, + 8, + 7 + ], + [ + 33, + 7, + 31 + ], + [ + 33, + 31, + 19 + ], + [ + 33, + 19, + 1 + ], + [ + 33, + 1, + 0 + ], + [ + 33, + 0, + 40 + ], + [ + 33, + 40, + 28 + ], + [ + 33, + 28, + 14 + ], + [ + 33, + 14, + 13 + ], + [ + 33, + 13, + 17 + ] + ], + "raw_bounds": [ + [ + -0.02449999935925007, + -0.023499999195337296, + 0.13050000369548798 + ], + [ + 0.02449999935925007, + 0.023499999195337296, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011737588793039322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json new file mode 100644 index 0000000000000000000000000000000000000000..e84f24db1cb0f39f95f83869d89e05a3e23d8640 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json @@ -0,0 +1,1143 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2538053561002016, + "parts": [ + { + "vertices_raw": [ + [ + -0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + -0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.0, + 0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.0, + 0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.0, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.0, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + -0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + -0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + 0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.017324119806289673, + 0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.017324119806289673, + -0.016617009416222572, + 0.14000000059604645 + ], + [ + -0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.021217620000243187, + -0.011749999597668648, + 0.14000000059604645 + ], + [ + -0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.023665180429816246, + -0.00608224980533123, + 0.14000000059604645 + ], + [ + 0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + 0.021217620000243187, + 0.011749999597668648, + 0.14000000059604645 + ], + [ + 0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.023665180429816246, + 0.00608224980533123, + 0.14000000059604645 + ], + [ + -0.012249999679625034, + 0.020351599901914597, + 0.14000000059604645 + ], + [ + -0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.012249999679625034, + -0.020351599901914597, + 0.14000000059604645 + ], + [ + 0.006341069936752319, + -0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.006341069936752319, + 0.022699259221553802, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + -0.02449999935925007, + 0.0, + 0.14000000059604645 + ], + [ + 0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + -0.023499999195337296, + 0.0, + 0.14949999749660492 + ] + ], + "indices_raw": [ + 42, + 15, + 14, + 33, + 35, + 43, + 17, + 16, + 9, + 8, + 40, + 4, + 7, + 39, + 26, + 29, + 31, + 44, + 21, + 20, + 25, + 36, + 0, + 3, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 16, + 19, + 10, + 9, + 20, + 21, + 22, + 23, + 20, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 29, + 28, + 30, + 31, + 14, + 13, + 32, + 33, + 33, + 32, + 34, + 35, + 36, + 37, + 1, + 0, + 7, + 6, + 38, + 39, + 40, + 41, + 5, + 4, + 3, + 2, + 45, + 42, + 17, + 43, + 46, + 18, + 21, + 44, + 47, + 22, + 30, + 47, + 44, + 31, + 34, + 46, + 43, + 35, + 36, + 25, + 24, + 37, + 38, + 27, + 26, + 39, + 40, + 8, + 11, + 41, + 45, + 12, + 15, + 42, + 45, + 2, + 1, + 37, + 24, + 23, + 22, + 47, + 30, + 28, + 27, + 38, + 6, + 5, + 41, + 11, + 10, + 19, + 18, + 46, + 34, + 32, + 13, + 12 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000004529953003 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.1256338655948639, + 0.9893251657485962, + 0.07383667677640915, + -0.033590737730264664 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.1256338655948639, + -0.9893251657485962, + 0.07383668422698975, + -0.03359074145555496 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.5927255153656006, + -0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 36, + "num_vertices": 4, + "plane": [ + 0.5927255153656006, + 0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 40, + "num_vertices": 4, + "plane": [ + 0.9142151474952698, + -0.3925842344760895, + 0.10044089704751968, + -0.03808458894491196 + ] + }, + { + "index_base": 44, + "num_vertices": 4, + "plane": [ + 0.7791285514831543, + -0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + -0.9142151474952698, + 0.3925842344760895, + 0.10044089704751968, + -0.03808458894491196 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + -0.7791285514831543, + 0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 56, + "num_vertices": 4, + "plane": [ + -0.7791285514831543, + -0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 60, + "num_vertices": 4, + "plane": [ + -0.914215087890625, + -0.3925842046737671, + 0.10044088214635849, + -0.03808458521962166 + ] + }, + { + "index_base": 64, + "num_vertices": 4, + "plane": [ + 0.7791285514831543, + 0.6197975277900696, + 0.09386000782251358, + -0.03695427626371384 + ] + }, + { + "index_base": 68, + "num_vertices": 4, + "plane": [ + 0.914215087890625, + 0.3925842046737671, + 0.10044088214635849, + -0.03808458521962166 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.36987918615341187, + 0.9257540106773376, + 0.07854218035936356, + -0.034367501735687256 + ] + }, + { + "index_base": 76, + "num_vertices": 4, + "plane": [ + -0.36987918615341187, + -0.9257540106773376, + 0.07854216545820236, + -0.03436749801039696 + ] + }, + { + "index_base": 80, + "num_vertices": 4, + "plane": [ + 0.1256338655948639, + -0.9893251657485962, + 0.07383667677640915, + -0.033590737730264664 + ] + }, + { + "index_base": 84, + "num_vertices": 4, + "plane": [ + 0.1256338655948639, + 0.9893251657485962, + 0.07383668422698975, + -0.03359074145555496 + ] + }, + { + "index_base": 88, + "num_vertices": 4, + "plane": [ + 0.9854684472084045, + -0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.9854684472084045, + 0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 96, + "num_vertices": 4, + "plane": [ + -0.9854684472084045, + -0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 100, + "num_vertices": 4, + "plane": [ + 0.9854684472084045, + 0.13450293242931366, + 0.10373358428478241, + -0.038666680455207825 + ] + }, + { + "index_base": 104, + "num_vertices": 4, + "plane": [ + -0.5927255153656006, + 0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 108, + "num_vertices": 4, + "plane": [ + -0.5927255153656006, + -0.8008167147636414, + 0.08584319055080414, + -0.0355936735868454 + ] + }, + { + "index_base": 112, + "num_vertices": 4, + "plane": [ + 0.36987918615341187, + -0.9257540106773376, + 0.07854218035936356, + -0.034367501735687256 + ] + }, + { + "index_base": 116, + "num_vertices": 4, + "plane": [ + 0.36987918615341187, + 0.9257540106773376, + 0.07854216545820236, + -0.03436749801039696 + ] + }, + { + "index_base": 120, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14949995279312134 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 42, + 15, + 14 + ], + [ + 42, + 14, + 33 + ], + [ + 42, + 33, + 35 + ], + [ + 42, + 35, + 43 + ], + [ + 42, + 43, + 17 + ], + [ + 42, + 17, + 16 + ], + [ + 42, + 16, + 9 + ], + [ + 42, + 9, + 8 + ], + [ + 42, + 8, + 40 + ], + [ + 42, + 40, + 4 + ], + [ + 42, + 4, + 7 + ], + [ + 42, + 7, + 39 + ], + [ + 42, + 39, + 26 + ], + [ + 42, + 26, + 29 + ], + [ + 42, + 29, + 31 + ], + [ + 42, + 31, + 44 + ], + [ + 42, + 44, + 21 + ], + [ + 42, + 21, + 20 + ], + [ + 42, + 20, + 25 + ], + [ + 42, + 25, + 36 + ], + [ + 42, + 36, + 0 + ], + [ + 42, + 0, + 3 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 12, + 13, + 14 + ], + [ + 12, + 14, + 15 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 16, + 19, + 10 + ], + [ + 16, + 10, + 9 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 20, + 23, + 24 + ], + [ + 20, + 24, + 25 + ], + [ + 26, + 27, + 28 + ], + [ + 26, + 28, + 29 + ], + [ + 29, + 28, + 30 + ], + [ + 29, + 30, + 31 + ], + [ + 14, + 13, + 32 + ], + [ + 14, + 32, + 33 + ], + [ + 33, + 32, + 34 + ], + [ + 33, + 34, + 35 + ], + [ + 36, + 37, + 1 + ], + [ + 36, + 1, + 0 + ], + [ + 7, + 6, + 38 + ], + [ + 7, + 38, + 39 + ], + [ + 40, + 41, + 5 + ], + [ + 40, + 5, + 4 + ], + [ + 3, + 2, + 45 + ], + [ + 3, + 45, + 42 + ], + [ + 17, + 43, + 46 + ], + [ + 17, + 46, + 18 + ], + [ + 21, + 44, + 47 + ], + [ + 21, + 47, + 22 + ], + [ + 30, + 47, + 44 + ], + [ + 30, + 44, + 31 + ], + [ + 34, + 46, + 43 + ], + [ + 34, + 43, + 35 + ], + [ + 36, + 25, + 24 + ], + [ + 36, + 24, + 37 + ], + [ + 38, + 27, + 26 + ], + [ + 38, + 26, + 39 + ], + [ + 40, + 8, + 11 + ], + [ + 40, + 11, + 41 + ], + [ + 45, + 12, + 15 + ], + [ + 45, + 15, + 42 + ], + [ + 45, + 2, + 1 + ], + [ + 45, + 1, + 37 + ], + [ + 45, + 37, + 24 + ], + [ + 45, + 24, + 23 + ], + [ + 45, + 23, + 22 + ], + [ + 45, + 22, + 47 + ], + [ + 45, + 47, + 30 + ], + [ + 45, + 30, + 28 + ], + [ + 45, + 28, + 27 + ], + [ + 45, + 27, + 38 + ], + [ + 45, + 38, + 6 + ], + [ + 45, + 6, + 5 + ], + [ + 45, + 5, + 41 + ], + [ + 45, + 41, + 11 + ], + [ + 45, + 11, + 10 + ], + [ + 45, + 10, + 19 + ], + [ + 45, + 19, + 18 + ], + [ + 45, + 18, + 46 + ], + [ + 45, + 46, + 34 + ], + [ + 45, + 34, + 32 + ], + [ + 45, + 32, + 13 + ], + [ + 45, + 13, + 12 + ] + ], + "raw_bounds": [ + [ + -0.02449999935925007, + -0.023499999195337296, + 0.14000000059604645 + ], + [ + 0.02449999935925007, + 0.023499999195337296, + 0.14949999749660492 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0014110771007835865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json new file mode 100644 index 0000000000000000000000000000000000000000..651b299f1d197559a6154022cd2afcd1a48429c0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json @@ -0,0 +1,1093 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2560505191795528, + "parts": [ + { + "vertices_raw": [ + [ + 0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + -0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.0, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.0, + 0.02280000038444996, + 0.14949999749660492 + ], + [ + -0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + -0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + -0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + -0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + -0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.00608224980533123, + -0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + 0.020351599901914597, + -0.01140000019222498, + 0.14949999749660492 + ], + [ + 0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.016617009416222572, + -0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.009750000201165676, + -0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.009750000201165676, + 0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.016617009416222572, + 0.016122030094265938, + 0.14949999749660492 + ], + [ + 0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.020351599901914597, + 0.01140000019222498, + 0.14949999749660492 + ], + [ + -0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + -0.00608224980533123, + 0.02202310971915722, + 0.14949999749660492 + ], + [ + -0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.022699259221553802, + -0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.0, + 0.14949999749660492 + ], + [ + 0.022699259221553802, + 0.005901069846004248, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + -0.01974537968635559, + 0.14949999749660492 + ], + [ + 0.011749999597668648, + 0.01974537968635559, + 0.14949999749660492 + ] + ], + "indices_raw": [ + 37, + 20, + 23, + 35, + 34, + 33, + 16, + 19, + 36, + 14, + 2, + 13, + 30, + 7, + 6, + 32, + 10, + 9, + 29, + 26, + 28, + 31, + 4, + 15, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 9, + 11, + 12, + 13, + 2, + 1, + 14, + 0, + 2, + 15, + 4, + 3, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 8, + 7, + 25, + 26, + 12, + 25, + 12, + 11, + 8, + 24, + 1, + 0, + 18, + 17, + 27, + 22, + 21, + 3, + 5, + 25, + 28, + 26, + 29, + 9, + 12, + 29, + 12, + 26, + 13, + 1, + 24, + 30, + 30, + 24, + 7, + 31, + 28, + 25, + 5, + 31, + 5, + 4, + 32, + 6, + 8, + 32, + 8, + 11, + 32, + 11, + 10, + 33, + 34, + 27, + 33, + 27, + 17, + 33, + 17, + 16, + 35, + 23, + 22, + 35, + 22, + 27, + 35, + 27, + 34, + 36, + 0, + 14, + 36, + 19, + 18, + 36, + 18, + 0, + 37, + 15, + 3, + 37, + 3, + 21, + 37, + 21, + 20 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 24, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14949995279312134 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + -0.8601425290107727, + 0.5100536942481995, + -0.09586428105831146 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.8601425290107727, + 0.5100536942481995, + -0.09586428105831146 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.6960474848747253, + -0.5504946708679199, + 0.46094852685928345, + -0.08935312926769257 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.8760959506034851, + 0.1188809797167778, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.8195079565048218, + 0.22536465525627136, + 0.526894211769104, + -0.0987028032541275 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.11319141834974289, + -0.8861716985702515, + 0.44931885600090027, + -0.0873778909444809 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.11319144815206528, + -0.8861716985702515, + 0.44931891560554504, + -0.0873778909444809 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.11319141834974289, + 0.8861716985702515, + 0.44931885600090027, + -0.0873778909444809 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.6965420842170715, + -0.5498203039169312, + 0.46100613474845886, + -0.08936411142349243 + ] + }, + { + "index_base": 52, + "num_vertices": 4, + "plane": [ + 0.6965420842170715, + 0.5498203039169312, + 0.46100613474845886, + -0.08936411142349243 + ] + }, + { + "index_base": 56, + "num_vertices": 3, + "plane": [ + -0.5965061187744141, + -0.6122043132781982, + 0.5190242528915405, + -0.097376249730587 + ] + }, + { + "index_base": 59, + "num_vertices": 3, + "plane": [ + -0.5965061187744141, + 0.6122043132781982, + 0.5190241932868958, + -0.09737624228000641 + ] + }, + { + "index_base": 62, + "num_vertices": 14, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.15700003504753113 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + -0.5317105054855347, + 0.7142121195793152, + 0.4551756680011749, + -0.08839874714612961 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + -0.8145414590835571, + 0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.6960474848747253, + 0.5504946708679199, + 0.46094849705696106, + -0.08935312926769257 + ] + }, + { + "index_base": 85, + "num_vertices": 4, + "plane": [ + -0.3331909775733948, + -0.8274863362312317, + 0.45194029808044434, + -0.08781909942626953 + ] + }, + { + "index_base": 89, + "num_vertices": 3, + "plane": [ + -0.5317105054855347, + -0.71421217918396, + 0.4551756680011749, + -0.0883987545967102 + ] + }, + { + "index_base": 92, + "num_vertices": 4, + "plane": [ + -0.33319103717803955, + 0.8274863362312317, + 0.4519403576850891, + -0.08781911432743073 + ] + }, + { + "index_base": 96, + "num_vertices": 3, + "plane": [ + -0.11319144815206528, + 0.8861716985702515, + 0.44931891560554504, + -0.0873778909444809 + ] + }, + { + "index_base": 99, + "num_vertices": 3, + "plane": [ + -0.8145414590835571, + -0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 102, + "num_vertices": 3, + "plane": [ + -0.8195079565048218, + -0.22536462545394897, + 0.5268941521644592, + -0.09870278835296631 + ] + }, + { + "index_base": 105, + "num_vertices": 3, + "plane": [ + -0.8760959506034851, + -0.1188809871673584, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 108, + "num_vertices": 3, + "plane": [ + 0.8760959506034851, + -0.1188809797167778, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 111, + "num_vertices": 3, + "plane": [ + 0.8195079565048218, + -0.22536465525627136, + 0.526894211769104, + -0.0987028032541275 + ] + }, + { + "index_base": 114, + "num_vertices": 3, + "plane": [ + 0.8145414590835571, + -0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 117, + "num_vertices": 3, + "plane": [ + 0.8145414590835571, + 0.34775233268737793, + 0.4643171429634094, + -0.08995702117681503 + ] + }, + { + "index_base": 120, + "num_vertices": 3, + "plane": [ + 0.8195079565048218, + 0.22536462545394897, + 0.5268941521644592, + -0.09870278835296631 + ] + }, + { + "index_base": 123, + "num_vertices": 3, + "plane": [ + 0.8760959506034851, + 0.1188809871673584, + 0.4672505259513855, + -0.0904422178864479 + ] + }, + { + "index_base": 126, + "num_vertices": 3, + "plane": [ + 0.3327776789665222, + -0.8280615210533142, + 0.45119068026542664, + -0.08771353960037231 + ] + }, + { + "index_base": 129, + "num_vertices": 3, + "plane": [ + 0.5314143896102905, + -0.713814377784729, + 0.4561444818973541, + -0.08853225409984589 + ] + }, + { + "index_base": 132, + "num_vertices": 3, + "plane": [ + 0.4204135537147522, + -0.7473403811454773, + 0.5145238041877747, + -0.096617691218853 + ] + }, + { + "index_base": 135, + "num_vertices": 3, + "plane": [ + 0.33277764916419983, + 0.8280615210533142, + 0.45119068026542664, + -0.08771353214979172 + ] + }, + { + "index_base": 138, + "num_vertices": 3, + "plane": [ + 0.420413613319397, + 0.7473403811454773, + 0.5145237445831299, + -0.0966176837682724 + ] + }, + { + "index_base": 141, + "num_vertices": 3, + "plane": [ + 0.5314144492149353, + 0.713814377784729, + 0.4561445116996765, + -0.08853226155042648 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 37, + 20, + 23 + ], + [ + 37, + 23, + 35 + ], + [ + 37, + 35, + 34 + ], + [ + 37, + 34, + 33 + ], + [ + 37, + 33, + 16 + ], + [ + 37, + 16, + 19 + ], + [ + 37, + 19, + 36 + ], + [ + 37, + 36, + 14 + ], + [ + 37, + 14, + 2 + ], + [ + 37, + 2, + 13 + ], + [ + 37, + 13, + 30 + ], + [ + 37, + 30, + 7 + ], + [ + 37, + 7, + 6 + ], + [ + 37, + 6, + 32 + ], + [ + 37, + 32, + 10 + ], + [ + 37, + 10, + 9 + ], + [ + 37, + 9, + 29 + ], + [ + 37, + 29, + 26 + ], + [ + 37, + 26, + 28 + ], + [ + 37, + 28, + 31 + ], + [ + 37, + 31, + 4 + ], + [ + 37, + 4, + 15 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 6, + 7, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 12 + ], + [ + 13, + 2, + 1 + ], + [ + 14, + 0, + 2 + ], + [ + 15, + 4, + 3 + ], + [ + 16, + 17, + 18 + ], + [ + 16, + 18, + 19 + ], + [ + 20, + 21, + 22 + ], + [ + 20, + 22, + 23 + ], + [ + 24, + 8, + 7 + ], + [ + 25, + 26, + 12 + ], + [ + 25, + 12, + 11 + ], + [ + 25, + 11, + 8 + ], + [ + 25, + 8, + 24 + ], + [ + 25, + 24, + 1 + ], + [ + 25, + 1, + 0 + ], + [ + 25, + 0, + 18 + ], + [ + 25, + 18, + 17 + ], + [ + 25, + 17, + 27 + ], + [ + 25, + 27, + 22 + ], + [ + 25, + 22, + 21 + ], + [ + 25, + 21, + 3 + ], + [ + 25, + 3, + 5 + ], + [ + 25, + 28, + 26 + ], + [ + 29, + 9, + 12 + ], + [ + 29, + 12, + 26 + ], + [ + 13, + 1, + 24 + ], + [ + 13, + 24, + 30 + ], + [ + 30, + 24, + 7 + ], + [ + 31, + 28, + 25 + ], + [ + 31, + 25, + 5 + ], + [ + 31, + 5, + 4 + ], + [ + 32, + 6, + 8 + ], + [ + 32, + 8, + 11 + ], + [ + 32, + 11, + 10 + ], + [ + 33, + 34, + 27 + ], + [ + 33, + 27, + 17 + ], + [ + 33, + 17, + 16 + ], + [ + 35, + 23, + 22 + ], + [ + 35, + 22, + 27 + ], + [ + 35, + 27, + 34 + ], + [ + 36, + 0, + 14 + ], + [ + 36, + 19, + 18 + ], + [ + 36, + 18, + 0 + ], + [ + 37, + 15, + 3 + ], + [ + 37, + 3, + 21 + ], + [ + 37, + 21, + 20 + ] + ], + "raw_bounds": [ + [ + -0.023499999195337296, + -0.02280000038444996, + 0.14949999749660492 + ], + [ + 0.023499999195337296, + 0.02280000038444996, + 0.15700000524520874 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0015199310146272182, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json new file mode 100644 index 0000000000000000000000000000000000000000..89a00f8c33205353497cbf0aea254fa7188091cf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json @@ -0,0 +1,733 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2583523099310696, + "parts": [ + { + "vertices_raw": [ + [ + -0.011258330196142197, + -0.006500000134110451, + 0.16200000047683716 + ], + [ + -0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + -0.0033646500669419765, + -0.012557039968669415, + 0.16200000047683716 + ], + [ + -0.011258330196142197, + 0.006500000134110451, + 0.16200000047683716 + ], + [ + -0.0033646500669419765, + 0.012557039968669415, + 0.16200000047683716 + ], + [ + -0.009750000201165676, + 0.016454480588436127, + 0.15700000524520874 + ], + [ + -0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.0033646500669419765, + -0.012557039968669415, + 0.16200000047683716 + ], + [ + 0.0, + -0.01899999938905239, + 0.15700000524520874 + ], + [ + 0.0033646500669419765, + 0.012557039968669415, + 0.16200000047683716 + ], + [ + 0.0, + 0.01899999938905239, + 0.15700000524520874 + ], + [ + -0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + -0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.005046970210969448, + -0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + -0.013435030356049538, + 0.15700000524520874 + ], + [ + 0.005046970210969448, + 0.01835259050130844, + 0.15700000524520874 + ], + [ + 0.01378857996314764, + 0.013435030356049538, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + 0.009499999694526196, + 0.15700000524520874 + ], + [ + -0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + -0.016887500882148743, + -0.009499999694526196, + 0.15700000524520874 + ], + [ + 0.01883555017411709, + -0.0049175601452589035, + 0.15700000524520874 + ], + [ + 0.019500000402331352, + 0.0, + 0.15700000524520874 + ], + [ + 0.01883555017411709, + 0.0049175601452589035, + 0.15700000524520874 + ] + ], + "indices_raw": [ + 25, + 24, + 23, + 17, + 16, + 8, + 15, + 1, + 22, + 21, + 20, + 6, + 5, + 10, + 18, + 19, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 2, + 8, + 9, + 10, + 4, + 9, + 4, + 3, + 11, + 0, + 2, + 7, + 12, + 13, + 14, + 15, + 8, + 2, + 15, + 2, + 1, + 5, + 4, + 10, + 16, + 17, + 12, + 7, + 16, + 7, + 8, + 18, + 10, + 9, + 18, + 9, + 14, + 19, + 20, + 21, + 11, + 3, + 20, + 3, + 6, + 22, + 1, + 0, + 22, + 0, + 11, + 21, + 23, + 12, + 17, + 23, + 24, + 13, + 23, + 13, + 12, + 25, + 19, + 14, + 25, + 14, + 13, + 25, + 13, + 24 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 16, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.15700003504753113 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + -0.35242554545402527, + -0.4592894911766052, + 0.8153830170631409, + -0.13904514908790588 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + -0.35347670316696167, + 0.46065932512283325, + 0.814154326915741, + -0.1388668417930603 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6130849123001099, + 0.7900170087814331, + -0.13568130135536194 + ] + }, + { + "index_base": 26, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6130849123001099, + 0.7900170087814331, + -0.13568130135536194 + ] + }, + { + "index_base": 29, + "num_vertices": 10, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16199998557567596 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.08175448328256607, + -0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.3177361488342285, + -0.5648177862167358, + 0.7615935206413269, + -0.13153965771198273 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.17189934849739075, + 0.6584193110466003, + 0.7327582836151123, + -0.12755301594734192 + ] + }, + { + "index_base": 48, + "num_vertices": 4, + "plane": [ + 0.31655973196029663, + -0.5627265572547913, + 0.7636286616325378, + -0.1318148672580719 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + 0.08175452053546906, + -0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.08175448328256607, + 0.6373290419578552, + 0.7662426829338074, + -0.13240934908390045 + ] + }, + { + "index_base": 58, + "num_vertices": 4, + "plane": [ + 0.3176327347755432, + 0.5587521195411682, + 0.7660976052284241, + -0.1321638822555542 + ] + }, + { + "index_base": 62, + "num_vertices": 4, + "plane": [ + -0.6026138067245483, + 0.16571876406669617, + 0.7806369066238403, + -0.13431097567081451 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + -0.48941418528556824, + 0.3854241371154785, + 0.7822543978691101, + -0.1347404569387436 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + -0.48941418528556824, + -0.3854241371154785, + 0.7822543978691101, + -0.1347404569387436 + ] + }, + { + "index_base": 72, + "num_vertices": 4, + "plane": [ + -0.6014869809150696, + -0.16368603706359863, + 0.7819337844848633, + -0.13449260592460632 + ] + }, + { + "index_base": 76, + "num_vertices": 3, + "plane": [ + 0.5444703102111816, + -0.32262226939201355, + 0.7742525339126587, + -0.13339956104755402 + ] + }, + { + "index_base": 79, + "num_vertices": 3, + "plane": [ + 0.6076518893241882, + -0.08210466057062149, + 0.7899481654167175, + -0.13587108254432678 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + 0.5233803391456604, + -0.2167910784482956, + 0.8240599036216736, + -0.1403016448020935 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + 0.5444703102111816, + 0.32262223958969116, + 0.7742525339126587, + -0.13339956104755402 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + 0.5233803391456604, + 0.2167910486459732, + 0.8240598440170288, + -0.1403016299009323 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + 0.6076518893241882, + 0.0821046233177185, + 0.7899481654167175, + -0.13587108254432678 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 25, + 24, + 23 + ], + [ + 25, + 23, + 17 + ], + [ + 25, + 17, + 16 + ], + [ + 25, + 16, + 8 + ], + [ + 25, + 8, + 15 + ], + [ + 25, + 15, + 1 + ], + [ + 25, + 1, + 22 + ], + [ + 25, + 22, + 21 + ], + [ + 25, + 21, + 20 + ], + [ + 25, + 20, + 6 + ], + [ + 25, + 6, + 5 + ], + [ + 25, + 5, + 10 + ], + [ + 25, + 10, + 18 + ], + [ + 25, + 18, + 19 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 6 + ], + [ + 7, + 2, + 8 + ], + [ + 9, + 10, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 11 + ], + [ + 9, + 11, + 0 + ], + [ + 9, + 0, + 2 + ], + [ + 9, + 2, + 7 + ], + [ + 9, + 7, + 12 + ], + [ + 9, + 12, + 13 + ], + [ + 9, + 13, + 14 + ], + [ + 15, + 8, + 2 + ], + [ + 15, + 2, + 1 + ], + [ + 5, + 4, + 10 + ], + [ + 16, + 17, + 12 + ], + [ + 16, + 12, + 7 + ], + [ + 16, + 7, + 8 + ], + [ + 18, + 10, + 9 + ], + [ + 18, + 9, + 14 + ], + [ + 18, + 14, + 19 + ], + [ + 20, + 21, + 11 + ], + [ + 20, + 11, + 3 + ], + [ + 20, + 3, + 6 + ], + [ + 22, + 1, + 0 + ], + [ + 22, + 0, + 11 + ], + [ + 22, + 11, + 21 + ], + [ + 23, + 12, + 17 + ], + [ + 23, + 24, + 13 + ], + [ + 23, + 13, + 12 + ], + [ + 25, + 19, + 14 + ], + [ + 25, + 14, + 13 + ], + [ + 25, + 13, + 24 + ] + ], + "raw_bounds": [ + [ + -0.019500000402331352, + -0.01899999938905239, + 0.15700000524520874 + ], + [ + 0.019500000402331352, + 0.01899999938905239, + 0.16200000047683716 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0012401710264384747, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json new file mode 100644 index 0000000000000000000000000000000000000000..daaef91c2d1c5e3124a7e2d6455f2686f48d53a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json @@ -0,0 +1,392 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2604519221931696, + "parts": [ + { + "vertices_raw": [ + [ + 0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + 0.004511040169745684, + -0.004285749979317188, + 0.164000004529953 + ], + [ + -0.0015529099619016051, + -0.006278519984334707, + 0.164000004529953 + ], + [ + 0.0, + -0.013000000268220901, + 0.16200000047683716 + ], + [ + -0.009192390367388725, + -0.009192390367388725, + 0.16200000047683716 + ], + [ + -0.006000000052154064, + 0.0, + 0.164000004529953 + ], + [ + -0.013000000268220901, + 0.0, + 0.16200000047683716 + ], + [ + -0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.004511040169745684, + 0.004285749979317188, + 0.164000004529953 + ], + [ + 0.009192390367388725, + 0.009192390367388725, + 0.16200000047683716 + ], + [ + 0.0, + 0.013000000268220901, + 0.16200000047683716 + ], + [ + -0.0015529099619016051, + 0.006278519984334707, + 0.164000004529953 + ] + ], + "indices_raw": [ + 10, + 1, + 0, + 4, + 5, + 7, + 8, + 11, + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 7, + 6, + 9, + 2, + 1, + 10, + 11, + 12, + 9, + 10, + 9, + 1, + 12, + 11, + 8, + 12, + 8, + 6, + 3, + 2, + 9, + 12, + 6, + 3, + 6, + 5, + 3, + 5, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 8, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.16199998557567596 + ] + }, + { + "index_base": 8, + "num_vertices": 3, + "plane": [ + 0.2835226058959961, + -0.11743880808353424, + 0.9517473578453064, + -0.1578688770532608 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.09980816394090652, + -0.2625185549259186, + 0.9597511887550354, + -0.1588924378156662 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + -0.2729600667953491, + -0.11306367069482803, + 0.9553583264350891, + -0.15831653773784637 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.2729600667953491, + 0.11306367069482803, + 0.9553583264350891, + -0.15831653773784637 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.22932197153568268, + 0.0, + 0.9733506441116333, + -0.16066399216651917 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.11153256148099899, + 0.2692636549472809, + 0.9565863609313965, + -0.15846741199493408 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.2835226058959961, + 0.11743880808353424, + 0.9517473578453064, + -0.1578688770532608 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + -0.12839393317699432, + 0.3099706172943115, + 0.9420366883277893, + -0.15663957595825195 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + -0.19983819127082825, + 0.14154581725597382, + 0.9695510864257812, + -0.1602054238319397 + ] + }, + { + "index_base": 37, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.1640000194311142 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + -0.19983817636966705, + -0.141545832157135, + 0.9695510864257812, + -0.1602054238319397 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + -0.12839393317699432, + -0.3099706172943115, + 0.9420366883277893, + -0.15663957595825195 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 1, + 0 + ], + [ + 10, + 0, + 4 + ], + [ + 10, + 4, + 5 + ], + [ + 10, + 5, + 7 + ], + [ + 10, + 7, + 8 + ], + [ + 10, + 8, + 11 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 9, + 2, + 1 + ], + [ + 10, + 11, + 12 + ], + [ + 10, + 12, + 9 + ], + [ + 10, + 9, + 1 + ], + [ + 12, + 11, + 8 + ], + [ + 12, + 8, + 6 + ], + [ + 3, + 2, + 9 + ], + [ + 3, + 9, + 12 + ], + [ + 3, + 12, + 6 + ], + [ + 3, + 6, + 5 + ], + [ + 3, + 5, + 4 + ] + ], + "raw_bounds": [ + [ + -0.013000000268220901, + -0.013000000268220901, + 0.16200000047683716 + ], + [ + 0.013000000268220901, + 0.013000000268220901, + 0.164000004529953 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007793991826474667, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea7c93f07cc2d309b5e7af50fa3624cacf0b294 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json @@ -0,0 +1,705 @@ +{ + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2621042882092297, + "parts": [ + { + "vertices_raw": [ + [ + 0.002749999985098839, + -0.0012499999720603228, + 0.1771213263273239 + ], + [ + 0.0, + 0.001500000013038516, + 0.17800000309944153 + ], + [ + -0.002749999985098839, + -0.0012499999720603228, + 0.1771213263273239 + ], + [ + -5.766527306218219e-19, + -0.004000000189989805, + 0.17499999701976776 + ], + [ + -0.002749999985098839, + 0.004249999765306711, + 0.1771213263273239 + ], + [ + -0.005499999970197678, + 0.001500000013038516, + 0.17499999701976776 + ], + [ + 0.002749999985098839, + 0.004249999765306711, + 0.1771213263273239 + ], + [ + -9.690300030141104e-20, + 0.00699999975040555, + 0.17499999701976776 + ], + [ + 0.005499999970197678, + 0.001500000013038516, + 0.17499999701976776 + ], + [ + 0.002749999985098839, + 0.004249999765306711, + 0.1728786826133728 + ], + [ + -6.735557503102785e-19, + 0.001500000013038516, + 0.1720000058412552 + ], + [ + -0.002749999985098839, + 0.004249999765306711, + 0.1728786826133728 + ], + [ + 0.002749999985098839, + -0.0012499999720603228, + 0.1728786826133728 + ], + [ + -0.002749999985098839, + -0.0012499999720603228, + 0.1728786826133728 + ], + [ + -0.0038890873547643423, + 0.005389087367802858, + 0.17499999701976776 + ], + [ + 0.0038890873547643423, + 0.005389087367802858, + 0.17499999701976776 + ], + [ + -0.0038890873547643423, + -0.0023890873417258263, + 0.17499999701976776 + ], + [ + 0.0038890873547643423, + -0.0023890873417258263, + 0.17499999701976776 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 0, + 2, + 3, + 4, + 5, + 2, + 4, + 2, + 1, + 6, + 7, + 4, + 6, + 4, + 1, + 6, + 1, + 0, + 6, + 0, + 8, + 9, + 10, + 11, + 9, + 11, + 7, + 12, + 10, + 9, + 12, + 9, + 8, + 13, + 5, + 11, + 13, + 11, + 10, + 13, + 10, + 12, + 13, + 12, + 3, + 14, + 7, + 11, + 14, + 11, + 5, + 14, + 5, + 4, + 14, + 4, + 7, + 15, + 8, + 9, + 15, + 9, + 7, + 15, + 7, + 6, + 15, + 6, + 8, + 16, + 5, + 13, + 16, + 13, + 3, + 16, + 3, + 2, + 16, + 2, + 5, + 17, + 3, + 12, + 17, + 12, + 8, + 17, + 8, + 0, + 17, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 3, + "plane": [ + 0.0, + -0.30435994267463684, + 0.9525570869445801, + -0.1690986156463623 + ] + }, + { + "index_base": 3, + "num_vertices": 3, + "plane": [ + 0.0, + -0.6107854843139648, + 0.7917961478233337, + -0.1410074681043625 + ] + }, + { + "index_base": 6, + "num_vertices": 3, + "plane": [ + -0.6107854843139648, + 0.0, + 0.7917960286140442, + -0.14192362129688263 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + -0.30435994267463684, + 0.0, + 0.9525570869445801, + -0.1695551574230194 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6107854843139648, + 0.7917960286140442, + -0.14283980429172516 + ] + }, + { + "index_base": 15, + "num_vertices": 3, + "plane": [ + 0.0, + 0.30435997247695923, + 0.9525571465492249, + -0.1700117141008377 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.30435994267463684, + 0.0, + 0.9525570869445801, + -0.1695551574230194 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.6107854843139648, + 0.0, + 0.7917960286140442, + -0.14192362129688263 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.0, + 0.30435997247695923, + -0.9525571465492249, + 0.16338329017162323 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.6107828617095947, + -0.7917981743812561, + 0.1342892199754715 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.30435994267463684, + 0.0, + -0.9525570869445801, + 0.16383981704711914 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.6107828617095947, + 0.0, + -0.7917981743812561, + 0.13520538806915283 + ] + }, + { + "index_base": 36, + "num_vertices": 3, + "plane": [ + -0.6107828617095947, + 0.0, + -0.7917981743812561, + 0.13520538806915283 + ] + }, + { + "index_base": 39, + "num_vertices": 3, + "plane": [ + -0.30435994267463684, + 0.0, + -0.9525570869445801, + 0.16383981704711914 + ] + }, + { + "index_base": 42, + "num_vertices": 3, + "plane": [ + 0.0, + -0.30435994267463684, + -0.9525570869445801, + 0.16429635882377625 + ] + }, + { + "index_base": 45, + "num_vertices": 3, + "plane": [ + 0.0, + -0.61078280210495, + -0.7917981743812561, + 0.13612157106399536 + ] + }, + { + "index_base": 48, + "num_vertices": 3, + "plane": [ + -0.31327247619628906, + 0.7563068270683289, + -0.5743346214294434, + 0.09521441906690598 + ] + }, + { + "index_base": 51, + "num_vertices": 3, + "plane": [ + -0.7563068270683289, + 0.31327250599861145, + -0.5743346214294434, + 0.0958789736032486 + ] + }, + { + "index_base": 54, + "num_vertices": 3, + "plane": [ + -0.7563085556030273, + 0.31327325105667114, + 0.5743319988250732, + -0.10513769835233688 + ] + }, + { + "index_base": 57, + "num_vertices": 3, + "plane": [ + -0.31327322125434875, + 0.7563085556030273, + 0.574332058429718, + -0.1058022677898407 + ] + }, + { + "index_base": 60, + "num_vertices": 3, + "plane": [ + 0.7563068270683289, + 0.31327250599861145, + -0.5743346214294434, + 0.0958789736032486 + ] + }, + { + "index_base": 63, + "num_vertices": 3, + "plane": [ + 0.3132724463939667, + 0.7563068270683289, + -0.5743346810340881, + 0.09521442651748657 + ] + }, + { + "index_base": 66, + "num_vertices": 3, + "plane": [ + 0.31327322125434875, + 0.7563085556030273, + 0.5743319988250732, + -0.1058022528886795 + ] + }, + { + "index_base": 69, + "num_vertices": 3, + "plane": [ + 0.7563085556030273, + 0.31327325105667114, + 0.5743319988250732, + -0.10513769835233688 + ] + }, + { + "index_base": 72, + "num_vertices": 3, + "plane": [ + -0.7563068270683289, + -0.31327250599861145, + -0.5743346214294434, + 0.09681878983974457 + ] + }, + { + "index_base": 75, + "num_vertices": 3, + "plane": [ + -0.31327253580093384, + -0.7563068270683289, + -0.5743346214294434, + 0.09748334437608719 + ] + }, + { + "index_base": 78, + "num_vertices": 3, + "plane": [ + -0.3132733106613159, + -0.7563085556030273, + 0.5743319392204285, + -0.1035333201289177 + ] + }, + { + "index_base": 81, + "num_vertices": 3, + "plane": [ + -0.7563085556030273, + -0.31327325105667114, + 0.5743319392204285, + -0.10419787466526031 + ] + }, + { + "index_base": 84, + "num_vertices": 3, + "plane": [ + 0.31327253580093384, + -0.7563068270683289, + -0.5743346214294434, + 0.09748334437608719 + ] + }, + { + "index_base": 87, + "num_vertices": 3, + "plane": [ + 0.7563068270683289, + -0.31327250599861145, + -0.5743346214294434, + 0.09681878983974457 + ] + }, + { + "index_base": 90, + "num_vertices": 3, + "plane": [ + 0.7563085556030273, + -0.31327325105667114, + 0.5743319392204285, + -0.10419787466526031 + ] + }, + { + "index_base": 93, + "num_vertices": 3, + "plane": [ + 0.3132733106613159, + -0.7563085556030273, + 0.5743319392204285, + -0.1035333201289177 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 6, + 7, + 4 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 8 + ], + [ + 9, + 10, + 11 + ], + [ + 9, + 11, + 7 + ], + [ + 12, + 10, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 13, + 5, + 11 + ], + [ + 13, + 11, + 10 + ], + [ + 13, + 10, + 12 + ], + [ + 13, + 12, + 3 + ], + [ + 14, + 7, + 11 + ], + [ + 14, + 11, + 5 + ], + [ + 14, + 5, + 4 + ], + [ + 14, + 4, + 7 + ], + [ + 15, + 8, + 9 + ], + [ + 15, + 9, + 7 + ], + [ + 15, + 7, + 6 + ], + [ + 15, + 6, + 8 + ], + [ + 16, + 5, + 13 + ], + [ + 16, + 13, + 3 + ], + [ + 16, + 3, + 2 + ], + [ + 16, + 2, + 5 + ], + [ + 17, + 3, + 12 + ], + [ + 17, + 12, + 8 + ], + [ + 17, + 8, + 0 + ], + [ + 17, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.005499999970197678, + -0.004000000189989805, + 0.1720000058412552 + ], + [ + 0.005499999970197678, + 0.00699999975040555, + 0.17800000309944153 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011771316640079021, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json new file mode 100644 index 0000000000000000000000000000000000000000..49bdd323c6881620dca711d911ada85e31caf679 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json @@ -0,0 +1,1277 @@ +{ + "path": "/World/Assets/ShelfItems/starbucks/full_scene_collision", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29518293496221304, + "parts": [ + { + "vertices_raw": [ + [ + -0.012968083843588829, + 0.016901720315217972, + 0.10288352519273758 + ], + [ + -0.020692601799964905, + 0.00554456515237689, + 0.10271456092596054 + ], + [ + -0.019681548699736595, + -0.008153275586664677, + 0.10288352519273758 + ], + [ + -0.008153275586664677, + -0.019681550562381744, + 0.10288352519273758 + ], + [ + 0.00546967564150691, + -0.0204131081700325, + 0.10298489034175873 + ], + [ + 0.02112135849893093, + -0.002779829315841198, + 0.10288352519273758 + ], + [ + 0.01047599408775568, + 0.018144957721233368, + 0.10300000011920929 + ], + [ + 0.024895641952753067, + 0.010313267819583416, + 0.08799662441015244 + ], + [ + 0.02334149368107319, + -0.013476218096911907, + 0.08799662441015244 + ], + [ + 0.024285821244120598, + -0.010060641914606094, + 0.006115130614489317 + ], + [ + -0.006973654963076115, + 0.026026038452982903, + 0.08799663186073303 + ], + [ + -0.024581430479884148, + 0.010183100588619709, + 0.08914756029844284 + ], + [ + 0.024285821244120598, + 0.01006064098328352, + 0.006115130614489317 + ], + [ + -0.017484912648797035, + 0.007243294268846512, + 6.317136285360903e-05 + ], + [ + -0.024285821244120598, + -0.01006064098328352, + 0.006115130614489317 + ], + [ + -0.022921420633792877, + 0.013233686797320843, + 0.007987944409251213 + ], + [ + 0.010331466794013977, + -0.024939578026533127, + 0.08609731495380402 + ], + [ + -0.013476218096911907, + -0.02334149368107319, + 0.08799662441015244 + ], + [ + -0.003430139273405075, + -0.026062458753585815, + 0.006115130614489317 + ], + [ + 0.013499998487532139, + 0.023382684215903282, + 0.08609732240438461 + ], + [ + 0.0, + 0.026467368006706238, + 0.007987944409251213 + ], + [ + 0.013233686797320843, + -0.02292141690850258, + 0.007987944409251213 + ], + [ + 0.009464725852012634, + -0.016393393278121948, + 6.317136285360903e-05 + ], + [ + -0.026026038452982903, + -0.006973654963076115, + 0.08799663186073303 + ], + [ + 0.013233686797320843, + 0.022921420633792877, + 0.007987944409251213 + ], + [ + 0.013104517944157124, + 0.013104517944157124, + 0.0 + ], + [ + -0.011520727537572384, + -0.01501533854752779, + 6.317136285360903e-05 + ], + [ + -0.002469574799761176, + 0.01876402460038662, + 6.317136285360903e-05 + ], + [ + 0.01876402273774147, + -0.002469574799761176, + 6.317136285360903e-05 + ], + [ + -0.012970980256795883, + 0.022466395050287247, + 0.005401375237852335 + ], + [ + -0.016108408570289612, + -0.020994603633880615, + 0.007987942546606064 + ], + [ + -6.751725567522016e-11, + 0.02142915315926075, + 0.10271456837654114 + ], + [ + 0.01855820044875145, + 0.010714578442275524, + 0.10271456837654114 + ], + [ + 0.015148033387959003, + -0.015148033387959003, + 0.10271456092596054 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 10, + 11, + 5, + 8, + 7, + 12, + 7, + 9, + 13, + 14, + 15, + 16, + 4, + 17, + 16, + 17, + 18, + 19, + 20, + 10, + 21, + 9, + 8, + 21, + 8, + 16, + 21, + 16, + 18, + 22, + 9, + 21, + 22, + 21, + 18, + 23, + 11, + 15, + 23, + 15, + 14, + 23, + 17, + 2, + 24, + 20, + 19, + 24, + 19, + 7, + 24, + 7, + 12, + 24, + 12, + 25, + 3, + 2, + 17, + 3, + 17, + 4, + 26, + 14, + 13, + 13, + 27, + 25, + 28, + 22, + 26, + 26, + 22, + 18, + 29, + 13, + 15, + 29, + 15, + 11, + 29, + 11, + 10, + 29, + 10, + 20, + 1, + 0, + 11, + 1, + 11, + 23, + 1, + 23, + 2, + 30, + 17, + 23, + 30, + 23, + 14, + 30, + 14, + 26, + 30, + 26, + 18, + 30, + 18, + 17, + 31, + 10, + 0, + 31, + 0, + 6, + 31, + 6, + 19, + 31, + 19, + 10, + 32, + 6, + 5, + 32, + 5, + 7, + 32, + 7, + 19, + 32, + 19, + 6, + 33, + 8, + 5, + 33, + 5, + 4, + 33, + 4, + 16, + 33, + 16, + 8, + 27, + 13, + 29, + 27, + 29, + 20, + 27, + 20, + 24, + 27, + 24, + 25, + 28, + 9, + 22, + 28, + 25, + 12, + 28, + 12, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 7, + "plane": [ + -0.0003055143461097032, + -0.0003055143461097032, + 0.9999998807907104, + -0.10289201140403748 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.997834324836731, + -0.0651877224445343, + 0.00878866296261549, + -0.024942800402641296 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.6498863697052002, + 0.7360432744026184, + 0.1894414722919464, + -0.040358588099479675 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + 0.9793043732643127, + -0.0639771819114685, + 0.19201529026031494, + -0.04061729460954666 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.9999723434448242, + 0.0, + -0.007447395008057356, + -0.02423960715532303 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + -0.7858596444129944, + 0.09515585005283356, + -0.6110400557518005, + -0.01439132820814848 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + -0.04532333463430405, + -0.968098521232605, + 0.24643658101558685, + -0.044893234968185425 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + -0.0649527981877327, + -0.9975705742835999, + 0.025180703029036522, + -0.026375923305749893 + ] + }, + { + "index_base": 28, + "num_vertices": 3, + "plane": [ + 0.1295584887266159, + 0.9914300441741943, + 0.01676122471690178, + -0.02637443318963051 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.7569575905799866, + -0.6532015204429626, + -0.01851753517985344, + -0.024841729551553726 + ] + }, + { + "index_base": 34, + "num_vertices": 3, + "plane": [ + 0.660667896270752, + -0.7506605982780457, + 0.0051523842848837376, + -0.025990433990955353 + ] + }, + { + "index_base": 37, + "num_vertices": 3, + "plane": [ + 0.18720009922981262, + -0.982149064540863, + -0.018420826643705368, + -0.024842452257871628 + ] + }, + { + "index_base": 40, + "num_vertices": 3, + "plane": [ + 0.5049489140510559, + -0.5328233242034912, + -0.6790624856948853, + -0.0134710893034935 + ] + }, + { + "index_base": 43, + "num_vertices": 3, + "plane": [ + 0.20896409451961517, + -0.7037103772163391, + -0.6790624856948853, + -0.013471091166138649 + ] + }, + { + "index_base": 46, + "num_vertices": 3, + "plane": [ + -0.9962297677993774, + 0.08503559231758118, + -0.01718025654554367, + -0.023823101073503494 + ] + }, + { + "index_base": 49, + "num_vertices": 3, + "plane": [ + -0.9979017376899719, + 0.06033730506896973, + -0.02348303608596325, + -0.023484231904149055 + ] + }, + { + "index_base": 52, + "num_vertices": 3, + "plane": [ + -0.7621781826019287, + -0.5843901038169861, + 0.278518408536911, + -0.0484204962849617 + ] + }, + { + "index_base": 55, + "num_vertices": 3, + "plane": [ + 0.2588128447532654, + 0.9659050107002258, + -0.006586429197341204, + -0.02551235258579254 + ] + }, + { + "index_base": 58, + "num_vertices": 3, + "plane": [ + 0.7541698813438416, + 0.6566476821899414, + -0.006449053063988686, + -0.02498023398220539 + ] + }, + { + "index_base": 61, + "num_vertices": 3, + "plane": [ + 0.7578486800193787, + 0.6523854732513428, + -0.0076569425873458385, + -0.02492157183587551 + ] + }, + { + "index_base": 64, + "num_vertices": 3, + "plane": [ + 0.5124972462654114, + 0.5378941297531128, + -0.6693402528762817, + -0.013764873147010803 + ] + }, + { + "index_base": 67, + "num_vertices": 3, + "plane": [ + -0.6503795981407166, + -0.650379478931427, + 0.3924447000026703, + -0.058479294180870056 + ] + }, + { + "index_base": 70, + "num_vertices": 3, + "plane": [ + -0.05373227968811989, + -0.9650570154190063, + 0.2564716339111328, + -0.045818619430065155 + ] + }, + { + "index_base": 73, + "num_vertices": 3, + "plane": [ + -0.46406593918800354, + -0.12434614449739456, + -0.877029538154602, + -0.00715807406231761 + ] + }, + { + "index_base": 76, + "num_vertices": 6, + "plane": [ + -0.000383812643121928, + 0.0005002353573217988, + -0.9999997615814209, + 5.2837069233646616e-05 + ] + }, + { + "index_base": 82, + "num_vertices": 3, + "plane": [ + -0.03273739293217659, + -0.4985353946685791, + -0.8662509322166443, + -0.007808113470673561 + ] + }, + { + "index_base": 85, + "num_vertices": 3, + "plane": [ + -0.5709396600723267, + 0.4172370135784149, + -0.707065224647522, + -0.012960335239768028 + ] + }, + { + "index_base": 88, + "num_vertices": 3, + "plane": [ + -0.6781879663467407, + 0.7347599267959595, + 0.013746367767453194, + -0.02537842094898224 + ] + }, + { + "index_base": 91, + "num_vertices": 3, + "plane": [ + -0.6681845784187317, + 0.7438134551048279, + 0.01646111160516739, + -0.02546672895550728 + ] + }, + { + "index_base": 94, + "num_vertices": 3, + "plane": [ + -0.29103225469589233, + 0.9565022587776184, + -0.02009063959121704, + -0.02515561319887638 + ] + }, + { + "index_base": 97, + "num_vertices": 3, + "plane": [ + -0.7627081274986267, + 0.5128912329673767, + 0.39397838711738586, + -0.059093497693538666 + ] + }, + { + "index_base": 100, + "num_vertices": 3, + "plane": [ + -0.9538456201553345, + 0.060583654791116714, + 0.2941226065158844, + -0.05028413608670235 + ] + }, + { + "index_base": 103, + "num_vertices": 3, + "plane": [ + -0.9198994636535645, + -0.0631246417760849, + 0.38704046607017517, + -0.05843981355428696 + ] + }, + { + "index_base": 106, + "num_vertices": 3, + "plane": [ + -0.7935525178909302, + -0.6084457039833069, + 0.008259443566203117, + -0.02562292292714119 + ] + }, + { + "index_base": 109, + "num_vertices": 3, + "plane": [ + -0.8012515902519226, + -0.5983020663261414, + 0.005527480971068144, + -0.02551215887069702 + ] + }, + { + "index_base": 112, + "num_vertices": 3, + "plane": [ + -0.5220059752464294, + -0.5077875852584839, + -0.6853185892105103, + -0.013595201075077057 + ] + }, + { + "index_base": 115, + "num_vertices": 3, + "plane": [ + -0.35532981157302856, + -0.6356722116470337, + -0.6853185892105103, + -0.013595199212431908 + ] + }, + { + "index_base": 118, + "num_vertices": 3, + "plane": [ + -0.373033344745636, + -0.9276976585388184, + -0.014939753338694572, + -0.02536628022789955 + ] + }, + { + "index_base": 121, + "num_vertices": 3, + "plane": [ + -0.2959129810333252, + 0.8628838062286377, + 0.4097159206867218, + -0.060574665665626526 + ] + }, + { + "index_base": 124, + "num_vertices": 3, + "plane": [ + -0.008176076225936413, + 0.060667484998703, + 0.9981244802474976, + -0.10382198542356491 + ] + }, + { + "index_base": 127, + "num_vertices": 3, + "plane": [ + 0.274305522441864, + 0.9035854339599609, + 0.3290741741657257, + -0.05316378176212311 + ] + }, + { + "index_base": 130, + "num_vertices": 3, + "plane": [ + 0.145657479763031, + 0.9618896245956421, + 0.23141361773014069, + -0.04438202828168869 + ] + }, + { + "index_base": 133, + "num_vertices": 3, + "plane": [ + 0.05662745609879494, + 0.023252971470355988, + 0.9981245994567871, + -0.10382199287414551 + ] + }, + { + "index_base": 136, + "num_vertices": 3, + "plane": [ + 0.905735194683075, + 0.1768600344657898, + 0.3851807415485382, + -0.05826747417449951 + ] + }, + { + "index_base": 139, + "num_vertices": 3, + "plane": [ + 0.7017549872398376, + 0.653207004070282, + 0.28435981273651123, + -0.049230046570301056 + ] + }, + { + "index_base": 142, + "num_vertices": 3, + "plane": [ + 0.6453746557235718, + 0.6893488168716431, + 0.32907426357269287, + -0.0531637966632843 + ] + }, + { + "index_base": 145, + "num_vertices": 3, + "plane": [ + 0.8189653158187866, + -0.40113186836242676, + 0.4103524386882782, + -0.060631249099969864 + ] + }, + { + "index_base": 148, + "num_vertices": 3, + "plane": [ + 0.04787754267454147, + -0.03675912320613861, + 0.9981765747070312, + -0.10380935668945312 + ] + }, + { + "index_base": 151, + "num_vertices": 3, + "plane": [ + 0.4551021456718445, + -0.818584680557251, + 0.35042983293533325, + -0.05528809875249863 + ] + }, + { + "index_base": 154, + "num_vertices": 3, + "plane": [ + 0.616966962814331, + -0.7431309819221497, + 0.2590523958206177, + -0.047211263328790665 + ] + }, + { + "index_base": 157, + "num_vertices": 3, + "plane": [ + -0.3023063540458679, + 0.39400559663772583, + -0.8679690957069397, + -0.008084869012236595 + ] + }, + { + "index_base": 160, + "num_vertices": 3, + "plane": [ + -0.08895955234766006, + 0.7279238700866699, + -0.6798624396324158, + -0.013835526071488857 + ] + }, + { + "index_base": 163, + "num_vertices": 3, + "plane": [ + 0.1812284290790558, + 0.6763553023338318, + -0.7139326930046082, + -0.012198491021990776 + ] + }, + { + "index_base": 166, + "num_vertices": 3, + "plane": [ + 0.22002604603767395, + 0.6139394044876099, + -0.7580679059028625, + -0.010928714647889137 + ] + }, + { + "index_base": 169, + "num_vertices": 3, + "plane": [ + 0.47093579173088074, + -0.31452372670173645, + -0.8241931200027466, + -0.009561324492096901 + ] + }, + { + "index_base": 172, + "num_vertices": 3, + "plane": [ + 0.5094649791717529, + 0.18172402679920197, + -0.8410836458206177, + -0.009057698771357536 + ] + }, + { + "index_base": 175, + "num_vertices": 3, + "plane": [ + 0.7387226819992065, + 0.0, + -0.6740094423294067, + -0.013818830251693726 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 0, + 5, + 6 + ], + [ + 7, + 8, + 9 + ], + [ + 0, + 10, + 11 + ], + [ + 5, + 8, + 7 + ], + [ + 12, + 7, + 9 + ], + [ + 13, + 14, + 15 + ], + [ + 16, + 4, + 17 + ], + [ + 16, + 17, + 18 + ], + [ + 19, + 20, + 10 + ], + [ + 21, + 9, + 8 + ], + [ + 21, + 8, + 16 + ], + [ + 21, + 16, + 18 + ], + [ + 22, + 9, + 21 + ], + [ + 22, + 21, + 18 + ], + [ + 23, + 11, + 15 + ], + [ + 23, + 15, + 14 + ], + [ + 23, + 17, + 2 + ], + [ + 24, + 20, + 19 + ], + [ + 24, + 19, + 7 + ], + [ + 24, + 7, + 12 + ], + [ + 24, + 12, + 25 + ], + [ + 3, + 2, + 17 + ], + [ + 3, + 17, + 4 + ], + [ + 26, + 14, + 13 + ], + [ + 13, + 27, + 25 + ], + [ + 13, + 25, + 28 + ], + [ + 13, + 28, + 22 + ], + [ + 13, + 22, + 26 + ], + [ + 26, + 22, + 18 + ], + [ + 29, + 13, + 15 + ], + [ + 29, + 15, + 11 + ], + [ + 29, + 11, + 10 + ], + [ + 29, + 10, + 20 + ], + [ + 1, + 0, + 11 + ], + [ + 1, + 11, + 23 + ], + [ + 1, + 23, + 2 + ], + [ + 30, + 17, + 23 + ], + [ + 30, + 23, + 14 + ], + [ + 30, + 14, + 26 + ], + [ + 30, + 26, + 18 + ], + [ + 30, + 18, + 17 + ], + [ + 31, + 10, + 0 + ], + [ + 31, + 0, + 6 + ], + [ + 31, + 6, + 19 + ], + [ + 31, + 19, + 10 + ], + [ + 32, + 6, + 5 + ], + [ + 32, + 5, + 7 + ], + [ + 32, + 7, + 19 + ], + [ + 32, + 19, + 6 + ], + [ + 33, + 8, + 5 + ], + [ + 33, + 5, + 4 + ], + [ + 33, + 4, + 16 + ], + [ + 33, + 16, + 8 + ], + [ + 27, + 13, + 29 + ], + [ + 27, + 29, + 20 + ], + [ + 27, + 20, + 24 + ], + [ + 27, + 24, + 25 + ], + [ + 28, + 9, + 22 + ], + [ + 28, + 25, + 12 + ], + [ + 28, + 12, + 9 + ] + ], + "raw_bounds": [ + [ + -0.026026038452982903, + -0.026062458753585815, + 0.0 + ], + [ + 0.024895641952753067, + 0.026467368006706238, + 0.10300000011920929 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0037635667249560356, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json new file mode 100644 index 0000000000000000000000000000000000000000..02e3e4694ccd0edde00552bfea27e9da69a5ab5a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2989045470021665, + "parts": [ + { + "vertices_raw": [ + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + -0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.05999999865889549, + 0.012910000048577785, + 0.0 + ], + [ + -0.05999999865889549, + -0.012910000048577785, + 0.0 + ], + [ + -0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.051428571343421936, + -0.017093444243073463, + 0.0 + ], + [ + -0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051428571343421936, + 0.017093444243073463, + 0.0 + ] + ], + "indices_raw": [ + 11, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 7, + 6, + 5, + 4, + 10, + 11, + 8, + 1, + 0, + 9, + 10, + 3, + 2, + 11, + 10, + 4, + 7, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.999980092048645, + 0.0, + -0.00629875622689724, + 0.04285629093647003 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9999611973762512, + 0.0, + 0.008817899972200394, + -0.059997666627168655 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.4255523979663849, + -0.9037190675735474, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.4255524277687073, + 0.9037191271781921, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + -0.27449628710746765, + -0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + -0.27449628710746765, + 0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 8 + ], + [ + 11, + 8, + 6 + ], + [ + 11, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 5, + 4, + 10 + ], + [ + 5, + 10, + 11 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 9 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 11 + ], + [ + 10, + 4, + 7 + ], + [ + 10, + 7, + 9 + ], + [ + 10, + 9, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.05999999865889549, + -0.01963379792869091, + 0.0 + ], + [ + -0.04271017014980316, + 0.01963379792869091, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0009527732618153095, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4486f64acc10748813d92a2e492f5217f456bd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30069791432470083, + "parts": [ + { + "vertices_raw": [ + [ + -0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + -0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + -0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + -0.038439154624938965, + 0.019073178991675377, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 7, + 2, + 1, + 5, + 8, + 6, + 4, + 8, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.11491377651691437, + -0.9913927912712097, + 0.06272939592599869, + -0.024461545050144196 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.10645311325788498, + 0.9923353791236877, + 0.06275664269924164, + -0.024264434352517128 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.999992847442627, + 0.0, + -0.003779254388064146, + 0.025714099407196045 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.17351989448070526, + 0.9832096099853516, + 0.05647779628634453, + -0.026740707457065582 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999980092048645, + 0.0, + 0.00629875622689724, + -0.04285629093647003 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 5 + ], + [ + 8, + 6, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04285714402794838, + -0.021693339571356773, + 0.0 + ], + [ + -0.025626102462410927, + 0.021693339571356773, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007637930102646351, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json new file mode 100644 index 0000000000000000000000000000000000000000..f9538148b887722729d8920421dd780ee5bb4788 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3023465280421078, + "parts": [ + { + "vertices_raw": [ + [ + -0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + -0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + -0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.017084067687392235, + 0.020455114543437958, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.017008788883686066, + -0.9978257417678833, + 0.0636753961443901, + -0.022094178944826126 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.020621540024876595, + 0.9978145360946655, + 0.06277655065059662, + -0.022176194936037064 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999991655349731, + 0.0, + -0.0012597593013197184, + 0.008571420796215534 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.006145742256194353, + 0.9979521036148071, + 0.06366977840662003, + -0.022003844380378723 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999992847442627, + 0.0, + 0.003779254388064146, + -0.025714099407196045 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025714285671710968, + -0.021996214985847473, + 0.0 + ], + [ + -0.008542033843696117, + 0.021996214985847473, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007388326339423656, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json new file mode 100644 index 0000000000000000000000000000000000000000..deae064db8b34695c87a3c311b69a5288b6dbda7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3039601743221283, + "parts": [ + { + "vertices_raw": [ + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + -0.02199999988079071, + 0.0 + ], + [ + 0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008563785813748837, + 0.02125963196158409, + 0.011666670441627502 + ], + [ + 0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + 0.0, + 0.02199999988079071, + 0.0 + ], + [ + -0.008563785813748837, + 0.02125963196158409, + 0.011666670441627502 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + 0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + -0.008571428246796131, + -0.021996214985847473, + 0.0 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.00045364521793089807, + 0.99797123670578, + 0.06366433948278427, + -0.021955367177724838 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00014722863852512091, + -0.9979576468467712, + 0.06387817114591599, + -0.02195506915450096 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999993443489075, + 0.0, + 0.0011388205457478762, + -0.008571422658860683 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999989867210388, + 0.0, + 0.0013806979404762387, + -0.008574241772294044 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.00044067532871849835, + -0.9979714155197144, + 0.06366382539272308, + -0.021955374628305435 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0004406911612022668, + 0.9980127811431885, + 0.06301049143075943, + -0.02195628173649311 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00040953943971544504, + 0.9979293942451477, + 0.0643170028924942, + -0.02196948602795601 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008571428246796131, + -0.02199999988079071, + 0.0 + ], + [ + 0.008571428246796131, + 0.02199999988079071, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000747073907405138, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json new file mode 100644 index 0000000000000000000000000000000000000000..4a286a661c2156baabedc3e4361176bcaab74199 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30791948921978474, + "parts": [ + { + "vertices_raw": [ + [ + 0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008571428246796131, + -0.021996214985847473, + 0.0 + ], + [ + 0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + 0.008571428246796131, + 0.021996214985847473, + 0.0 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.017084067687392235, + 0.020455114543437958, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.017008785158395767, + -0.9978258013725281, + 0.0636754110455513, + -0.022094178944826126 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01381064672023058, + 0.9978751540184021, + 0.06367453187704086, + -0.022067854180932045 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999991655349731, + 0.0, + -0.0012597593013197184, + 0.008571420796215534 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.026623159646987915, + 0.9976715445518494, + 0.06279025226831436, + -0.022327423095703125 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999992847442627, + 0.0, + 0.003779254388064146, + -0.025714099407196045 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008542033843696117, + -0.021996214985847473, + 0.0 + ], + [ + 0.025714285671710968, + 0.021996214985847473, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0011171144433319569, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json new file mode 100644 index 0000000000000000000000000000000000000000..d477fdd9f58db3b25f0ea2a5bd34c09e69b68efb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3097888110205531, + "parts": [ + { + "vertices_raw": [ + [ + 0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025714285671710968, + -0.021693339571356773, + 0.0 + ], + [ + 0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + 0.025714285671710968, + 0.021693339571356773, + 0.0 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.038439154624938965, + 0.019073178991675377, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.11491377651691437, + -0.9913927912712097, + 0.06272939592599869, + -0.024461546912789345 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.10645311325788498, + 0.9923352599143982, + 0.06275664269924164, + -0.02426443248987198 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.999992847442627, + 0.0, + -0.003779254388064146, + 0.025714099407196045 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.17351992428302765, + 0.9832095503807068, + 0.05647779628634453, + -0.026740705594420433 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999980092048645, + 0.0, + 0.00629875622689724, + -0.04285629093647003 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.025626102462410927, + -0.021693339571356773, + 0.0 + ], + [ + 0.04285714402794838, + 0.021693339571356773, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007105991244316101, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json new file mode 100644 index 0000000000000000000000000000000000000000..8847bfc215182c979c1cd809aa7f4431acbb5d20 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3112887181341648, + "parts": [ + { + "vertices_raw": [ + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04285714402794838, + 0.01963379792869091, + 0.0 + ], + [ + 0.04285714402794838, + -0.01963379792869091, + 0.0 + ], + [ + 0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.05999999865889549, + -0.012910000048577785, + 0.0 + ], + [ + 0.05999999865889549, + 0.012910000048577785, + 0.0 + ], + [ + 0.051428571343421936, + 0.017093444243073463, + 0.0 + ], + [ + 0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ], + [ + 0.051428571343421936, + -0.017093444243073463, + 0.0 + ], + [ + 0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 10, + 3, + 2, + 8, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 4, + 7, + 6, + 5, + 11, + 10, + 8, + 2, + 1, + 9, + 11, + 0, + 3, + 10, + 11, + 5, + 4, + 9, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + -0.0 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.999980092048645, + 0.0, + -0.00629875622689724, + 0.04285629093647003 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9999611973762512, + 0.0, + 0.008817899972200394, + -0.059997666627168655 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.4255523979663849, + 0.9037190675735474, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.4255524277687073, + -0.9037191271781921, + 0.046872157603502274, + -0.037333227694034576 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.27449628710746765, + 0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.27449628710746765, + -0.9599675536155701, + 0.05580459535121918, + -0.030611936002969742 + ] + }, + { + "index_base": 30, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.02333332970738411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 8 + ], + [ + 10, + 8, + 7 + ], + [ + 10, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 6, + 5, + 11 + ], + [ + 6, + 11, + 10 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 9 + ], + [ + 11, + 0, + 3 + ], + [ + 11, + 3, + 10 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 9 + ], + [ + 11, + 9, + 1 + ], + [ + 11, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + 0.04271017014980316, + -0.01963379792869091, + 0.0 + ], + [ + 0.05999999865889549, + 0.01963379792869091, + 0.02333332970738411 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006425748579204082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json new file mode 100644 index 0000000000000000000000000000000000000000..e41a7f327ef0d649b34bdf4bbd37efeafc8e9cd5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3126334729604423, + "parts": [ + { + "vertices_raw": [ + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + -0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + -0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 9, + 2, + 1, + 8, + 6, + 5, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 0, + 3, + 8, + 7, + 6, + 8, + 1, + 0, + 8, + 0, + 7, + 9, + 5, + 4, + 9, + 4, + 3, + 9, + 3, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + -0.01687842234969139, + 0.04309791699051857 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + -0.9997208118438721, + 0.0, + 0.023626530542969704, + -0.060328830033540726 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + -0.4127448499202728, + -0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.2650867700576782, + -0.9622859954833984, + 0.06111282855272293, + -0.030376385897397995 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + -0.31858009099960327, + -0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + -0.4127448499202728, + 0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + -0.31858009099960327, + 0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + -0.2650867700576782, + 0.9622859954833984, + 0.06111283227801323, + -0.030376385897397995 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 8 + ], + [ + 9, + 8, + 6 + ], + [ + 9, + 6, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 7 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 3 + ], + [ + 9, + 3, + 2 + ] + ], + "raw_bounds": [ + [ + -0.059794239699840546, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.018319416791200638, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006801350973546505, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ff9f6790c3bc7a82df695c7531a8955c9f458b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31401080125942826, + "parts": [ + { + "vertices_raw": [ + [ + -0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.03808465600013733, + 0.017637168988585472, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.10667157918214798, + -0.9920870065689087, + 0.06621585041284561, + -0.024345725774765015 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.12080502510070801, + 0.9908395409584045, + 0.060357823967933655, + -0.02471955306828022 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999486207962036, + 0.0, + -0.010128009133040905, + 0.0258611049503088 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.08287479728460312, + 0.9943637847900391, + 0.06612429767847061, + -0.023779822513461113 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + 0.01687842234969139, + -0.04309791699051857 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04271017014980316, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + 0.02022716775536537, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005589388310909271, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json new file mode 100644 index 0000000000000000000000000000000000000000..de6a43f16bd17cf353541923f9903f8b9a2e3a3d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31537124002352357, + "parts": [ + { + "vertices_raw": [ + [ + -0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.021158142015337944, + 0.018830060958862305, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.015775084495544434, + -0.9976583123207092, + 0.06655172258615494, + -0.022147322073578835 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.019441919401288033, + 0.997650146484375, + 0.06569758802652359, + -0.022210801020264626 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999942183494568, + 0.0, + -0.003376130247488618, + 0.008620760403573513 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.009618693962693214, + 0.99773770570755, + 0.06653622537851334, + -0.022096000611782074 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999486207962036, + 0.0, + 0.010128009133040905, + -0.0258611049503088 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025626102462410927, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008463256992399693, + 0.02050771936774254, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005402956157922745, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json new file mode 100644 index 0000000000000000000000000000000000000000..03cac4cfcab665229b60fadc1da6827436521ee7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31656253011897206, + "parts": [ + { + "vertices_raw": [ + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + -0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008507936261594296, + 0.019739162176847458, + 0.03500000014901161 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.0, + 0.02051122486591339, + 0.02333332970738411 + ], + [ + -0.008507936261594296, + 0.019739162176847458, + 0.03500000014901161 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + 0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + -0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0005776305915787816, + 0.9977895021438599, + 0.06645173579454422, + -0.022016426548361778 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00013733595551457256, + -0.997772753238678, + 0.06670580059289932, + -0.022022008895874023 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999945759773254, + 0.0, + 0.0032854315359145403, + -0.00861864723265171 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999939799308777, + 0.0, + 0.003466828726232052, + -0.008624992333352566 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0004094734904356301, + -0.9977858066558838, + 0.06650834530591965, + -0.022017670795321465 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0004094920586794615, + 0.9978370070457458, + 0.06573501229286194, + -0.02200067602097988 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00037900859024375677, + 0.9977338314056396, + 0.06728142499923706, + -0.022052502259612083 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008542033843696117, + -0.02051122486591339, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02051122486591339, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005819099023938179, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json new file mode 100644 index 0000000000000000000000000000000000000000..03d7b292b5a7f3879cf72a8906d1361e134e74bc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3178647430613637, + "parts": [ + { + "vertices_raw": [ + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008542033843696117, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.008542033843696117, + 0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.021158142015337944, + 0.018830060958862305, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.015775086358189583, + -0.9976582527160645, + 0.06655173003673553, + -0.022147320210933685 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01349969208240509, + 0.9976920485496521, + 0.06654628366231918, + -0.022128449752926826 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999942183494568, + 0.0, + -0.003376130247488618, + 0.008620760403573513 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.031780220568180084, + 0.9973264932632446, + 0.06580130755901337, + -0.022522859275341034 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9999486207962036, + 0.0, + 0.010128009133040905, + -0.0258611049503088 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008463256992399693, + -0.02050771936774254, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02050771936774254, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000523633323609829, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json new file mode 100644 index 0000000000000000000000000000000000000000..898cb606a68006e554e6857ec3c4bc03334c8b9b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3191030020825565, + "parts": [ + { + "vertices_raw": [ + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.025626102462410927, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.025626102462410927, + 0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.03808465600013733, + 0.017637168988585472, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.10667157918214798, + -0.9920870065689087, + 0.06621584296226501, + -0.024345725774765015 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.09888622164726257, + 0.9928949475288391, + 0.06619004160165787, + -0.02416195720434189 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999486207962036, + 0.0, + -0.010128009133040905, + 0.0258611049503088 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.16088494658470154, + 0.9851050972938538, + 0.06069689244031906, + -0.026334235444664955 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + 0.01687842234969139, + -0.04309791699051857 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.025389770045876503, + -0.02022716775536537, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + 0.02022716775536537, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005209990777075291, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json new file mode 100644 index 0000000000000000000000000000000000000000..2e95b89ed0f5f53781ca03d05cabb14aeef3c928 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json @@ -0,0 +1,305 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3204683600924909, + "parts": [ + { + "vertices_raw": [ + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04271017014980316, + 0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.04271017014980316, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.059794239699840546, + -0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + 0.01209117379039526, + 0.02333332970738411 + ], + [ + 0.051252204924821854, + -0.01596629060804844, + 0.02333332970738411 + ], + [ + 0.051252204924821854, + 0.01596629060804844, + 0.02333332970738411 + ] + ], + "indices_raw": [ + 9, + 7, + 6, + 8, + 3, + 2, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 1, + 0, + 5, + 8, + 6, + 5, + 8, + 5, + 0, + 8, + 0, + 3, + 9, + 2, + 1, + 9, + 1, + 4, + 9, + 4, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.02333332970738411 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + -0.01687842234969139, + 0.04309791699051857 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9997208118438721, + 0.0, + 0.023626530542969704, + -0.060328830033540726 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.046666670590639114 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.4127448499202728, + -0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.31858009099960327, + -0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 24, + "num_vertices": 3, + "plane": [ + 0.2650867700576782, + -0.9622859954833984, + 0.06111283227801323, + -0.030376385897397995 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.2650867700576782, + 0.9622859954833984, + 0.06111282855272293, + -0.030376385897397995 + ] + }, + { + "index_base": 30, + "num_vertices": 3, + "plane": [ + 0.31858009099960327, + 0.9443117380142212, + 0.08235380798578262, + -0.03332667797803879 + ] + }, + { + "index_base": 33, + "num_vertices": 3, + "plane": [ + 0.4127448499202728, + 0.9098256826400757, + 0.043114904314279556, + -0.03668664023280144 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 7, + 6 + ], + [ + 9, + 6, + 8 + ], + [ + 9, + 8, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 1, + 0 + ], + [ + 4, + 0, + 5 + ], + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 9, + 2, + 1 + ], + [ + 9, + 1, + 4 + ], + [ + 9, + 4, + 7 + ] + ], + "raw_bounds": [ + [ + 0.04231628403067589, + -0.018319416791200638, + 0.02333332970738411 + ], + [ + 0.059794239699840546, + 0.018319416791200638, + 0.046666670590639114 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006991452537477016, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json new file mode 100644 index 0000000000000000000000000000000000000000..4b07b063ba9ab38f214b57c3178bf45f6d650c98 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3221585960127413, + "parts": [ + { + "vertices_raw": [ + [ + -0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + -0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 3, + 1, + 4, + 5, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 0, + 2, + 7, + 2, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9997014999389648, + 0.0, + -0.02443210408091545, + 0.043443817645311356 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.3193064033985138, + -0.9464645385742188, + 0.04741566628217697, + -0.03176344558596611 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.2949024736881256, + -0.9532313346862793, + 0.06620077788829803, + -0.03172207251191139 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.2949024736881256, + 0.9532313346862793, + 0.06620077043771744, + -0.03172207251191139 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.3193064033985138, + 0.9464645981788635, + 0.047415681183338165, + -0.03176344931125641 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9994151592254639, + 0.0, + 0.03419524431228638, + -0.06080392748117447 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 1, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 2 + ], + [ + 7, + 2, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05924279987812042, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.01694606989622116, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007821153849363327, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json new file mode 100644 index 0000000000000000000000000000000000000000..e2041a7ab45b44a721b9abb3bfe5b687e60b00ae --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32419884111732244, + "parts": [ + { + "vertices_raw": [ + [ + -0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.03757143020629883, + 0.016127226874232292, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.09835474193096161, + -0.9926883578300476, + 0.06997258961200714, + -0.024321120232343674 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.11158724129199982, + 0.991685152053833, + 0.0641004890203476, + -0.02451847866177559 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.99989253282547, + 0.0, + -0.014662046916782856, + 0.026071270927786827 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.07602018862962723, + 0.9946615099906921, + 0.06978130340576172, + -0.02378201112151146 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9997014999389648, + 0.0, + 0.02443210408091545, + -0.043443817645311356 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04231628403067589, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + 0.018695218488574028, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0008906102739274502, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json new file mode 100644 index 0000000000000000000000000000000000000000..2c15b13eb31019900780c5a45cdad8ec6439770b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3261831430718303, + "parts": [ + { + "vertices_raw": [ + [ + -0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.020873015746474266, + 0.017206387594342232, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.014533225446939468, + -0.9974426627159119, + 0.06997793167829514, + -0.022292615845799446 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.01792549155652523, + 0.9974471926689148, + 0.06912174075841904, + -0.022328298538923264 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999880194664001, + 0.0, + -0.004887829069048166, + 0.008691254071891308 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.008818411268293858, + 0.9975111484527588, + 0.06995479762554169, + -0.022244466468691826 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.99989253282547, + 0.0, + 0.014662046916782856, + -0.026071270927786827 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.025389770045876503, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008349206298589706, + 0.018952446058392525, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006488687358796597, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json new file mode 100644 index 0000000000000000000000000000000000000000..aef80f1e500a80eae6c0d41ff2031d87273edb63 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3275661990046501, + "parts": [ + { + "vertices_raw": [ + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + -0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008409759029746056, + 0.018145794048905373, + 0.05833332985639572 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.0, + 0.018955660983920097, + 0.046666670590639114 + ], + [ + -0.008409759029746056, + 0.018145794048905373, + 0.05833332985639572 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + 0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + -0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 10, + 9, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0007486121612600982, + 0.9975615739822388, + 0.06978756189346313, + -0.022166192531585693 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0001274568057851866, + -0.9975401759147644, + 0.07009678333997726, + -0.022180216386914253 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.999988317489624, + 0.0, + 0.004827362485229969, + -0.008688435889780521 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.999987781047821, + 0.0, + 0.004948296118527651, + -0.008695485070347786 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0003789389447774738, + -0.997552752494812, + 0.06991646438837051, + -0.02217203937470913 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.04666667431592941 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0003789558249991387, + 0.9976180791854858, + 0.0689786970615387, + -0.022129513323307037 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.00034759091795422137, + 0.9974866509437561, + 0.07085390388965607, + -0.022236254066228867 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.06999999284744263 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008463256992399693, + -0.018955660983920097, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018955660983920097, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007643098942935467, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json new file mode 100644 index 0000000000000000000000000000000000000000..0c0258a070822d14eb72dda427b6075d293e9a9d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32912277709692717, + "parts": [ + { + "vertices_raw": [ + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008463256992399693, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.008463256992399693, + 0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.020873015746474266, + 0.017206387594342232, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.014534142799675465, + -0.9975054860115051, + 0.0690760388970375, + -0.022241149097681046 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.012462098151445389, + 0.997471272945404, + 0.06996981054544449, + -0.022275250405073166 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999880194664001, + 0.0, + -0.004887829069048166, + 0.008691254071891308 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.029138926416635513, + 0.9971725940704346, + 0.06926721334457397, + -0.02261465974152088 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.99989253282547, + 0.0, + 0.014662046916782856, + -0.026071270927786827 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008349206298589706, + -0.018952446058392525, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018952446058392525, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000585515983402729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json new file mode 100644 index 0000000000000000000000000000000000000000..95e5bf9336742648aa81dac4b188385a928a266a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33045188430696726, + "parts": [ + { + "vertices_raw": [ + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.025389770045876503, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.025389770045876503, + 0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.03757143020629883, + 0.016127226874232292, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.09835474193096161, + -0.9926883578300476, + 0.06997258961200714, + -0.024321120232343674 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.09128494560718536, + 0.9933674335479736, + 0.06991580873727798, + -0.024151664227247238 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.99989253282547, + 0.0, + -0.014662046916782856, + 0.026071270927786827 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.14780288934707642, + 0.9868990182876587, + 0.06468937546014786, + -0.02599736861884594 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9997014999389648, + 0.0, + 0.02443210408091545, + -0.043443817645311356 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.02504761889576912, + -0.018695218488574028, + 0.046666670590639114 + ], + [ + 0.04231628403067589, + 0.018695218488574028, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005738330073654652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json new file mode 100644 index 0000000000000000000000000000000000000000..52893f8987ef205339fe287ad392b2a976945d70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3317542802542448, + "parts": [ + { + "vertices_raw": [ + [ + 0.05924279987812042, + -0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.04231628403067589, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04231628403067589, + 0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + 0.011235613375902176, + 0.046666670590639114 + ], + [ + 0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 3, + 4, + 5, + 2, + 0, + 1, + 2, + 3, + 2, + 1, + 6, + 0, + 2, + 5, + 7, + 1, + 0, + 6, + 7, + 6, + 5, + 7, + 5, + 4, + 7, + 4, + 3, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.9997014999389648, + 0.0, + -0.02443210408091545, + 0.043443817645311356 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.3193064033985138, + -0.9464645981788635, + 0.047415681183338165, + -0.03176344931125641 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.2949024736881256, + -0.9532313346862793, + 0.06620077043771744, + -0.03172207251191139 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.046666670590639114 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.9994151592254639, + 0.0, + 0.03419524431228638, + -0.06080392748117447 + ] + }, + { + "index_base": 18, + "num_vertices": 3, + "plane": [ + 0.3193064033985138, + 0.9464645385742188, + 0.04741566628217697, + -0.03176344558596611 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.2949024736881256, + 0.9532313346862793, + 0.06620077788829803, + -0.03172207251191139 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.07000000029802322 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 5 + ], + [ + 3, + 5, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 2, + 1 + ], + [ + 6, + 0, + 2 + ], + [ + 6, + 2, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 1 + ] + ], + "raw_bounds": [ + [ + 0.04174603149294853, + -0.01694606989622116, + 0.046666670590639114 + ], + [ + 0.05924279987812042, + 0.01694606989622116, + 0.07000000029802322 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006601233035326004, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b127aba843e6abe03ca806c492475589079f70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33326771715655923, + "parts": [ + { + "vertices_raw": [ + [ + -0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ], + [ + -0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.28176426887512207, + -0.9568561911582947, + 0.07095915824174881, + -0.03156288340687752 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995805621147156, + 0.0, + -0.02896241843700409, + 0.04375589266419411 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.28176426887512207, + 0.9568561911582947, + 0.07095915079116821, + -0.03156288340687752 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9991782903671265, + 0.0, + 0.04053110256791115, + -0.06123359873890877 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.058444444090127945, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.015502017922699451, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006344947032630444, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json new file mode 100644 index 0000000000000000000000000000000000000000..0ecbdc5823b151cfd52efd850b3dc9d1df895796 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3347339383326471, + "parts": [ + { + "vertices_raw": [ + [ + -0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.03696296364068985, + 0.014526070095598698, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.08958486467599869, + -0.9932065010070801, + 0.0742654949426651, + -0.024410808458924294 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.10197293758392334, + 0.992454469203949, + 0.06808596849441528, + -0.02440803125500679 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + -0.01738208346068859, + 0.026260580867528915 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06865190714597702, + 0.9948905110359192, + 0.07402486354112625, + -0.0238984152674675 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9995805621147156, + 0.0, + 0.02896241843700409, + -0.04375589266419411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04174603149294853, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + 0.017084399238228798, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006266911514103413, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json new file mode 100644 index 0000000000000000000000000000000000000000..234b8e680e85e52065037b5f01b362072fd1bd65 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33616159530356526, + "parts": [ + { + "vertices_raw": [ + [ + -0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.020534979179501534, + 0.015484628267586231, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.013226684182882309, + -0.9971567988395691, + 0.07418530434370041, + -0.022571271285414696 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0163465216755867, + 0.997177243232727, + 0.07328294962644577, + -0.022575421258807182 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999831914901733, + 0.0, + -0.005794792901724577, + 0.008754702284932137 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.007959515787661076, + 0.997214674949646, + 0.07415908575057983, + -0.022526461631059647 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + 0.01738208346068859, + -0.026260580867528915 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.02504761889576912, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008213992230594158, + 0.01731710322201252, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000593006145209074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json new file mode 100644 index 0000000000000000000000000000000000000000..64048176124897e8f4bd9aa1e1fe3ab53839ede0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33744643721729517, + "parts": [ + { + "vertices_raw": [ + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + -0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008283362723886967, + 0.016463851556181908, + 0.08166667073965073 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.0, + 0.01732001267373562, + 0.07000000029802322 + ], + [ + -0.008283362723886967, + 0.016463851556181908, + 0.08166667073965073 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + 0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + -0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 2, + 5, + 4, + 10, + 3, + 0, + 8, + 7, + 11, + 12, + 12, + 1, + 0, + 11, + 6, + 5, + 2, + 1, + 12, + 11, + 7, + 6, + 10, + 4, + 9, + 8, + 0, + 3, + 10, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0009958917507901788, + 0.9972657561302185, + 0.07389164716005325, + -0.0224450696259737 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.00011710215039784089, + -0.9972373843193054, + 0.07428020983934402, + -0.022471778094768524 + ] + }, + { + "index_base": 10, + "num_vertices": 5, + "plane": [ + 0.9999834299087524, + 0.0, + 0.005764563102275133, + -0.00875258818268776 + ] + }, + { + "index_base": 15, + "num_vertices": 5, + "plane": [ + -0.9999830722808838, + 0.0, + 0.005825023632496595, + -0.008757522329688072 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + -0.0003475119883660227, + -0.9972494840621948, + 0.07411756366491318, + -0.02246060222387314 + ] + }, + { + "index_base": 23, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + -0.0003475384437479079, + 0.9973360896110535, + 0.07294297218322754, + -0.022379882633686066 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.0003136299201287329, + 0.9971615076065063, + 0.07529164105653763, + -0.022568535059690475 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 5, + 4 + ], + [ + 2, + 4, + 10 + ], + [ + 2, + 10, + 3 + ], + [ + 0, + 8, + 7 + ], + [ + 0, + 7, + 11 + ], + [ + 0, + 11, + 12 + ], + [ + 12, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 11, + 5, + 2 + ], + [ + 11, + 2, + 1 + ], + [ + 11, + 1, + 12 + ], + [ + 11, + 7, + 6 + ], + [ + 10, + 4, + 9 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 9 + ] + ], + "raw_bounds": [ + [ + -0.008349206298589706, + -0.01732001267373562, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01732001267373562, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007278136909008026, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b55ce917aa1e0c8826e32f2bd9d42e1a982448 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3389356401748955, + "parts": [ + { + "vertices_raw": [ + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008349206298589706, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.008349206298589706, + 0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.020534979179501534, + 0.015484628267586231, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.013227622956037521, + -0.9972271919250488, + 0.07323238253593445, + -0.022494614124298096 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.011375615373253822, + 0.9971802234649658, + 0.07417631894350052, + -0.02255559153854847 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999831914901733, + 0.0, + -0.005794792901724577, + 0.008754702284932137 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.02630259282886982, + 0.9969527721405029, + 0.0734395980834961, + -0.022831927984952927 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + 0.01738208346068859, + -0.026260580867528915 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008213992230594158, + -0.01731710322201252, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.01731710322201252, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006732442416250706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json new file mode 100644 index 0000000000000000000000000000000000000000..304577adcf5ad2fe1d4f9e21691f428362b89788 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3404699880629778, + "parts": [ + { + "vertices_raw": [ + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02504761889576912, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.02504761889576912, + 0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.03696296364068985, + 0.014526070095598698, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.08958487212657928, + -0.9932065010070801, + 0.0742654949426651, + -0.024410808458924294 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.06999999284744263 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.08330292999744415, + 0.9937582612037659, + 0.07419668138027191, + -0.024258071556687355 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + -0.01738208346068859, + 0.026260580867528915 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.13368090987205505, + 0.9886365532875061, + 0.06875413656234741, + -0.025719299912452698 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9995805621147156, + 0.0, + 0.02896241843700409, + -0.04375589266419411 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.0246419757604599, + -0.017084399238228798, + 0.07000000029802322 + ], + [ + 0.04174603149294853, + 0.017084399238228798, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006573768332600594, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json new file mode 100644 index 0000000000000000000000000000000000000000..e8904e7e32f50e834ac8390d71b9522ec8578667 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3419045018963516, + "parts": [ + { + "vertices_raw": [ + [ + 0.058444444090127945, + -0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.04174603149294853, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.04174603149294853, + 0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.058444444090127945, + 0.010336006991565228, + 0.07000000029802322 + ], + [ + 0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.28176426887512207, + -0.9568561911582947, + 0.07095915079116821, + -0.03156288340687752 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995805621147156, + 0.0, + -0.02896241843700409, + 0.04375589266419411 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.07000000029802322 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9991782903671265, + 0.0, + 0.04053110256791115, + -0.06123359873890877 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.28176426887512207, + 0.9568561911582947, + 0.07095915824174881, + -0.03156288340687752 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.09333332628011703 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.04106995835900307, + -0.015502017922699451, + 0.07000000029802322 + ], + [ + 0.058444444090127945, + 0.015502017922699451, + 0.09333332628011703 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006380919367074966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json new file mode 100644 index 0000000000000000000000000000000000000000..2290f2b6c8354cf0929ce7007cf1acf6a5b6557e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34334419621154666, + "parts": [ + { + "vertices_raw": [ + [ + -0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ], + [ + -0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.2533871829509735, + -0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995355606079102, + 0.0, + -0.030472012236714363, + 0.0438949391245842 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.2533871829509735, + 0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9990904331207275, + 0.0, + 0.04264181852340698, + -0.06142554432153702 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.057497940957546234, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.013970732688903809, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006492342799901962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json new file mode 100644 index 0000000000000000000000000000000000000000..b9e8ce00ae6c7fc631c47caaf3ffc39fa354bffc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04", + "index": 167, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3447866030037403, + "parts": [ + { + "vertices_raw": [ + [ + -0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.03632275015115738, + 0.012807857245206833, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.0799655020236969, + -0.993620753288269, + 0.07951882481575012, + -0.024670448154211044 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.09152571111917496, + 0.9931430816650391, + 0.07273166626691818, + -0.024422181770205498 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9998327493667603, + 0.0, + -0.01828872226178646, + 0.02634480409324169 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.06043737381696701, + 0.995019257068634, + 0.07927148044109344, + -0.024187657982110977 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9995355606079102, + 0.0, + 0.030472012236714363, + -0.0438949391245842 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.04106995835900307, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + 0.015376273542642593, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006312727928161621, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json new file mode 100644 index 0000000000000000000000000000000000000000..7c2c864d2ddc7250698de7726eb053a1efed58c5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08", + "index": 168, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34622800908982754, + "parts": [ + { + "vertices_raw": [ + [ + -0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.020179307088255882, + 0.013636996038258076, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.011796791106462479, + -0.9967597126960754, + 0.07956680655479431, + -0.023055613040924072 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.014633716084063053, + 0.9968008995056152, + 0.07857361435890198, + -0.02302122488617897 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999814033508301, + 0.0, + -0.006097160279750824, + 0.008782906457781792 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.007003269158303738, + 0.9968070387840271, + 0.07954134792089462, + -0.023014597594738007 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998327493667603, + 0.0, + 0.01828872226178646, + -0.02634480409324169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.0246419757604599, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008071722462773323, + 0.015582971274852753, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005297199822962284, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json new file mode 100644 index 0000000000000000000000000000000000000000..64412c3ec89404ecf5d82bb47bc445c63e53636a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json @@ -0,0 +1,344 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12", + "index": 169, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34757826291024685, + "parts": [ + { + "vertices_raw": [ + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + -0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0, + 0.015585554763674736, + 0.09333332628011703 + ], + [ + -0.008142856881022453, + 0.01467064954340458, + 0.10499999672174454 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + 0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008142856881022453, + 0.01467064954340458, + 0.10499999672174454 + ], + [ + -0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + -0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 4, + 5, + 6, + 7, + 8, + 9, + 0, + 1, + 2, + 3, + 10, + 1, + 0, + 11, + 6, + 5, + 4, + 2, + 1, + 10, + 11, + 5, + 7, + 6, + 11, + 10, + 0, + 12, + 3, + 2, + 4, + 9, + 12, + 9, + 8, + 12, + 8, + 7, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0013776461128145456, + 0.9968628883361816, + 0.0791359543800354, + -0.022922683507204056 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0001057285480783321, + -0.9968231320381165, + 0.07964687794446945, + -0.022969748824834824 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.0003135273000225425, + -0.9968345761299133, + 0.07950276881456375, + -0.022956479340791702 + ] + }, + { + "index_base": 13, + "num_vertices": 3, + "plane": [ + -0.00031356498948298395, + 0.9969562292098999, + 0.07796287536621094, + -0.02281465008854866 + ] + }, + { + "index_base": 16, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.09333331882953644 + ] + }, + { + "index_base": 22, + "num_vertices": 5, + "plane": [ + -0.9999814033508301, + 0.0, + 0.0060971686616539955, + -0.008782908320426941 + ] + }, + { + "index_base": 27, + "num_vertices": 5, + "plane": [ + 0.9999814033508301, + 0.0, + 0.0060971686616539955, + -0.008782908320426941 + ] + }, + { + "index_base": 32, + "num_vertices": 3, + "plane": [ + 0.0002760032075457275, + 0.9967106580734253, + 0.0810418650507927, + -0.023134037852287292 + ] + }, + { + "index_base": 35, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 8 + ], + [ + 4, + 8, + 9 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 10, + 1, + 0 + ], + [ + 11, + 6, + 5 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 10 + ], + [ + 4, + 10, + 11 + ], + [ + 4, + 11, + 5 + ], + [ + 7, + 6, + 11 + ], + [ + 7, + 11, + 10 + ], + [ + 7, + 10, + 0 + ], + [ + 12, + 3, + 2 + ], + [ + 12, + 2, + 4 + ], + [ + 12, + 4, + 9 + ], + [ + 12, + 9, + 8 + ], + [ + 12, + 8, + 7 + ], + [ + 12, + 7, + 0 + ], + [ + 12, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008213992230594158, + -0.015585554763674736, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015585554763674736, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0018235472962260246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json new file mode 100644 index 0000000000000000000000000000000000000000..971e6009025d155f1ff098bb9ed0ee41d53ac137 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16", + "index": 170, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3503726231865585, + "parts": [ + { + "vertices_raw": [ + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.008213992230594158, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.008213992230594158, + 0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.020179307088255882, + 0.013636996038258076, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0117977699264884, + -0.9968423247337341, + 0.07852499186992645, + -0.022947438061237335 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.01019156165421009, + 0.996778130531311, + 0.07955849170684814, + -0.02304193750023842 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999814033508301, + 0.0, + -0.006097160279750824, + 0.008782906457781792 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.023144857957959175, + 0.9966283440589905, + 0.0787157416343689, + -0.023241568356752396 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998327493667603, + 0.0, + 0.01828872226178646, + -0.02634480409324169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.008071722462773323, + -0.015582971274852753, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015582971274852753, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005778525955975056, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbc211ecbe1157e68508049630311bb888d22aa --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20", + "index": 171, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35167849995195866, + "parts": [ + { + "vertices_raw": [ + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.0246419757604599, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.0246419757604599, + 0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.03632275015115738, + 0.012807857245206833, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.0799655020236969, + -0.993620753288269, + 0.07951882481575012, + -0.024670450016856194 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.07458075881004333, + 0.9940446615219116, + 0.07945362478494644, + -0.02453819289803505 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998327493667603, + 0.0, + -0.01828872226178646, + 0.02634480409324169 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.11787004768848419, + 0.9903174042701721, + 0.07333580404520035, + -0.0255210530012846 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9995355606079102, + 0.0, + 0.030472012236714363, + -0.0438949391245842 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.02421516738831997, + -0.015376273542642593, + 0.09333332628011703 + ], + [ + 0.04106995835900307, + 0.015376273542642593, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005804351530969143, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json new file mode 100644 index 0000000000000000000000000000000000000000..837924468311da11787484b4ceaa46dec64793dc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24", + "index": 172, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.353133334312588, + "parts": [ + { + "vertices_raw": [ + [ + 0.057497940957546234, + -0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.04106995835900307, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.04106995835900307, + 0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.057497940957546234, + 0.009382055141031742, + 0.09333332628011703 + ], + [ + 0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.2533871829509735, + -0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995355606079102, + 0.0, + -0.030472012236714363, + 0.0438949391245842 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.09333332628011703 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9990904331207275, + 0.0, + 0.04264181852340698, + -0.06142554432153702 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.2533871829509735, + 0.9644030332565308, + 0.07564220577478409, + -0.03093995526432991 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.11666666716337204 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.040358614176511765, + -0.013970732688903809, + 0.09333332628011703 + ], + [ + 0.057497940957546234, + 0.013970732688903809, + 0.11666666716337204 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006045317277312279, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json new file mode 100644 index 0000000000000000000000000000000000000000..588c9b64d70d4751d80d4c3bd310eccfcc88eb95 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00", + "index": 173, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35465848119929433, + "parts": [ + { + "vertices_raw": [ + [ + -0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ], + [ + -0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 5, + 4, + 6, + 7, + 6, + 0, + 3, + 7, + 3, + 2, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.22045263648033142, + -0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.9995805025100708, + 0.0, + -0.028962410986423492, + 0.04372062906622887 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.22045263648033142, + 0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9991782903671265, + 0.0, + 0.040531087666749954, + -0.06118425354361534 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05650205910205841, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.0396825410425663, + 0.012327498756349087, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006851684302091599, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json new file mode 100644 index 0000000000000000000000000000000000000000..5ecfb6a8a40b18d2046c9395ea0a59e6337cc238 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04", + "index": 174, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35645526507869363, + "parts": [ + { + "vertices_raw": [ + [ + -0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.06904344260692596, + -0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + -0.017382077872753143, + 0.026239417493343353 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.06904344260692596, + 0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9995805025100708, + 0.0, + 0.028962410986423492, + -0.04372062906622887 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.040358614176511765, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.013543270528316498, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007854169234633446, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json new file mode 100644 index 0000000000000000000000000000000000000000..0845a8bafd2ad602991ef541f375be88977aa94e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08", + "index": 175, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35817946633324027, + "parts": [ + { + "vertices_raw": [ + [ + -0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.01984127052128315, + 0.01161818765103817, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 6, + 3, + 2, + 8, + 7, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 5, + 4, + 6, + 7, + 8, + 2, + 1, + 5, + 8, + 5, + 7, + 6, + 4, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + -0.0101770656183362, + -0.9961678981781006, + 0.08686713874340057, + -0.023886121809482574 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.012707267887890339, + 0.9962371587753296, + 0.08573319762945175, + -0.023802224546670914 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999832510948181, + 0.0, + -0.005794791504740715, + 0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + -0.005904294550418854, + 0.9962042570114136, + 0.08684553951025009, + -0.02384961023926735 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + 0.017382077872753143, + -0.026239417493343353 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 3, + 2 + ], + [ + 6, + 2, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 5, + 4, + 6 + ], + [ + 5, + 6, + 7 + ], + [ + 8, + 2, + 1 + ], + [ + 8, + 1, + 5 + ], + [ + 8, + 5, + 7 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.02421516738831997, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + 0.01372206024825573, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.001013314351439476, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json new file mode 100644 index 0000000000000000000000000000000000000000..2349cb88a2943f14839c32ddce618f30db3aa631 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12", + "index": 176, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36004121601581573, + "parts": [ + { + "vertices_raw": [ + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + -0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.0, + 0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + 0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 2, + 1, + 4, + 5, + 6, + 7, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 8, + 9, + 6, + 5, + 8, + 5, + 4, + 0, + 10, + 3, + 2, + 7, + 10, + 7, + 6, + 9, + 10, + 9, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 9.299373778048903e-05, + -0.9962136149406433, + 0.08693920075893402, + -0.02381523698568344 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.00027586863143369555, + -0.9962244033813477, + 0.08681468665599823, + -0.023800857365131378 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.0002544356684666127, + 0.9962231516838074, + 0.0868292823433876, + -0.02380254492163658 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999832510948181, + 0.0, + 0.005794791504740715, + -0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9999832510948181, + 0.0, + 0.005794791504740715, + -0.008747645653784275 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + 0.00025443595950491726, + 0.9962244033813477, + 0.08681455999612808, + -0.023800669237971306 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 0.9999999403953552, + -0.13999998569488525 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 9, + 6 + ], + [ + 8, + 6, + 5 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 7 + ], + [ + 10, + 7, + 6 + ], + [ + 10, + 6, + 9 + ], + [ + 10, + 9, + 8 + ], + [ + 10, + 8, + 0 + ], + [ + 10, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + -0.008071722462773323, + -0.013724295422434807, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.013724295422434807, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007319068536162376, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json new file mode 100644 index 0000000000000000000000000000000000000000..d24f8df39cc4a365a4f05c0a60e5c8da8d20d699 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16", + "index": 177, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.361576019320637, + "parts": [ + { + "vertices_raw": [ + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.008071722462773323, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.008071722462773323, + 0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.01984127052128315, + 0.01161818765103817, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 8, + 7, + 6, + 2, + 1, + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 4, + 5, + 6, + 7, + 6, + 5, + 3, + 2, + 8, + 4, + 7, + 8, + 1, + 0, + 4 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.010178105905652046, + -0.996269702911377, + 0.08569203317165375, + -0.0237366184592247 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.008855986408889294, + 0.9961811304092407, + 0.08686062693595886, + -0.023874878883361816 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9999832510948181, + 0.0, + -0.005794791504740715, + 0.008747645653784275 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.019514495506882668, + 0.9961177110671997, + 0.08584129810333252, + -0.023978056386113167 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.9998489022254944, + 0.0, + 0.017382077872753143, + -0.026239417493343353 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 2 + ], + [ + 8, + 2, + 1 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 6, + 5, + 3 + ], + [ + 6, + 3, + 2 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 1, + 0 + ], + [ + 8, + 0, + 4 + ] + ], + "raw_bounds": [ + [ + 0.007936508394777775, + -0.01372206024825573, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.01372206024825573, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007370086386799812, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json new file mode 100644 index 0000000000000000000000000000000000000000..d218d39efa2cb4f68d4bf99bffd0d2c922d2da07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20", + "index": 178, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36304307729005814, + "parts": [ + { + "vertices_raw": [ + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.02421516738831997, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.02421516738831997, + 0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 7, + 1, + 0, + 4, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.06904344260692596, + -0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9998489022254944, + 0.0, + -0.017382077872753143, + 0.026239417493343353 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9995805025100708, + 0.0, + 0.028962410986423492, + -0.04372062906622887 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.06904344260692596, + 0.9938557744026184, + 0.08650817722082138, + -0.025224577635526657 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.02380952425301075, + -0.013543270528316498, + 0.11666666716337204 + ], + [ + 0.040358614176511765, + 0.013543270528316498, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000610788818448782, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json new file mode 100644 index 0000000000000000000000000000000000000000..bf19a4caeddd488910357fa4fdc1d484b3e9dc21 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24", + "index": 179, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3644479629583657, + "parts": [ + { + "vertices_raw": [ + [ + 0.05650205910205841, + -0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.040358614176511765, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.040358614176511765, + 0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.05650205910205841, + 0.008358362130820751, + 0.11666666716337204 + ], + [ + 0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 2, + 4, + 5, + 3, + 6, + 0, + 3, + 5, + 7, + 1, + 0, + 6, + 6, + 5, + 4, + 7, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.22045263648033142, + -0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + -0.9995805025100708, + 0.0, + -0.028962410986423492, + 0.04372062906622887 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.11666666716337204 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9991782903671265, + 0.0, + 0.040531087666749954, + -0.06118425354361534 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.22045263648033142, + 0.9720133543014526, + 0.0811828002333641, + -0.030350983142852783 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.14000000059604645 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 6, + 5, + 4 + ], + [ + 6, + 4, + 7 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.0396825410425663, + -0.012327498756349087, + 0.11666666716337204 + ], + [ + 0.05650205910205841, + 0.012327498756349087, + 0.14000000059604645 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005434583872556686, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json new file mode 100644 index 0000000000000000000000000000000000000000..3abcabceb73cf41f9ab28a4cf297136d5db7d2b1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00", + "index": 180, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3656473830342293, + "parts": [ + { + "vertices_raw": [ + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ], + [ + -0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 6, + 4, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.9997015595436096, + 0.0, + -0.0244321059435606, + 0.043091192841529846 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.2027236372232437, + -0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.15897104144096375, + -0.9832512736320496, + 0.08913552016019821, + -0.02914297953248024 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.15897104144096375, + 0.9832512736320496, + 0.08913551270961761, + -0.02914297766983509 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.2027236372232437, + 0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9994151592254639, + 0.0, + 0.034195248037576675, + -0.060310401022434235 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.0555555559694767, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.039112288504838943, + 0.010532026179134846, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005317800678312778, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json new file mode 100644 index 0000000000000000000000000000000000000000..db5da4c82081e8363eb40ef43a8d8e51b8e95872 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04", + "index": 181, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36683115316554904, + "parts": [ + { + "vertices_raw": [ + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 0, + 3, + 1, + 0, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.05622124299407005, + -0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9998924732208252, + 0.0, + -0.014662127941846848, + 0.025859661400318146 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.05622124299407005, + 0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9997015595436096, + 0.0, + 0.0244321059435606, + -0.043091192841529846 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 1, + 0, + 5 + ], + [ + 1, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.0396825410425663, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.023467371240258217, + 0.011540447361767292, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005244356580078602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff6ff090160f65a5915f640c3995de58665ea7c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08", + "index": 182, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36798718525096774, + "parts": [ + { + "vertices_raw": [ + [ + -0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 2, + 1, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 0, + 3, + 7, + 3, + 2, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.00828012079000473, + -0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13999998569488525 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999880790710449, + 0.0, + -0.004887829534709454, + 0.00862070918083191 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.008280114270746708, + 0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9998924732208252, + 0.0, + 0.014662127941846848, + -0.025859661400318146 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 6 + ] + ], + "raw_bounds": [ + [ + -0.02380952425301075, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007822457700967789, + 0.011688744649291039, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0004642191343009472, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json new file mode 100644 index 0000000000000000000000000000000000000000..421bf22aac2e062a9a026576932c5a1b25c2e255 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12", + "index": 183, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3691855282522738, + "parts": [ + { + "vertices_raw": [ + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0, + -0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + -0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.0, + 0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0, + 0.009399118833243847, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 2, + 1, + 4, + 5, + 6, + 7, + 0, + 1, + 2, + 3, + 4, + 1, + 0, + 8, + 3, + 2, + 7, + 7, + 6, + 9, + 8, + 9, + 6, + 5, + 10, + 10, + 5, + 4, + 0, + 10, + 0, + 3, + 8, + 9 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 7.821640610927716e-05, + -0.9952038526535034, + 0.09782222658395767, + -0.02532964199781418 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.0002324021770618856, + -0.9952139854431152, + 0.09771908074617386, + -0.025315318256616592 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.9999880790710449, + 0.0, + 0.004887829534709454, + -0.00862070918083191 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0002069678157567978, + 0.9952123761177063, + 0.09773610532283783, + -0.025317683815956116 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + -0.0002069681795546785, + 0.99521404504776, + 0.0977189689874649, + -0.02531510218977928 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + -0.9999880790710449, + 0.0, + 0.004887829534709454, + -0.00862070918083191 + ] + }, + { + "index_base": 29, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 2, + 5, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 7, + 6, + 9 + ], + [ + 7, + 9, + 8 + ], + [ + 9, + 6, + 5 + ], + [ + 9, + 5, + 10 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 0 + ], + [ + 10, + 0, + 3 + ], + [ + 10, + 3, + 8 + ], + [ + 10, + 8, + 9 + ] + ], + "raw_bounds": [ + [ + -0.007936508394777775, + -0.011690597981214523, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011690597981214523, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.000552379060536623, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json new file mode 100644 index 0000000000000000000000000000000000000000..3632a203e901abcccd187af3ccd4557ab9ded88a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16", + "index": 184, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37057207617908716, + "parts": [ + { + "vertices_raw": [ + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007936508394777775, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.007936508394777775, + 0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 2, + 6, + 5, + 3, + 7, + 1, + 0, + 4, + 4, + 5, + 6, + 7, + 7, + 6, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.008280114270746708, + -0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -0.9999999403953552, + 0.13999998569488525 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999880790710449, + 0.0, + -0.004887829534709454, + 0.00862070918083191 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.9998924732208252, + 0.0, + 0.014662127941846848, + -0.025859661400318146 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.00828012079000473, + 0.9951760768890381, + 0.09775470197200775, + -0.025383733212947845 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 4, + 3, + 5 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 3 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.007822457700967789, + -0.011688744649291039, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011688744649291039, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005588093772530556, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e8897aac5b7e911ed21ae029b2c5434fa9df36 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20", + "index": 185, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37204794911667705, + "parts": [ + { + "vertices_raw": [ + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + 0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.0352010577917099, + 0.008815091103315353, + 0.16333332657814026 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.02380952425301075, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 8, + 3, + 2, + 7, + 6, + 0, + 1, + 2, + 3, + 4, + 5, + 1, + 0, + 6, + 7, + 5, + 4, + 2, + 1, + 5, + 7, + 8, + 6, + 4, + 0, + 8, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.05317671597003937, + 0.9938722252845764, + 0.09690253436565399, + -0.026302197948098183 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + 0.05622124299407005, + -0.9937019944190979, + 0.09693072736263275, + -0.026376668363809586 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + -0.9998924732208252, + 0.0, + -0.014662127941846848, + 0.025859661400318146 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.9997015595436096, + 0.0, + 0.0244321059435606, + -0.043091192841529846 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.07772630453109741, + 0.993083119392395, + 0.08800238370895386, + -0.0258638896048069 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 8, + 3, + 2 + ], + [ + 8, + 2, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 6, + 7, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 2, + 1, + 5 + ], + [ + 2, + 5, + 7 + ], + [ + 8, + 6, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023467371240258217, + -0.011540447361767292, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.011540447361767292, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006504040211439133, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json new file mode 100644 index 0000000000000000000000000000000000000000..14110cc29cdc95b4dc4f04bad5668840e84c274e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24", + "index": 186, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3735079630278051, + "parts": [ + { + "vertices_raw": [ + [ + 0.05084597319364548, + 0.006856759078800678, + 0.16333332657814026 + ], + [ + 0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.0555555559694767, + 0.007239828817546368, + 0.14000000059604645 + ], + [ + 0.0396825410425663, + 0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.0396825410425663, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.0555555559694767, + -0.007239828817546368, + 0.14000000059604645 + ] + ], + "indices_raw": [ + 1, + 0, + 7, + 5, + 4, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 0, + 3, + 7, + 3, + 6, + 5, + 8, + 4, + 6, + 8, + 6, + 3, + 2, + 1, + 4, + 8, + 2 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.16333332657814026 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.2058468610048294, + 0.9767553806304932, + 0.05980103835463524, + -0.026879625394940376 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.15897104144096375, + -0.9832512736320496, + 0.08913551270961761, + -0.02914297766983509 + ] + }, + { + "index_base": 12, + "num_vertices": 3, + "plane": [ + 0.1388813555240631, + 0.986309826374054, + 0.08890972286462784, + -0.028346367180347443 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + -0.9997015595436096, + 0.0, + -0.0244321059435606, + 0.043091192841529846 + ] + }, + { + "index_base": 19, + "num_vertices": 3, + "plane": [ + 0.2027236372232437, + -0.9774126410484314, + 0.0597296766936779, + -0.026700880378484726 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.14000000059604645 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.9994151592254639, + 0.0, + 0.034195248037576675, + -0.060310401022434235 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 1, + 0, + 7 + ], + [ + 1, + 7, + 5 + ], + [ + 1, + 5, + 4 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 8, + 4, + 6 + ], + [ + 8, + 6, + 3 + ], + [ + 8, + 3, + 2 + ], + [ + 1, + 4, + 8 + ], + [ + 1, + 8, + 2 + ] + ], + "raw_bounds": [ + [ + 0.039112288504838943, + -0.010532026179134846, + 0.14000000059604645 + ], + [ + 0.0555555559694767, + 0.010532026179134846, + 0.16333332657814026 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006027300842106342, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json new file mode 100644 index 0000000000000000000000000000000000000000..eb0781021b9af1af308450f3257072486694ac0c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00", + "index": 187, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37495381012558937, + "parts": [ + { + "vertices_raw": [ + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + -0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 3, + 0, + 4, + 5, + 0, + 1, + 2, + 3, + 1, + 0, + 6, + 4, + 0, + 2, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 2, + 1, + 7, + 1, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + -0.01687842234969139, + 0.041863519698381424 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.15923957526683807, + -0.9849122166633606, + 0.06775414943695068, + -0.025675322860479355 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + -0.10295261442661285, + -0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + -0.10295261442661285, + 0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + -0.15923957526683807, + 0.9849121570587158, + 0.06775414198637009, + -0.025675320997834206 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + -0.9997208714485168, + 0.0, + 0.023626530542969704, + -0.05860091745853424 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 0, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 1, + 0 + ], + [ + 6, + 4, + 0 + ], + [ + 6, + 0, + 2 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + -0.05475720018148422, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.03871840238571167, + 0.00850896816700697, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007079183124005795, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json new file mode 100644 index 0000000000000000000000000000000000000000..70a669930d54a3ee123ea1f6224cef0c8bf8ccaf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json @@ -0,0 +1,223 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04", + "index": 188, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37635841593146324, + "parts": [ + { + "vertices_raw": [ + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 0, + 3, + 1, + 0, + 5, + 6, + 7, + 6, + 5, + 4, + 7, + 4, + 3, + 2, + 7, + 2, + 1, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.040438901633024216, + -0.9924412965774536, + 0.11586611717939377, + -0.0290873721241951 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + 0.9999486804008484, + 0.0, + -0.010127929039299488, + 0.02512039616703987 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + -0.040438901633024216, + 0.9924412965774536, + 0.11586611717939377, + -0.029087375849485397 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + 0.01687842234969139, + -0.041863519698381424 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 0 + ], + [ + 4, + 0, + 3 + ], + [ + 1, + 0, + 5 + ], + [ + 1, + 5, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 3 + ], + [ + 7, + 3, + 2 + ], + [ + 7, + 2, + 1 + ], + [ + 7, + 1, + 6 + ] + ], + "raw_bounds": [ + [ + -0.039112288504838943, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.009283754974603653, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005151950754225254, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json new file mode 100644 index 0000000000000000000000000000000000000000..d7f7bc0e42c439be94c2d43763e9c9e0aeee21f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json @@ -0,0 +1,252 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08", + "index": 189, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3776065423153341, + "parts": [ + { + "vertices_raw": [ + [ + -0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.0077989050187170506, + -0.008766057901084423, + 0.1691666692495346 + ], + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 3, + 2, + 6, + 7, + 5, + 6, + 8, + 7, + 8, + 0, + 4, + 3, + 5, + 7, + 4, + 1, + 6, + 2, + 1, + 0, + 8, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + -0.01081851590424776, + -0.9926514029502869, + 0.12052483856678009, + -0.029174797236919403 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.9999945759773254, + 0.00024397540255449712, + -0.0032778880558907986, + 0.008355510421097279 + ] + }, + { + "index_base": 9, + "num_vertices": 4, + "plane": [ + -0.005950722843408585, + 0.9930775165557861, + 0.11730962246656418, + -0.028539760038256645 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.9999486804008484, + 0.0, + 0.010127929039299488, + -0.02512039616703987 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.9999918341636658, + 0.0, + -0.004037563223391771, + 0.008481862023472786 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 6 + ], + [ + 7, + 5, + 6 + ], + [ + 7, + 6, + 8 + ], + [ + 7, + 8, + 0 + ], + [ + 7, + 0, + 4 + ], + [ + 3, + 5, + 7 + ], + [ + 3, + 7, + 4 + ], + [ + 1, + 6, + 2 + ], + [ + 1, + 0, + 8 + ], + [ + 1, + 8, + 6 + ] + ], + "raw_bounds": [ + [ + -0.023467371240258217, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.0077436803840100765, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007059951312839985, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6a90227b9a5d3d3385786f67ab1dc27b5aa9c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12", + "index": 190, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3791340761817992, + "parts": [ + { + "vertices_raw": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0077989050187170506, + -0.008766057901084423, + 0.1691666692495346 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + -0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 4, + 7, + 1, + 0, + 8, + 5, + 4, + 0, + 8, + 0, + 3, + 2, + 6, + 5, + 8, + 2, + 8, + 3, + 2, + 1, + 7, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.0018218476325273514, + -0.9930950999259949, + 0.11729776114225388, + -0.028505690395832062 + ] + }, + { + "index_base": 4, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9930976033210754, + 0.1172918975353241, + -0.028490502387285233 + ] + }, + { + "index_base": 8, + "num_vertices": 4, + "plane": [ + -0.9999943375587463, + 0.0, + 0.003376150503754616, + -0.008373850956559181 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 16, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9927135109901428, + 0.12049823254346848, + -0.02908647060394287 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999943375587463, + 0.0, + 0.003376150503754616, + -0.008373850956559181 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9976787567138672, + -0.06715301424264908, + 0.011299580335617065, + -0.010280981659889221 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 4, + 7, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 8, + 5, + 4 + ], + [ + 8, + 4, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 2, + 6, + 5 + ], + [ + 2, + 5, + 8 + ], + [ + 2, + 8, + 3 + ], + [ + 2, + 1, + 7 + ], + [ + 2, + 7, + 6 + ] + ], + "raw_bounds": [ + [ + -0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006256205961108208, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json new file mode 100644 index 0000000000000000000000000000000000000000..50b47a6c74ec897cf729a4cdb9972b18ccfa7c20 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json @@ -0,0 +1,264 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16", + "index": 191, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38059200905263424, + "parts": [ + { + "vertices_raw": [ + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.02339671552181244, + -0.00866159051656723, + 0.1691666692495346 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.007822457700967789, + 0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 0, + 1, + 2, + 3, + 4, + 0, + 3, + 5, + 6, + 1, + 0, + 7, + 6, + 5, + 8, + 8, + 5, + 0, + 4, + 2, + 7, + 8, + 4, + 2, + 4, + 3, + 2, + 1, + 6, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.00512088555842638, + -0.9930824041366577, + 0.1173073947429657, + -0.028532950207591057 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.004655175376683474, + -0.992912232875824, + 0.11875896900892258, + -0.02879917621612549 + ] + }, + { + "index_base": 7, + "num_vertices": 4, + "plane": [ + -0.9999943375587463, + 0.0, + -0.003376150503754616, + 0.008373850956559181 + ] + }, + { + "index_base": 11, + "num_vertices": 4, + "plane": [ + 0.005950721446424723, + 0.9930775165557861, + 0.11730962246656418, + -0.028539758175611496 + ] + }, + { + "index_base": 15, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.9999486804008484, + 0.0, + 0.010127929039299488, + -0.025120394304394722 + ] + }, + { + "index_base": 23, + "num_vertices": 3, + "plane": [ + 0.9790915250778198, + -0.20068195462226868, + 0.033263180404901505, + -0.030272772535681725 + ] + }, + { + "index_base": 26, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 0, + 3 + ], + [ + 5, + 6, + 1 + ], + [ + 5, + 1, + 0 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 8, + 5, + 0 + ], + [ + 8, + 0, + 4 + ], + [ + 2, + 7, + 8 + ], + [ + 2, + 8, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ] + ], + "raw_bounds": [ + [ + 0.0077436803840100765, + -0.00939769484102726, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.00939769484102726, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006741238757967949, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json new file mode 100644 index 0000000000000000000000000000000000000000..faed897acde4af0702d0441d3674e03588f1a756 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json @@ -0,0 +1,293 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20", + "index": 192, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38222874607890844, + "parts": [ + { + "vertices_raw": [ + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.023467371240258217, + 0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.034846559166908264, + 0.006270579528063536, + 0.18666666746139526 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03879648074507713, + -0.006742853205651045, + 0.18083332479000092 + ], + [ + 0.023467371240258217, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 9, + 3, + 2, + 7, + 8, + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 4, + 6, + 1, + 0, + 2, + 1, + 6, + 7, + 8, + 5, + 4, + 7, + 6, + 5, + 8, + 9, + 8, + 4, + 0, + 9, + 0, + 3 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 5, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + }, + { + "index_base": 5, + "num_vertices": 4, + "plane": [ + 0.039082370698451996, + 0.9924964904785156, + 0.11585881561040878, + -0.029054857790470123 + ] + }, + { + "index_base": 9, + "num_vertices": 3, + "plane": [ + 0.04920884221792221, + -0.9936516284942627, + 0.1011682078242302, + -0.02690376155078411 + ] + }, + { + "index_base": 12, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + -0.9999486804008484, + 0.0, + -0.010127929039299488, + 0.02512039616703987 + ] + }, + { + "index_base": 20, + "num_vertices": 3, + "plane": [ + 0.9439366459846497, + -0.3263230621814728, + 0.04996723681688309, + -0.047857511788606644 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.031991805881261826, + -0.9927552342414856, + 0.11581708490848541, + -0.028884049504995346 + ] + }, + { + "index_base": 27, + "num_vertices": 4, + "plane": [ + 0.999857485294342, + 0.0, + 0.01687842234969139, + -0.041863519698381424 + ] + }, + { + "index_base": 31, + "num_vertices": 3, + "plane": [ + 0.05004690960049629, + 0.9932717084884644, + 0.10443487763404846, + -0.02746686339378357 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 7 + ], + [ + 9, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 4, + 5, + 6 + ], + [ + 4, + 6, + 1 + ], + [ + 4, + 1, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 7 + ], + [ + 8, + 5, + 4 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 8 + ], + [ + 9, + 8, + 4 + ], + [ + 9, + 4, + 0 + ], + [ + 9, + 0, + 3 + ] + ], + "raw_bounds": [ + [ + 0.023231040686368942, + -0.009283754974603653, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.009283754974603653, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006566853262484074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json new file mode 100644 index 0000000000000000000000000000000000000000..3f0db9ddee400713b801c33c38a494c954be65cf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24", + "index": 193, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3836486409418285, + "parts": [ + { + "vertices_raw": [ + [ + 0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.05475720018148422, + 0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.039112288504838943, + 0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.039112288504838943, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.05475720018148422, + -0.005979515146464109, + 0.16333332657814026 + ], + [ + 0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ] + ], + "indices_raw": [ + 3, + 2, + 4, + 5, + 0, + 1, + 2, + 3, + 0, + 2, + 6, + 4, + 2, + 1, + 7, + 5, + 4, + 7, + 4, + 6, + 7, + 6, + 1, + 0, + 7, + 0, + 3, + 5 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + -0.999857485294342, + 0.0, + -0.01687842234969139, + 0.041863519698381424 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.15923957526683807, + 0.9849122166633606, + 0.06775414943695068, + -0.025675322860479355 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.10295261442661285, + 0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.16333332657814026 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10295261442661285, + -0.9891397953033447, + 0.10489705204963684, + -0.029576456174254417 + ] + }, + { + "index_base": 17, + "num_vertices": 3, + "plane": [ + 0.15923957526683807, + -0.9849121570587158, + 0.06775414198637009, + -0.025675320997834206 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.9997208714485168, + 0.0, + 0.023626530542969704, + -0.05860091745853424 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.18666666746139526 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 6, + 4, + 2 + ], + [ + 6, + 2, + 1 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 1 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 7, + 3, + 5 + ] + ], + "raw_bounds": [ + [ + 0.03871840238571167, + -0.00850896816700697, + 0.16333332657814026 + ], + [ + 0.05475720018148422, + 0.00850896816700697, + 0.18666666746139526 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005478989332914352, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json new file mode 100644 index 0000000000000000000000000000000000000000..737ec1069aedf97238e1bd25ac178c032f853605 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00", + "index": 194, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38481702096760273, + "parts": [ + { + "vertices_raw": [ + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05400000140070915, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.05400000140070915, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 3, + 4, + 0, + 2, + 0, + 1, + 2, + 5, + 6, + 4, + 5, + 4, + 3, + 5, + 3, + 2, + 1, + 7, + 0, + 4, + 6, + 7, + 6, + 5, + 1, + 7, + 1, + 0 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + -0.10285229980945587, + -0.9881759881973267, + 0.11370828002691269, + -0.031211480498313904 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 10, + "num_vertices": 3, + "plane": [ + -0.10285230726003647, + 0.9881759881973267, + 0.1137082576751709, + -0.031211474910378456 + ] + }, + { + "index_base": 13, + "num_vertices": 4, + "plane": [ + -0.9999610781669617, + 0.0, + 0.008817900903522968, + -0.05584966018795967 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.9999802112579346, + 0.0, + -0.006298758555203676, + 0.03989340737462044 + ] + }, + { + "index_base": 21, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 25, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 4, + 0 + ], + [ + 3, + 0, + 2 + ], + [ + 0, + 1, + 2 + ], + [ + 5, + 6, + 4 + ], + [ + 5, + 4, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 5, + 2, + 1 + ], + [ + 7, + 0, + 4 + ], + [ + 7, + 4, + 6 + ], + [ + 7, + 6, + 5 + ], + [ + 7, + 5, + 1 + ], + [ + 7, + 1, + 0 + ] + ], + "raw_bounds": [ + [ + -0.0542057603597641, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.03857142850756645, + 0.006075493060052395, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005282899364829063, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json new file mode 100644 index 0000000000000000000000000000000000000000..5f2fa0cd98d5e41a8a3d87bf6d672828f6660887 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json @@ -0,0 +1,281 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04", + "index": 195, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38603217294439673, + "parts": [ + { + "vertices_raw": [ + [ + -0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023165784776210785, + -0.0048393490724265575, + 0.19833332300186157 + ], + [ + -0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 9, + 8, + 7, + 3, + 2, + 5, + 0, + 1, + 2, + 3, + 2, + 1, + 4, + 5, + 6, + 4, + 1, + 0, + 7, + 8, + 6, + 0, + 7, + 0, + 3, + 9, + 5, + 4, + 6, + 9, + 6, + 8 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999916553497314, + 0.0029921375680714846, + -0.0027446781750768423, + 0.023724433034658432 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + -0.04427662491798401, + -0.9826094508171082, + 0.18032781779766083, + -0.041345350444316864 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.9999802112579346, + 0.0, + 0.006298758555203676, + -0.03989340737462044 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 22, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9677008986473083, + 0.2521011233329773, + -0.05468309670686722 + ] + }, + { + "index_base": 25, + "num_vertices": 4, + "plane": [ + -0.043241310864686966, + 0.9826552867889404, + 0.18032969534397125, + -0.041305892169475555 + ] + }, + { + "index_base": 29, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9490499496459961, + 0.3151256740093231, + -0.06788468360900879 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 3 + ], + [ + 9, + 3, + 2 + ], + [ + 9, + 2, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 2, + 1, + 4 + ], + [ + 2, + 4, + 5 + ], + [ + 6, + 4, + 1 + ], + [ + 6, + 1, + 0 + ], + [ + 7, + 8, + 6 + ], + [ + 7, + 6, + 0 + ], + [ + 7, + 0, + 3 + ], + [ + 9, + 5, + 4 + ], + [ + 9, + 4, + 6 + ], + [ + 9, + 6, + 8 + ] + ], + "raw_bounds": [ + [ + -0.03871840238571167, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0231428574770689, + 0.006569250021129847, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005530621856451035, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json new file mode 100644 index 0000000000000000000000000000000000000000..5667c675039af65182ebcdf869b2c13dede8e517 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08", + "index": 196, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3872680189087987, + "parts": [ + { + "vertices_raw": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ], + [ + -0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + -0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 4, + 7, + 8, + 7, + 6, + 10, + 11, + 5, + 4, + 9, + 11, + 9, + 8, + 10, + 0, + 3, + 5, + 11, + 3, + 2, + 1, + 0, + 10, + 6 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999862909317017, + 0.0016494225710630417, + 0.004972145427018404, + -0.024169692769646645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + -0.0018121162429451942, + -0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + -0.0018121162429451942, + 0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 22, + "num_vertices": 6, + "plane": [ + 0.9999986886978149, + -0.0014184084720909595, + -0.0008119826670736074, + 0.007887344807386398 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + -0.003258385928347707, + 0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + -0.0032583782449364662, + -0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 8, + 7, + 6 + ], + [ + 8, + 6, + 10 + ], + [ + 11, + 5, + 4 + ], + [ + 11, + 4, + 9 + ], + [ + 11, + 9, + 8 + ], + [ + 11, + 8, + 10 + ], + [ + 11, + 10, + 0 + ], + [ + 11, + 0, + 3 + ], + [ + 5, + 11, + 3 + ], + [ + 5, + 3, + 2 + ], + [ + 1, + 0, + 10 + ], + [ + 1, + 10, + 6 + ] + ], + "raw_bounds": [ + [ + -0.023231040686368942, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077142855152487755, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0005266792140901089, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json new file mode 100644 index 0000000000000000000000000000000000000000..d89968a80bfa7a5d5468f3f2381f04b52a2c7680 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12", + "index": 197, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38854183489456773, + "parts": [ + { + "vertices_raw": [ + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + -0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + -0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + -0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 4, + 5, + 2, + 1, + 6, + 7, + 0, + 1, + 2, + 3, + 8, + 9, + 0, + 3, + 10, + 11, + 8, + 11, + 4, + 7, + 6, + 1, + 0, + 9, + 6, + 9, + 8, + 7, + 10, + 3, + 2, + 5, + 10, + 5, + 4, + 11 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999985098838806, + 0.0005449182935990393, + 0.0016579612856730819, + -0.008056774735450745 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 10, + "num_vertices": 6, + "plane": [ + 0.9999985098838806, + -0.0005449182935990393, + 0.0016579612856730819, + -0.008056774735450745 + ] + }, + { + "index_base": 16, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 20, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9867681860923767, + 0.16213755309581757, + -0.03681965172290802 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + 0.0, + -0.9476074576377869, + 0.3194371461868286, + -0.06878749281167984 + ] + }, + { + "index_base": 28, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9867681860923767, + 0.16213755309581757, + -0.03681965172290802 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0, + 0.9476074576377869, + 0.3194371461868286, + -0.06878749281167984 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 5, + 2 + ], + [ + 4, + 2, + 1 + ], + [ + 4, + 1, + 6 + ], + [ + 4, + 6, + 7 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 8, + 9, + 0 + ], + [ + 8, + 0, + 3 + ], + [ + 8, + 3, + 10 + ], + [ + 8, + 10, + 11 + ], + [ + 8, + 11, + 4 + ], + [ + 8, + 4, + 7 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 9 + ], + [ + 6, + 9, + 8 + ], + [ + 6, + 8, + 7 + ], + [ + 10, + 3, + 2 + ], + [ + 10, + 2, + 5 + ], + [ + 10, + 5, + 4 + ], + [ + 10, + 4, + 11 + ] + ], + "raw_bounds": [ + [ + -0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007223030552268028, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json new file mode 100644 index 0000000000000000000000000000000000000000..7bddceb2676ebbb2f75dfdb825a73c5326a94d80 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json @@ -0,0 +1,315 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16", + "index": 198, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38999622920528054, + "parts": [ + { + "vertices_raw": [ + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.0077162329107522964, + -0.003766406560316682, + 0.20416666567325592 + ], + [ + 0.0077436803840100765, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.0077436803840100765, + 0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077142855152487755, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0077162329107522964, + 0.003766406560316682, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 6, + 1, + 0, + 5, + 7, + 8, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 8, + 9, + 10, + 9, + 8, + 7, + 11, + 2, + 1, + 6, + 10, + 2, + 10, + 9, + 11, + 4, + 3, + 5, + 4, + 11, + 7 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + 0.9999862909317017, + -0.0016494225710630417, + 0.004972145427018404, + -0.024169692769646645 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.003258385928347707, + -0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 18, + "num_vertices": 4, + "plane": [ + 0.0018121162429451942, + 0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 22, + "num_vertices": 4, + "plane": [ + 0.0018121162429451942, + -0.9483287334442139, + 0.3172844648361206, + -0.0683646872639656 + ] + }, + { + "index_base": 26, + "num_vertices": 6, + "plane": [ + -0.9999986886978149, + 0.0014184084720909595, + -0.0008119826670736074, + 0.007887344807386398 + ] + }, + { + "index_base": 32, + "num_vertices": 4, + "plane": [ + 0.0032583782449364662, + 0.9867621064186096, + 0.16214166581630707, + -0.0368456095457077 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 8, + 9 + ], + [ + 6, + 9, + 10 + ], + [ + 9, + 8, + 7 + ], + [ + 9, + 7, + 11 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 10 + ], + [ + 2, + 10, + 9 + ], + [ + 2, + 9, + 11 + ], + [ + 2, + 11, + 4 + ], + [ + 2, + 4, + 3 + ], + [ + 5, + 4, + 11 + ], + [ + 5, + 11, + 7 + ] + ], + "raw_bounds": [ + [ + 0.0077142855152487755, + -0.00664186105132103, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.00664186105132103, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0007233638316392899, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json new file mode 100644 index 0000000000000000000000000000000000000000..94103994fc246893c0d11986f9fd6469391c5c41 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json @@ -0,0 +1,298 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20", + "index": 199, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3915247833356261, + "parts": [ + { + "vertices_raw": [ + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03858116641640663, + -0.003536389907822013, + 0.20416666567325592 + ], + [ + 0.02314869873225689, + -0.003736917395144701, + 0.20416666567325592 + ], + [ + 0.023231040686368942, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.023231040686368942, + 0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0231428574770689, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.0231428574770689, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.02314869873225689, + 0.003736917395144701, + 0.20416666567325592 + ] + ], + "indices_raw": [ + 4, + 3, + 2, + 9, + 8, + 10, + 0, + 1, + 2, + 3, + 0, + 3, + 4, + 5, + 6, + 1, + 0, + 5, + 7, + 6, + 7, + 8, + 9, + 2, + 1, + 6, + 9, + 10, + 8, + 7, + 7, + 5, + 4, + 10 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 6, + "plane": [ + -0.9999863505363464, + 0.001649422338232398, + -0.004972145427018404, + 0.024169694632291794 + ] + }, + { + "index_base": 6, + "num_vertices": 4, + "plane": [ + 0.022160092368721962, + -0.9868956804275513, + 0.1598309576511383, + -0.03683307766914368 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 14, + "num_vertices": 5, + "plane": [ + 0.9999560117721558, + -0.004107663407921791, + 0.008437697775661945, + -0.04031669348478317 + ] + }, + { + "index_base": 19, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 23, + "num_vertices": 4, + "plane": [ + 0.012393035925924778, + -0.9537602066993713, + 0.30031293630599976, + -0.06516489386558533 + ] + }, + { + "index_base": 27, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9490499496459961, + 0.3151256740093231, + -0.06788468360900879 + ] + }, + { + "index_base": 30, + "num_vertices": 4, + "plane": [ + 0.04324130341410637, + 0.9826552867889404, + 0.18032969534397125, + -0.041305892169475555 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 4, + 3, + 2 + ], + [ + 4, + 2, + 9 + ], + [ + 4, + 9, + 8 + ], + [ + 4, + 8, + 10 + ], + [ + 0, + 1, + 2 + ], + [ + 0, + 2, + 3 + ], + [ + 0, + 3, + 4 + ], + [ + 0, + 4, + 5 + ], + [ + 6, + 1, + 0 + ], + [ + 6, + 0, + 5 + ], + [ + 6, + 5, + 7 + ], + [ + 6, + 7, + 8 + ], + [ + 6, + 8, + 9 + ], + [ + 2, + 1, + 6 + ], + [ + 2, + 6, + 9 + ], + [ + 10, + 8, + 7 + ], + [ + 7, + 5, + 4 + ], + [ + 7, + 4, + 10 + ] + ], + "raw_bounds": [ + [ + 0.0231428574770689, + -0.006569250021129847, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006569250021129847, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006889579817652702, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json new file mode 100644 index 0000000000000000000000000000000000000000..94f4bd85d795f431910e65148222ea009735f998 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json @@ -0,0 +1,247 @@ +{ + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24", + "index": 200, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3929426851682365, + "parts": [ + { + "vertices_raw": [ + [ + 0.05400000140070915, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + -0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03871840238571167, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + -0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.03871840238571167, + 0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + 0.00446352269500494, + 0.18666666746139526 + ], + [ + 0.05400000140070915, + 0.0017999999690800905, + 0.20999999344348907 + ], + [ + 0.03857142850756645, + 0.0017999999690800905, + 0.20999999344348907 + ] + ], + "indices_raw": [ + 3, + 2, + 4, + 5, + 0, + 1, + 2, + 3, + 0, + 2, + 6, + 0, + 3, + 5, + 6, + 5, + 4, + 7, + 1, + 0, + 6, + 7, + 6, + 4, + 7, + 4, + 2, + 1 + ], + "polygons_raw": [ + { + "index_base": 0, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + -1.0, + 0.18666666746139526 + ] + }, + { + "index_base": 4, + "num_vertices": 3, + "plane": [ + 0.0, + -0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 7, + "num_vertices": 3, + "plane": [ + 0.10285230726003647, + -0.9881759881973267, + 0.1137082576751709, + -0.031211474910378456 + ] + }, + { + "index_base": 10, + "num_vertices": 4, + "plane": [ + 0.9999610781669617, + 0.0, + 0.008817900903522968, + -0.05584966018795967 + ] + }, + { + "index_base": 14, + "num_vertices": 3, + "plane": [ + 0.10285229980945587, + 0.9881759881973267, + 0.11370828002691269, + -0.031211480498313904 + ] + }, + { + "index_base": 17, + "num_vertices": 4, + "plane": [ + 0.0, + 0.0, + 1.0, + -0.20999999344348907 + ] + }, + { + "index_base": 21, + "num_vertices": 3, + "plane": [ + 0.0, + 0.9836236834526062, + 0.18023477494716644, + -0.03961982578039169 + ] + }, + { + "index_base": 24, + "num_vertices": 4, + "plane": [ + -0.9999802112579346, + 0.0, + -0.006298758555203676, + 0.03989340737462044 + ] + } + ], + "triangles_derived_by_convex_polygon_fan": [ + [ + 3, + 2, + 4 + ], + [ + 3, + 4, + 5 + ], + [ + 0, + 1, + 2 + ], + [ + 3, + 0, + 2 + ], + [ + 6, + 0, + 3 + ], + [ + 6, + 3, + 5 + ], + [ + 6, + 5, + 4 + ], + [ + 7, + 1, + 0 + ], + [ + 7, + 0, + 6 + ], + [ + 7, + 6, + 4 + ], + [ + 7, + 4, + 2 + ], + [ + 7, + 2, + 1 + ] + ], + "raw_bounds": [ + [ + 0.03857142850756645, + -0.006075493060052395, + 0.18666666746139526 + ], + [ + 0.0542057603597641, + 0.006075493060052395, + 0.20999999344348907 + ] + ], + "coordinate_space": "UNRESOLVED_UNTIL_SYNTHETIC_PROBES", + "raw_storage": "Python floats losslessly copied from callback Float3/Float4; original polygon buffer retained" + } + ], + "request_call_wall_s": 0.0006792689673602581, + "first_observed_frame": 14739, + "first_observed_tick": 44220 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json new file mode 100644 index 0000000000000000000000000000000000000000..13ead63d3f54d6d62b775ec43ecd7eaf97497d76 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json @@ -0,0 +1,50711 @@ +{ + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "root_layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "request_frame": 14739, + "request_tick": 44220, + "stage_meters_per_unit": 1.0, + "stage_up_axis": "Z", + "physics_scenes": { + "/World/PhysicsScene": { + "physics:gravityDirection": [ + 0.0, + 0.0, + -1.0 + ], + "physics:gravityMagnitude": 9.8100004196167, + "physxScene:bounceThreshold": 0.0, + "physxScene:broadphaseType": "MBP", + "physxScene:collisionSystem": "PCM", + "physxScene:enableCCD": true, + "physxScene:enableEnhancedDeterminism": false, + "physxScene:enableExternalForcesEveryIteration": false, + "physxScene:enableGPUDynamics": false, + "physxScene:enableResidualReporting": false, + "physxScene:enableSceneQuerySupport": true, + "physxScene:enableStabilization": false, + "physxScene:frictionCorrelationDistance": 0.02500000037252903, + "physxScene:frictionOffsetThreshold": 0.03999999910593033, + "physxScene:frictionType": "patch", + "physxScene:gpuCollisionStackSize": 67108864, + "physxScene:gpuFoundLostAggregatePairsCapacity": 1024, + "physxScene:gpuFoundLostPairsCapacity": 262144, + "physxScene:gpuHeapCapacity": 67108864, + "physxScene:gpuMaxDeformableSurfaceContacts": 1048576, + "physxScene:gpuMaxNumPartitions": 8, + "physxScene:gpuMaxParticleContacts": 1048576, + "physxScene:gpuMaxRigidContactCount": 524288, + "physxScene:gpuMaxRigidPatchCount": 81920, + "physxScene:gpuMaxSoftBodyContacts": 1048576, + "physxScene:gpuTempBufferCapacity": 16777216, + "physxScene:gpuTotalAggregatePairsCapacity": 1024, + "physxScene:invertCollisionGroupFilter": false, + "physxScene:maxBiasCoefficient": "inf", + "physxScene:maxPositionIterationCount": 255, + "physxScene:maxVelocityIterationCount": 255, + "physxScene:minPositionIterationCount": 1, + "physxScene:minVelocityIterationCount": 0, + "physxScene:reportKinematicKinematicPairs": false, + "physxScene:reportKinematicStaticPairs": false, + "physxScene:solverType": "TGS", + "physxScene:timeStepsPerSecond": 240, + "physxScene:updateType": "Synchronous" + } + }, + "context": { + "settings": { + "/physics/addMenuSelectionLimit": 1000, + "/physics/addMenuSubtreeLimit": 100000, + "/persistent/physics/autocreatePhysicsScene": true, + "/physics/autoPopupSimulationOutputWindow": false, + "/physics/collisionApproximateCones": false, + "/physics/collisionApproximateCylinders": false, + "/physics/cudaDevice": 0, + "/persistent/physics/visualizationQueryUsdrtForTraversal": false, + "/persistent/physics/visualizationSimplifyAtDistance": 2500.0, + "/physics/defaultSimulator": "PhysX", + "/physics/demoAssetsPath": "", + "/physics/disableContactProcessing": false, + "/physics/disableSleeping": false, + "/persistent/physics/visualizationDisplayAttachments": 0, + "/persistent/physics/visualizationDisplayAttachmentsHideActor0": false, + "/persistent/physics/visualizationDisplayAttachmentsHideActor1": false, + "/persistent/physics/visualizationDisplayColliders": 0, + "/persistent/physics/visualizationDisplayColliderNormals": false, + "/persistent/physics/visualizationDisplayDeformables": 0, + "/persistent/physics/visualizationDisplayDeformableAttachments": 0, + "/persistent/physics/visualizationDisplayDeformableBodies": 0, + "/persistent/physics/visualizationDisplayDeformableBodyType": 0, + "/persistent/physics/visualizationDisplayDeformableMeshType": 0, + "/persistent/physics/visualizationDisplayDeformableSurfaces": 0, + "/persistent/physics/visualizationDisplayJoints": false, + "/persistent/physics/visualizationDisplayMassProperties": 0, + "/persistent/physics/visualizationDisplayParticles": 0, + "/persistent/physics/visualizationDisplayParticlesParticlePositions": 0, + "/persistent/physics/visualizationDisplayParticlesParticleRadius": 2, + "/persistent/physics/visualizationDisplayParticlesShowDeformableMesh": false, + "/persistent/physics/visualizationDisplayParticlesClothMeshLines": false, + "/persistent/physics/visualizationDisplayParticlesShowDeformableParticles": true, + "/persistent/physics/visualizationDisplayParticlesShowDiffuseParticles": false, + "/persistent/physics/visualizationDisplayParticlesShowFluidSurface": false, + "/persistent/physics/visualizationDisplayParticlesShowParticleSetParticles": true, + "/persistent/physics/visualizationSimulationDataVisualizer": false, + "/persistent/physics/visualizationSimulationOutput": false, + "/persistent/physics/visualizationDisplayTendons": 0, + "/physics/enableAttachmentAuthoring": true, + "/persistent/physics/enableDeformableBeta": 0, + "/physics/enableExtendedJointAngles": false, + "/physics/enableParticleAuthoring": true, + "/physics/enableSynchronousKernelLaunches": false, + "/physics/exposePrimPathNames": true, + "/physics/exposeProfilerData": true, + "/physics/forceParseOnlySingleScene": null, + "/simulation/jointBodyTransformCheckTolerance": 0.0010000000474974513, + "/persistent/physics/localMeshCacheSizeMB": 1024, + "/physics/logRobotics": false, + "/physics/logSceneMultiGPU": false, + "/persistent/physics/massDistributionManipulator": false, + "/physics/maxNumberOfPhysXErrors": 1000, + "/persistent/simulation/minFrameRate": 60, + "/physics/mouseGrab": true, + "/physics/mouseGrabIgnoreInvisible": true, + "/physics/forceGrab": true, + "/physics/mouseInteractionEnabled": true, + "/physics/pickingForce": 1.0, + "/physics/mousePush": 1000.0, + "/physics/numEventPumpsForTestStageSetup": 3, + "/persistent/physics/numThreads": 8, + "/physics/omniPvdOutputEnabled": false, + "/physics/omniPvdIsOVDStage": false, + "/physics/omniPvdIsRecording": false, + "/persistent/physics/omniPvdOvdRecordingDirectory": "", + "/physics/outputVelocitiesLocalSpace": false, + "/persistent/physics/overrideGPUSettings": -1, + "/physics/developmentMode": false, + "/physics/sceneMultiGPUMode": 0, + "/physics/physxDispatcher": false, + "/persistent/physics/pvdDebug": true, + "/persistent/physics/pvdEnabled": false, + "/persistent/physics/pvdIP": "127.0.0.1", + "/persistent/physics/pvdMemory": true, + "/persistent/physics/pvdOutputDirectory": "", + "/persistent/physics/pvdProfile": true, + "/persistent/physics/pvdStreamToFile": false, + "/physics/resetOnStop": true, + "/physics/showCollisionGroupsWindow": false, + "/physics/simulateEmptyScene": false, + "/physics/suppressReadback": false, + "/physics/testsAssetsPath": "", + "/persistent/physics/testRunnerFilter": "", + "/physics/testRunnerRepeats": 1, + "/persistent/physics/testRunnerSelection": {}, + "/physics/testRunnerStatus": {}, + "/physics/cooking/ujitsoCollisionCooking": true, + "/physics/cooking/ujitsoCookingDevKey": 0, + "/persistent/physics/cooking/ujitsoCookingMaxProcessCount": 16, + "/physics/cooking/ujitsoRemoteCacheEnabled": false, + "/physics/updateParticlesToUsd": true, + "/physics/updateResidualsToUsd": true, + "/physics/updateToUsd": true, + "/physics/updateVelocitiesToUsd": true, + "/persistent/physics/useActiveCudaContext": false, + "/persistent/physics/useLocalMeshCache": true, + "/persistent/physics/visualizationCollisionMesh": null, + "/persistent/physics/visualizationGap": 0.20000000298023224 + }, + "versions": { + "omni.physx": { + "id": "omni.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.cooking": { + "id": "omni.physx.cooking-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.cooking-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.convexdecomposition": { + "id": "omni.convexdecomposition-107.3.26", + "path": "/isaac-sim/extscache/omni.convexdecomposition-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.usd.schema.physx": { + "id": "omni.usd.schema.physx-107.3.26", + "path": "/isaac-sim/extscache/omni.usd.schema.physx-107.3.26+107.3.3.lx64.r.cp311.u353" + }, + "omni.physx.foundation": { + "id": "omni.physx.foundation-107.3.26", + "path": "/isaac-sim/extscache/omni.physx.foundation-107.3.26+107.3.3.lx64.r.cp311.u353" + } + }, + "binding_module": "/isaac-sim/extscache/omni.physx-107.3.26+107.3.3.lx64.r.cp311.u353/omni/physx/bindings/_physx.cpython-311-x86_64-linux-gnu.so" + }, + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "0e2ec6aa4c41760ae1ff8f76e96bc9b4e1d1277452024d0f94a04dd9cb411084" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "724b3aae8c4f03df483a60eab4cb1e31bd953a591e999fd4877340b3b7b46b93" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "1b779c2e3ba8203886b539f6adc9223705de868a47cb6af2a4c1d09384237bee" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "c1d8c91e970dbf40da590c0cf9c1682ce4c87af3def0c47828f640df19d357b2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "aa6973e33e8c3b47bb8e0019356575a04ea923ef2e11705b7662a3ee35d19dc6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d6d632a8bd11bf3431f48c5cf9b5de8e8ca9390181b3e15a52f0e36230ca3f90" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "8d17269d2d48e93b848ce31d8e2f534724e826e513764225a27afe247dcab989" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "fa0dadd0fac73b1cb10410b6364bf7d463fe01c57be6236a106f81c60e820df5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "0d7d98b3eacd0384bf5b81b122c1641d2c11fcb09775eac8a10018caa4b1ede5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "5c9f4e7b132f3b7102a5ac43bec51574b6a68aa05248d3c1175426ef27f2e702" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "912eee2d1e51113da71c3bec326341c794b1d2d2231ab5f7f58610706ec68652" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "7ea7c97fcdc31452add75c7254a4ac4800b7bef482123fabf7d289b4edc714ec" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "3bfeec555da4f8497e57a6b1f39e0a0ac8a6ac6b360c8dfd06bab2e376494beb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "aab24c17ad7bd6089e12b724d7b111c69cbd030e239aaa46fc15b2460413daf7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e2921df6d383ea324efb1c7c6d00527154449845a6853e3338bcdd4ed0b086a7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "ed1007e33c5d38b352bbb662a76ce1722b9ac12981e298ce34ada6c58384a69f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00768496, + 0.01288183, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "be5028ac3ec1a8747a753d029d260cf2e729bd17a15a76fa3cb0f1d8c5a6e14b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00768496 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01288183 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.415039031519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9353308118016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.007684959999999963 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.012881829999999983 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00866294, + 0.01224555, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e3bd177aa339e278b0a2ed9b8536d6f9d5637859351334e0a125dd8ae7951cbb" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00866294 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01224555 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.415675311519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9363087918016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.008662940000000008 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.012245549999999827 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01633278, + 0.01892723, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "63ecb1c3928425f5d1d05255a27b006f828e98e252a6bcf29da4fb739c283e23" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01633278 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01892723 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.408993631519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9439786318016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.016332779999999936 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.018927230000000073 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01904742, + 0.01619247, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "173d861b03bcde4fb2c5ed9dfa6c57aa8cc07243a03ab4318064d3281081eab2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01904742 + ], + [ + 0.0, + 1.0, + 0.0, + 0.01619247 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.411728391519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9466932718016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.019047419999999926 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.016192470000000014 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01493116, + 0.00143545, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "1254ce4fdf3670ebceb7534d849db3fb5c8bb3d77f2a0e2acc486bc3fa1f137d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01493116 + ], + [ + 0.0, + 1.0, + 0.0, + 0.00143545 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.426485411519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9425770118016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.014931159999999943 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0014354499999997827 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01222906, + -0.0086862, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a81b0a016817db0de7836aff63f5180fbf7e7150dd03e3713a0e87f3ae8fffba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01222906 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0086862 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.436607061519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9398749118016327 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.012229059999999903 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.008686200000000088 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01012874, + -0.01106385, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "7e425be9b73c0d302e5a24d17158490693ba6f4f2097039e9a1092a57ec1fc55" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01012874 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01106385 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.438984711519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.937774591801633 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.01012874000000008 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.011063850000000208 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01487967, + -0.02008968, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a2d14813498b98f1ceb160edfd3b89901b101ac11887624d5532b925204bf088" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01487967 + ], + [ + 0.0, + 1.0, + 0.0, + -0.02008968 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.448010541519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9425255218016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.014879670000000011 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.020089679999999888 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.01319953, + -0.0212314, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "61589ee1bf1a013f3ba1bb2cdd6214dceb371515a952ee16f188515f74cb8d7f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.01319953 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0212314 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.449152261519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.940845381801633 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.01319953000000007 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.02123140000000001 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00699567, + -0.01326878, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "05318f28c29b353145684a10a0b9eb2fce762410bee4893dc46ed3e410d61ee6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00699567 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01326878 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.441189641519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9346415218016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.006995670000000009 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.013268780000000202 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00611629, + -0.01369639, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "2ee3222108102af5159d98bdc9df6082d0977f2106160d5e5bd9f37304d308c5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00611629 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01369639 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.4416172515190877 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9337621418016329 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.006116290000000024 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.01369638999999978 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.0052636, + -0.01404616, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "55c9145d914ffc227adcdedcfc433139bfb8764372d86b9a535186e0da014f7c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.0052636 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01404616 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.441967021519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9329094518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.005263599999999924 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.014046159999999919 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + -0.00441426, + -0.01433577, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d7d6fc0b3f97d1b349cab29b82dc2a2f9d64bea404f65c5cf696530ea5e27412" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.00441426 + ], + [ + 0.0, + 1.0, + 0.0, + -0.01433577 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.442256631519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9320601118016327 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + -0.004414259999999892 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + -0.014335770000000192 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "36b64ddb9382816687d738b9521bf0bf38082c66fc2c6f9bac6b9c4076624c18" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d3f32b9d136a30cc9e005c43dc53e1bd9328d5b542c013a5750513e2db9ba260" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d7a42a7707ed2bf5caa5af05ff15b82b79e5cb842ea381db5b0a3e835215b6d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "447bebb961076c0d635221e14c577657ab7c4200ae48a3c281578718b805d385" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "9901d8d3ee461fc4d79b82b1134f9e4cc947c616bd8df061fe478d070657d999" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "b0f47fe456cbaf5d64653ffdc1270b0db21906cb318a37924e474734cb74b965" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "4763d67e71dd709aabf9159e05a80fead0e58a644bf0e91c8ccc29264264afdf" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "2d5142242a0c8b5162d913c290507b95e6c0fc27af6775eb1bcbc8fe3e244c51" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "007943c2873d96b4c5be5b6325f390707c11a0651f79e961edae64be6eefe865" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "31e70b98e1b4925c6f12e58439d7d1e71b37652d990bd9272df68f0a18118cc0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "8f227bfc8dfb82003376156a353e8c19d6b99a9410e51a8d047629fbda92383f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "cfb747dcda97450321931c68af37007dce08781608679c51e0a510aa29fd5422" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "26bfc7ab4907267b02ccde23b28d9d1a87f6f1f76b58563465310820a8470c5d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "4c390aad0186cf70030a9b78c8d7c04c2e55e96305daaa305daff4929bbf609e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Body", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 1290, + 3 + ], + "sha256": "ac464756999186648cc69dc5956b640d03b9720770dbf57ce365ad6303e1bfa0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 4644 + ], + "sha256": "9f3f9db8cb1233e486520f95d799d2397d40df7c76d9034de9ce4fa4dc044871" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 1034 + ], + "sha256": "1b58a989362aa94e08385073627ea2aee4b6d092ee1575fab6d4141b49d1a708" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920861519088 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920861519088 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458518016328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9159999998100102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.00019999999494757503 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "d0e0fdfd29bf3d0e396a0838457e4571dcf4b7823d667a0d05ae1697ab42369f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/AirFryer/Centered/PhysicsMaterials/FryerContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920818328858 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:scale": { + "authored": true, + "value": [ + 1.0, + 1.0, + 0.6499999761581421 + ] + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.023, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate", + "xformOp:scale" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "2289fc2397c4ed3e179dc99fffb94657662169f65949afbfae1cb723f08c11f0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.023 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9046458024978647 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920818328858 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.02299999999999991 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.6499999761581421, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.04, + 0.0, + -0.007 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 28, + 3 + ], + "sha256": "bd5c98cab73712965d261714cec83c5edc01c0f05317173936fe511653dfadc5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "c3f384da622c3f375c99c5690387b202e3ea5d147b2c9275db6d0415fae74630" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 16 + ], + "sha256": "f630d79cd5a7ebf82ab0ff14923ad63a9648264e5ffe20273fd2ecd47d70d3ee" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.04 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + -0.007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.8876458024978646 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9090003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920818328858 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.040000000000000036 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + -0.007000000000000006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/AirFryer/Centered/Tray", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOp:translate": { + "authored": true, + "value": [ + 0.04, + 0.0, + 0.0 + ] + }, + "xformOpOrder": { + "authored": true, + "value": [ + "xformOp:translate" + ] + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 64, + 3 + ], + "sha256": "99de56095e94029493007ee9d6d13692989e1751355806af804d0da1a2e3406a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 192 + ], + "sha256": "3be022a50fd18b03bfc17f47ea3f88c6ecca67bedba343e0ec68831f5185c407" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 34 + ], + "sha256": "cb80d1b9e2cfece462c7b69fd5272a1470ac4e53dcc81312844c580663f66a81" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.04 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + 2.2204460492503128e-16, + -0.9999999999999999, + 0.0, + 2.427920818328858 + ], + [ + 0.9999999999999999, + 2.2204460492503128e-16, + 0.0, + -1.8876458024978646 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 2.220446049250313e-16, + -1.0, + 0.0, + 2.427920818328858 + ], + [ + 1.0, + 1.1102230246251565e-16, + 0.0, + -1.9276458024978647 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9160003066063053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.0 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + 1.1102230246251564e-16, + 0.0, + 0.040000000000000036 + ], + [ + 0.0, + 0.9999999999999999, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "d70e16bffbbeceaaa014af63107f2d241554244e4fd190c045b2e0b0620a990f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "6601ed4bdfa2100c2274906b3e6bb50035f250e65feea12848c77df87b535d74" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "a25b9f3878bdf5b642c4ec0cb5ce5641ea86f588a55f29843cbd911ed83602a5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": null, + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": false, + "value": true + }, + "physxCollision:contactOffset": { + "authored": true, + "value": 0.001500000013038516 + }, + "physxCollision:minTorsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "physxCollision:restOffset": { + "authored": true, + "value": 0.0 + }, + "physxCollision:torsionalPatchRadius": { + "authored": false, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 8, + 3 + ], + "sha256": "e1772abed381ad0f4f773d3e5aa524e7f0d7cfb6622f47b7cac17d1c6bd610f9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 24 + ], + "sha256": "9384e5583eb23b1eca5b017906aeae660fd944fcc184f70680b9ef70c3ecda3d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 6 + ], + "sha256": "2faa22b347b8490cb98efe94c89904376c04e9c2dcebf68ae81a247d842f26d0" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding": [ + "/World/Assets/CoffeeGrinder/Looks/HopperPlastic" + ], + "material:binding:physics": [ + "/World/Assets/CoffeeGrinder/Looks/BeanContact" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ" + } + ], + "placement_frame": "world_static", + "collider_world_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.149999976158142, + 1.1339875277453175e-31, + -5.107025807396602e-16, + 2.571793046032915 + ], + [ + -5.107025807396602e-16, + 2.553512903698301e-16, + -1.149999976158142, + 0.11493709256327633 + ], + [ + 0.0, + 1.149999976158142, + 2.553512903698301e-16, + 0.92 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "688329867bacaf57c9136ebc2503f563562947835b36719ae547ed08a0bab8f4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0756903c6a94a9ecb69916d32e3ceb3884d6e96050730c82b788eabec9b2b8e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "288b143a1b334d60b925f35dc8f9c8cafac8be63b4d7beb322f1611c047de803" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6f042b3a3da38e82255fbf8736e274a51e28302eff050acc45e9d810849e0383" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "caf5ff543ca09d4587fca3ee63464530e9d582b7b384635c90e00a900befdeb4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8d92281933e3f52e32bbf4d064926955b8f42b387be7d416b3aa40202aff8438" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4f959fa71cd2652205cd29fe1cdc837a39747655db4dec2dfaea4ddf9e237a93" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "698235f8a43821a3ee141189c3350f22d70f0c34e23772c86f64c3baa9fc747b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "7747c1db4f6fc9fcf51e8fcdc1333939906042f1f872621bf857db5e89a63e07" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "177146e3afbbc3545e63ad3b3c1cb7f7e7276ca3384f87c7867390976cd69ec6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "007db52f5e1f1dc83e9755874b073e39b64e384fb91b0302e9d2d28f4d5365ce" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "9f5544ab3bb097126b3448f4e27276712c5d73cc77c8e6ff69fe14c68cf34b16" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1ebb47ef37d3c28c45c3553fbd4d0fda5bccd2df190db0ad05c66aa0d88803b5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "207d6721cd6d0deb1881121b1a3a59b3283bc87251b25fbbf1abe0a4fbbc2445" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c1da9b06db694889a007cea43a1f2648b0ba653d8eeb790332039dfaabc431af" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6e7694aef40167b4514d2c4513cc55e969251299d40fefae9f91cb38950279e7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d85211c8c27bbfe1fbe04b4fda5928f1043db43c6950b3aad3fb868669a6ebc5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "30a7cf602eac1296c2f8aade7ed07de254d1b43d5cebeb8f7bcd819d08662a8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9a182af683a764016af7af5925118b793d72a7dd813bad2a3a172214c03571aa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0f72a5bbcc8215bbad261a6f9dafaca41faa9cb23dd02654755fe8ba8fa6a54b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_09" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "32e489bfe75ab8f6017779d2e6d7b41ed5eb84a388b262659b636aeaf2c3e213" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "599971f8291521848a7d0fb6c9a392f272be9ff582dbcfcfe2f62cfe7d358dd6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_10" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4eb91768da84cf4b8175692cd9153273197d33d2c1fab9b70e4383e13a59f576" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "fd1f480c7ae7e9ce56c15e78b2b2f86b52144f3f82dfc6ac017ef96049008104" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_11" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d27645d0359fcea20feaa50e82780f4f1fd8766d2041c3992684a979a37369b7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "36b432090a884e2143eaf8204a68a0cfd23a3bb556cce24178bccddcda4a784c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "24db326def60c564ba64896ea328ebaa1c3bef5e26155dccaea5d42413d68bef" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0d508ccbb70b4830cd88e09c9544858625336e107f749ddc145638dcffb5a22d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_13" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "b1a7742df31b34775d6cfc49002fb9b8b9b95019e63a2c3a507e2101487a3a73" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "aa0b5aac0dd8bb00f16e24df357a66d1fa553e4f1853b243288537403410da75" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_14" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4a340db47451f888cba1f8b924e4303219854b38ecdbaa721b8b432a4a7caf87" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "c92499ce0c47051edfd23a1d4e88e00004d435fcd884dd04bb56a0526201166b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_15" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "cbc15b3fe3e5235aa7f773b226f17693e9a12da58563eb8151155456a6c497c7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b24fbe743c7e05224870132f4244ab772342a2ac869a6763c19a49e601d4f177" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "86717af7a225021026eb0b3caabeeebfe0adc7352c96247db3e62d14af3211c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "161986140e871863365a8974bdd75ea8dc1561d9935749478daf03d2e76222ec" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_17" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9b19ea5aec669871e24b60e3f118e920af2b34efc575a23790049d165ce47f33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b8881226102715322e189aec332aa0b21555f347af48270775e3f2fc70efd93b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_18" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f03c931e764503d26b8412a5e85e5a23fbb66719586dd660d119e3978a14273e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8a59e5d867492dbd6506c4152d2317814004d62d80f16d19321123d866380af4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_19" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "61a9bf3fafed795c7991945edcc1cf21ab34bec560baec0c676dd241bff1fdf3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b58a421dc7c2e2766eead27a2026aa3ae87a62462395ed6ac4dab0f5c4bd6f9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c8e8c0eb3cd037c1f752a810681f31bcc3b0d6b6a00da23b739c3c3cbff32fde" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "15650054aaf2a884b9ecf1f5bbafee970eb71c5d78714839cc179b21bd27579e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_21" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1634ef440de789bf94ee49097358d1a31c6834fb553151fefb523343ef6d6468" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "45ce5d12b4d8f1ca2eef2326c9740c471cb71574bf2d8762840919430e73c3ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_22" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "5ac87e89587bda1ebd55fd5abb99918b58e7854ec15a788c122b0a489e67c398" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "f2894ba779613ffa4f527b9d0a96854835dd958cf0c3cfeafae74241ad4f28a6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_23" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eca57cd0ed23973c2ceef2d736b714d2b4f69673c2ef0bceb90c7184ff8c7155" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bafd76ce205a20bd08daa34e0e643398c7c0718b1659e3eddace3309a00fa2e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "0b0a8cad2bfe26bdcbe278e52cab405d779a7c785820781215f80f46ffc19d33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad56627c9dedd159106eb57298ad31fdbf58312d497e61686851992816b85f12" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_25" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f27990604522339e4f1792be2e788c535b8467f2f33593686ca6ccf2519799e3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e1d8fd660ea323cec79b586165a12c3c0259450b05d16316b033d2c35351d0c5" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_26" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "8172cd68eaea3cb1292d7d1eddc3985cccae012b1825fa6d74e27a33f34a552e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "31f4488993d5c54ad17efa53546a9e8636ead153bf8030b8b5ed395b4e816a49" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_27" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1828ea116174f55389bb56cfdd51e6d4dfe5f20207fc0796a8f3d6b97792fd03" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "3c7ad841c6c9c9ac931f6f96f8fd8ace6432eebb1fa0d0ba8279fd008cc71a5b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_28" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f65eb4b309eb3e2bf4e6a1174aa2fcf1bb0fd255bbb5b3784c675f2ef296fc50" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "006e8b19fa100edd59db83c857993755595efed368a59b1fc074a6dac3e00950" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_29" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eedb12c1c0c24e668e2ec47f8b2424f629888ac8f2410f1a2657c9a5e67e573c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e25de4092a4f6e81dbb40d3315749ce4ade01d49de0071bd7f0397d9cf7db96f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_30" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "96e24b17bb999fd6df667ddf7483ad75cf6e604d6b78d2409e65fd9d2bb65ae6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bffc6b1bcafe13eafb988cbacf3ec664af16ebe16467ba0240a703f4f93aebee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_31" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25, + 3 + ], + "sha256": "2026dc913e5b35c40d47e6b1e2bfe4b3b0e98e320a64feb8bc0ca79945dbab6d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 138 + ], + "sha256": "444f8a352016e017a92d91918558bfddc9ade5e44175fa5bfe2aea03cff37648" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 46 + ], + "sha256": "14e8d6bd3c483e9cf14370e008a1b21c33d516dba9d27fb806b71ee1a7d32ef6" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/CapCenterSeal" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_m", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "3b45990de65bdb4f96396b121436d93952c688ef167933893c50d27f63475877" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "173bfc98237d84c9f9f2ab6bbcbe552df34b0cc8f0b942af131f4cd7bd3ce524" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_m/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_m/asset.usda", + "path": "/Asset/VisualMatchedCollision/OrangeCap" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469998, + 1.1506707163376025e-05, + -1.747483253479004 + ], + [ + 0.9864545221084797, + -0.16403498349310452, + -1.4654897653080411e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060886e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.16403498346578682, + -0.9864545220469999, + 1.1506707163376023e-05, + -1.747483253479004 + ], + [ + 0.9864545221084798, + -0.1640349834931045, + -1.465489765308044e-06, + 0.16475765022275912 + ], + [ + 3.3331415256060894e-06, + 1.1110451726468731e-05, + 0.999999999932724, + 0.45490214228630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 0.9999999999999999, + -4.747880611427625e-17, + 2.774393757878686e-21, + 5.551115123125783e-17 + ], + [ + 2.8123699335464117e-17, + 0.9999999999999999, + -2.1102767579670862e-21, + 0.0 + ], + [ + -1.902215574258877e-22, + 2.971920925558716e-21, + 1.0, + 5.551115123125783e-17 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0, + 1.0, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "688329867bacaf57c9136ebc2503f563562947835b36719ae547ed08a0bab8f4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0756903c6a94a9ecb69916d32e3ceb3884d6e96050730c82b788eabec9b2b8e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "288b143a1b334d60b925f35dc8f9c8cafac8be63b4d7beb322f1611c047de803" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6f042b3a3da38e82255fbf8736e274a51e28302eff050acc45e9d810849e0383" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "caf5ff543ca09d4587fca3ee63464530e9d582b7b384635c90e00a900befdeb4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8d92281933e3f52e32bbf4d064926955b8f42b387be7d416b3aa40202aff8438" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4f959fa71cd2652205cd29fe1cdc837a39747655db4dec2dfaea4ddf9e237a93" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "698235f8a43821a3ee141189c3350f22d70f0c34e23772c86f64c3baa9fc747b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "7747c1db4f6fc9fcf51e8fcdc1333939906042f1f872621bf857db5e89a63e07" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "177146e3afbbc3545e63ad3b3c1cb7f7e7276ca3384f87c7867390976cd69ec6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "007db52f5e1f1dc83e9755874b073e39b64e384fb91b0302e9d2d28f4d5365ce" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "9f5544ab3bb097126b3448f4e27276712c5d73cc77c8e6ff69fe14c68cf34b16" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1ebb47ef37d3c28c45c3553fbd4d0fda5bccd2df190db0ad05c66aa0d88803b5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "207d6721cd6d0deb1881121b1a3a59b3283bc87251b25fbbf1abe0a4fbbc2445" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c1da9b06db694889a007cea43a1f2648b0ba653d8eeb790332039dfaabc431af" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "6e7694aef40167b4514d2c4513cc55e969251299d40fefae9f91cb38950279e7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d85211c8c27bbfe1fbe04b4fda5928f1043db43c6950b3aad3fb868669a6ebc5" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "30a7cf602eac1296c2f8aade7ed07de254d1b43d5cebeb8f7bcd819d08662a8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9a182af683a764016af7af5925118b793d72a7dd813bad2a3a172214c03571aa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0f72a5bbcc8215bbad261a6f9dafaca41faa9cb23dd02654755fe8ba8fa6a54b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_09" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "32e489bfe75ab8f6017779d2e6d7b41ed5eb84a388b262659b636aeaf2c3e213" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "599971f8291521848a7d0fb6c9a392f272be9ff582dbcfcfe2f62cfe7d358dd6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_10" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4eb91768da84cf4b8175692cd9153273197d33d2c1fab9b70e4383e13a59f576" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "fd1f480c7ae7e9ce56c15e78b2b2f86b52144f3f82dfc6ac017ef96049008104" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_11" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "d27645d0359fcea20feaa50e82780f4f1fd8766d2041c3992684a979a37369b7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "36b432090a884e2143eaf8204a68a0cfd23a3bb556cce24178bccddcda4a784c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "24db326def60c564ba64896ea328ebaa1c3bef5e26155dccaea5d42413d68bef" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "0d508ccbb70b4830cd88e09c9544858625336e107f749ddc145638dcffb5a22d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_13" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "b1a7742df31b34775d6cfc49002fb9b8b9b95019e63a2c3a507e2101487a3a73" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "aa0b5aac0dd8bb00f16e24df357a66d1fa553e4f1853b243288537403410da75" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_14" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "4a340db47451f888cba1f8b924e4303219854b38ecdbaa721b8b432a4a7caf87" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "c92499ce0c47051edfd23a1d4e88e00004d435fcd884dd04bb56a0526201166b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_15" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "cbc15b3fe3e5235aa7f773b226f17693e9a12da58563eb8151155456a6c497c7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b24fbe743c7e05224870132f4244ab772342a2ac869a6763c19a49e601d4f177" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "86717af7a225021026eb0b3caabeeebfe0adc7352c96247db3e62d14af3211c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "161986140e871863365a8974bdd75ea8dc1561d9935749478daf03d2e76222ec" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_17" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "9b19ea5aec669871e24b60e3f118e920af2b34efc575a23790049d165ce47f33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b8881226102715322e189aec332aa0b21555f347af48270775e3f2fc70efd93b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_18" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f03c931e764503d26b8412a5e85e5a23fbb66719586dd660d119e3978a14273e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8a59e5d867492dbd6506c4152d2317814004d62d80f16d19321123d866380af4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_19" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "61a9bf3fafed795c7991945edcc1cf21ab34bec560baec0c676dd241bff1fdf3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b58a421dc7c2e2766eead27a2026aa3ae87a62462395ed6ac4dab0f5c4bd6f9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c8e8c0eb3cd037c1f752a810681f31bcc3b0d6b6a00da23b739c3c3cbff32fde" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "15650054aaf2a884b9ecf1f5bbafee970eb71c5d78714839cc179b21bd27579e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_21" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1634ef440de789bf94ee49097358d1a31c6834fb553151fefb523343ef6d6468" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "45ce5d12b4d8f1ca2eef2326c9740c471cb71574bf2d8762840919430e73c3ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_22" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "5ac87e89587bda1ebd55fd5abb99918b58e7854ec15a788c122b0a489e67c398" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "f2894ba779613ffa4f527b9d0a96854835dd958cf0c3cfeafae74241ad4f28a6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_23" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eca57cd0ed23973c2ceef2d736b714d2b4f69673c2ef0bceb90c7184ff8c7155" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bafd76ce205a20bd08daa34e0e643398c7c0718b1659e3eddace3309a00fa2e4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "0b0a8cad2bfe26bdcbe278e52cab405d779a7c785820781215f80f46ffc19d33" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad56627c9dedd159106eb57298ad31fdbf58312d497e61686851992816b85f12" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_25" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f27990604522339e4f1792be2e788c535b8467f2f33593686ca6ccf2519799e3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e1d8fd660ea323cec79b586165a12c3c0259450b05d16316b033d2c35351d0c5" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_26" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "8172cd68eaea3cb1292d7d1eddc3985cccae012b1825fa6d74e27a33f34a552e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "31f4488993d5c54ad17efa53546a9e8636ead153bf8030b8b5ed395b4e816a49" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_27" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1828ea116174f55389bb56cfdd51e6d4dfe5f20207fc0796a8f3d6b97792fd03" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "3c7ad841c6c9c9ac931f6f96f8fd8ace6432eebb1fa0d0ba8279fd008cc71a5b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_28" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f65eb4b309eb3e2bf4e6a1174aa2fcf1bb0fd255bbb5b3784c675f2ef296fc50" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "006e8b19fa100edd59db83c857993755595efed368a59b1fc074a6dac3e00950" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_29" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "eedb12c1c0c24e668e2ec47f8b2424f629888ac8f2410f1a2657c9a5e67e573c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e25de4092a4f6e81dbb40d3315749ce4ade01d49de0071bd7f0397d9cf7db96f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_30" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "96e24b17bb999fd6df667ddf7483ad75cf6e604d6b78d2409e65fd9d2bb65ae6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "bffc6b1bcafe13eafb988cbacf3ec664af16ebe16467ba0240a703f4f93aebee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_31" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 25, + 3 + ], + "sha256": "2026dc913e5b35c40d47e6b1e2bfe4b3b0e98e320a64feb8bc0ca79945dbab6d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 138 + ], + "sha256": "444f8a352016e017a92d91918558bfddc9ade5e44175fa5bfe2aea03cff37648" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 46 + ], + "sha256": "14e8d6bd3c483e9cf14370e008a1b21c33d516dba9d27fb806b71ee1a7d32ef6" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/CapCenterSeal" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/gatorade_t", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "3b45990de65bdb4f96396b121436d93952c688ef167933893c50d27f63475877" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "173bfc98237d84c9f9f2ab6bbcbe552df34b0cc8f0b942af131f4cd7bd3ce524" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/gatorade_t/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/gatorade_t/asset.usda", + "path": "/Asset/VisualMatchedCollision/OrangeCap" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9993458773757384, + -0.0361637551479131, + 1.3627837063213405e-05, + -1.636655330657959 + ], + [ + 0.036163755228870116, + -0.9993458774492345, + 5.741642310073122e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023813e-05, + 6.230720335790659e-06, + 0.9999999998906578, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9993458773757382, + -0.036163755147913104, + 1.3627837063221058e-05, + -1.636655330657959 + ], + [ + 0.03616375522887011, + -0.9993458774492345, + 5.741642310284655e-06, + 0.21036664756772983 + ], + [ + 1.3411283441023808e-05, + 6.230720335450882e-06, + 0.999999999890658, + 0.4549022912979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -1.328473337775006e-17, + -1.9429379824817293e-21, + 0.0 + ], + [ + 6.793022221937019e-18, + 1.0, + 2.11669921993558e-16, + 0.0 + ], + [ + 1.6503081342589666e-21, + 3.397778813423139e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000007, + 1.0000000000000002, + 0.9999999999999999 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "dba08af309faa8427a8015f4d88e87116d5decbf14ac7ec99d678681da6bd36f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "59fda73abd76af1479f2f88996f02cbe02ee110c9ba4c2114f371ec86a0b0025" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "2eaea781a50bd4e3520ec03a6cddca82d17739185a0a9ba64805001fa99160d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "731dfbba5fe66ff2f06b8f73770743f6c1cae2de93d1c1e6d9d08bbeae58d726" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "8344ec8a8e8a8c9a5c0be145718300c1d9f1c38165c091292e8afc7c9fc46fd4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "260891ad26f7c1d9a1e154645e4442c0d648a8e3642ef42c796636be00c75060" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "496633b5cdd0d3779f7160371d0d8288c0fcecdc30fd37c481c1d00b000774b8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "72e92f118c3f27e1bc0fd1c61df3ca67fd40fa4c41044097911fa22724971e34" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "14ee76f41fb860f9f2ab278ecd249aaa882d0f37e54b195ff82397c5ba4ca159" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "4a8ec91f16fd22b85803d3364bac8475ffce61841e843c9dc74103b6b59f6c0d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f6caa6e26aff2724a5c15c7eaa0c424cc6d7462dffeadf942f670f8042c33f58" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "15b4fc15ce71fda958b132287aa05aff682b152cbc672c0b001a248ce4ae7e20" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "f37af282a44302287f0f157d3cd720f24700a1dc17fc645b75a1c9628b2ec618" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "fc1349d06cac79f928fb2bbe46ae700cd62a3b612876725d9b970af79f476840" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "acc6d39a8624ff0261f3e7299b6729d1437f3dd0a074cd15d309d8142c5fe43b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "112a5ff87ef9d647b62b408858cb06471b13081fd70d8f2bcd7e51d036d853a3" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "a84ec36d09a06ebf78df062e29e29d55d3a5f275d11c74818169a1d1ea194280" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8409c847abf4e6705b52539958a08657facf8efd34aff742f6f790a89712b4b0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Body_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "86e597bc356876a6eb75870189c1931431f4f8b32aafb0a2b900cdbfef2d6c84" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "b14e77971bed7d5dda6e9d240bef4bef468fe40f0dcd9db0cdcf2173bfa9fc5a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "c77e3e3686cb14db26fd8537c008b209792f1a4b1214ddb7fa797fbd3a3c7631" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "154343239b8a6ed7c8f69daba0696b34f4209662cc66ceb7d984355663c852fe" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_01" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "e46d95c7e187a4c67277a5e7a8d04943698ed85c2c16f98b45c929ed55deba3b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8af331e7869ab6f0477a0f0baddbde4d1c61b98369c538c16a7a6768db634350" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_02" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "edecc48fad9f15c8c25db50d1d601b668447fa5b0131cd55c009e58b10b750de" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "8afbbd309401905d543a215eae90638239b644fa1cd4a9ec8d3ce4f6eedbe984" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_03" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "e38cbd1b7206c0d9b2afe5d68f1c749135c18548e12a0043dd864101ebd1b451" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "e57f4f07d9869bd9796021310033a5c9c207077c3ab5a57466e1d1a19228db51" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "fb4060397046005981e1f0046f42d10102c0a2f93c6f14ac26759c49ffcc9b82" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "451d2ac27a7f94d3abee744671e16699cd9924777fd9c365b32c77cc294dbe9b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_05" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "3a42bc7188e3dccbf2d9d59487485ddba782816c9b7faed0d519672c8ceb2107" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "c064211a4d534002edac3726f75d37649df9c9526942ed2d3ca7b1c30bb9a8ea" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_06" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "7026858dbe5e3dd76ac0337f505376d96095694a1c76c11efc1333a7e501a8b3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "732bfc06b13f075b42fbf0359674e3b294c8aae0109bdc491cb0b20b327bc680" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/Head_07" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/good2grow", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d5b31546f9f69d50cb8fb1c69f06ff91612ce737eff949a28b2dff683b24a1d6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "72a475217b83a5a54ace6dc5730b87b0d77a5dd57fd91414af2bcdf3c0e0e1a7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/ShelfItems/good2grow/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/good2grow/asset.usda", + "path": "/Asset/VisualMatchedCollision/SpoutTip" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.8806454380979356, + -0.47377590941924835, + 3.3556365276322882e-06, + -2.676748275756836 + ], + [ + 0.4737759094198228, + -0.8806454381037632, + -6.720441488738019e-07, + 2.33984730752943 + ], + [ + 3.273524327796296e-06, + 9.979871336552402e-07, + 0.999999999994144, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.8806454380979352, + -0.47377590941924813, + 3.3556365276322908e-06, + -2.676748275756836 + ], + [ + 0.4737759094198225, + -0.8806454381037631, + -6.720441488737899e-07, + 2.33984730752943 + ], + [ + 3.2735243277962943e-06, + 9.979871336552488e-07, + 0.9999999999941441, + 1.1825010776519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000004, + 1.9872412583563777e-16, + -3.4627232285839884e-21, + -4.440892098500626e-16 + ], + [ + 1.875281181110344e-18, + 1.0, + 1.1555466737279325e-20, + 1.1102230246251565e-16 + ], + [ + 3.48925034040522e-22, + -9.19684047038903e-21, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/ShelfItems/starbucks/full_scene_collision", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/ShelfItems/starbucks", + "applied_schemas": [ + "MaterialBindingAPI", + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "subdivisionScheme": { + "authored": false, + "value": "catmullClark" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 13096, + 3 + ], + "sha256": "170e3f338554d0b99b298550e14a223d17c53bc53658cbc02e9f1fa7f3c6b4d0" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 51520 + ], + "sha256": "53a62abb5d1c50698d7167e140734ef3d985dcab163797c81b7496aeab70d93b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 12880 + ], + "sha256": "a44053bd5b32b42e387b26b4c8e3b0b45ef3e244fa2c55d05aff9460848cafa8" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.6066804240191759, + -0.7949416793076687, + 0.0025670238441997837, + -2.8086280822753906 + ], + [ + 0.7949440113164057, + -0.6066827735610618, + -0.00017645520670057414, + 2.068733435001354 + ], + [ + 0.0016976407439336398, + 0.00193358831223154, + 0.9999966896205924, + 1.1824531555175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda", + "path": "/World/Assets/ShelfItems/starbucks/full_scene_collision" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.6066804240191759, + -0.7949416793076687, + 0.0025670238441997837, + -2.8086280822753906 + ], + [ + 0.7949440113164057, + -0.6066827735610618, + -0.00017645520670057414, + 2.068733435001354 + ], + [ + 0.0016976407439336398, + 0.00193358831223154, + 0.9999966896205924, + 1.1824531555175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.6066804240191757, + -0.7949416793076686, + 0.0025670238441997833, + -2.8086280822753906 + ], + [ + 0.7949440113164055, + -0.6066827735610617, + -0.0001764552067005739, + 2.068733435001354 + ], + [ + 0.0016976407439336393, + 0.00193358831223154, + 0.9999966896205924, + 1.1824531555175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000002, + -4.345061942155941e-18, + -1.908795865865993e-19, + 4.440892098500626e-16 + ], + [ + 2.8400278203457735e-17, + 1.0000000000000002, + 1.3961913532352277e-19, + -2.220446049250313e-16 + ], + [ + -4.077193032595911e-19, + -5.109007325195617e-19, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000002, + -4.345061942155941e-18, + -1.908795865865993e-19, + 4.440892098500626e-16 + ], + [ + 2.8400278203457735e-17, + 1.0000000000000002, + 1.3961913532352277e-19, + -2.220446049250313e-16 + ], + [ + -4.077193032595911e-19, + -5.109007325195617e-19, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000002, + 1.0000000000000002, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "9278d27fb00258e7d9ff23f7dc961c3b877719a89894a62e16a3b34586363d99" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "5addc505884a436c4a05cf25b72f6bd58fd4baba536c0bf7620677b9639a771f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1aad4c020316a09c5fad5e0ace41ba89e989e15e0734b81e8564f8b3f55fe9d2" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3d646d29bbed148f96796eb2a6ccfbed4cfaaee15991abbb46376c2de10d6fbb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bf38194bac60f0c1dfb65eb3d574f655653ee979fb514af2d9e4cf19e686541a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "3c9bb3fe5b1ed9f5dee5a05041298869ce0f95243166ce5ea9f66214568809d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d070846870327925274d14c32ac88996725c1c9bca1375f62d583808048b51fa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "594f89ed45ad6493360e03e996f33e24de0d77cb4dfe91a41baef0bec89c7ce6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6634cd8fc193eaf42a4f303a8fb6c01ef0825b9f80782256f1bf4e0cbd7f081c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7ad1a6cb41bc02a0975bf36de771f4ba257c43101ba848e0c3db4e2aa3c8bf0e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "83e184d24d8bd9dbdd71e21e47b60c59e30ad7ff747e9246c55f8a87195e98c9" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2a40af619f205ed682c654ccfa8c90da81fb4aa76d70241c00f087e5bf72a308" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8df4725384ba2dcbec9a4edcf781b260ad4a050c97b32dae3635e4c9d83d2bf8" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "c236a359a52ed877faeee38d2f75a437826915c26cd36fb4e90ac7f1e5501e57" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_00_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "8dce202f93d88f72712e3fe1bfb2bdf0be5c633a26c412b9d28440236521f677" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4872eb7911e6c09d2259b6afe50818aea2b3c498ab1b485d9fd29ca33163dcaa" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "4d3c41a23d3c233e81cb15c1c59d5d7dc7ab51c3247e298e148a65675e6f79a1" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "82da7b32e86ce1c4599454ba72d9ce843235028bd586f3f358c5140da0ccb6bb" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "cf4983a6a594274e6539be65d66761a92f0e7c46a02ef4955cfcb0ea186167d4" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2722719cf157a760269adf7ac86225483cc1904917040e8d7250c6e4e99a8c05" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "130dbe14583a12385c8b54376ee201333ee7d6d790b5d472f159af35363ebd27" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "1ccf194c37a434875731ae4cc4023b994d7adad54e94cc5d026976f1682103fd" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "74ec3d17a5979f3daa13526bb0db783c39ce91924232e2fca5c81fa04a7b5cdd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "2ecf5f136b5359a431f8eb153fcf0692403d76c1572fda13d73c442af16e05d6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "563479e54b6ba2b2e3d958d228d98a97d7589529effab17ae3f37ddb7e58e100" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_04_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "eea1f8d5ab66fd85ee0022a79b3b686cf9e83df85c00a94859458a9754eefb14" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8f2eeb90bd42dcf62177d2738c0af2c3293e959f58c3a16497e79bafb22339d6" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "74b91e56a1c8d1f79974a460b5bb31b77bda90e5813a2294d2c0c63e0c50cbab" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b1375234f5ee507a3a6ae88b93cc155493ac97515b8bb2b4ba15934a174dbe8c" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "450cc763b08f4f10fbee0bc92516944ac5254525e768ca38b9c599101d913728" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "38f03ab35e545e54b8ff5e601c02a96fa08fec9716dfb9e6e79687c6f75e890d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "dde3f904272d4b22228a17f4d5ac555b0ceeaa0cbefff674d0184deff4b75bba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "4bfde0a827e4a14d1c055ce61bd7e99c9fae743af709492320dccc81c1d983de" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6bc6a8a6a13b52e26b2b93fa03f800ff4cdaaa5d7885ef6954cb76cf538a305d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f661ceb9303bd7754e2f393d51f09257f075a174a60804299e96284f79d06b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "abb8354958eb4c4460b36178ff9cd021fa3bf910a1a2640e2374d5b8b3990e9a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9aae6718344f9a3ef2f53498d8a43311d0d1fa90525665678cb85331172b602d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "94786265beb7963b9d754737421391c9c7ff9e904c5c49ef28ae0d4892561a5f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "cd803f2c1e70bdf5630f5465b0fbc651ab607247399b2c1a2fc0c8c38d1ce909" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_08_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "c62af1fc835d27e5e1fdbcb614aa6b8ace4a10857ab773b0897454bae4515af7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0b502872e5877d05d6d88d1de3c98870a2661316ecb0c33cf3d944f55b9e69f8" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0ce7bb79788266051ed6fe5b183809376bac1a5082d6160e43209cf6c562b350" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85e43f66256cb41f1e48d75db2f1b04e6c6703cb81a783139693c0c498f31ad7" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "bee1cde0bda00eef3be8fa1948402572c1c34cf63c6209380847432c12a1cd19" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "53b9d6a3e79c017a22cea03e00920b090722beea16bcf1b0e03fe0617922473f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "5a36e69d5e787a30bc5415c4d9e099e39ba7d1e36838ca2c37e5424f5adf5e86" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "d5013bf5d09ef1727cc38b387ecbf7527100afd7b695c19f1510b8af5f5555ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "23026d1a54c6ef90a4cc66be912192a3a2cb062f4723668a7e74cb6607218f58" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "77c88cf8f97fc7f081456fd7e926ebd8266ff06bf88e01dab1051c76a5d617ca" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6f658a3ccf62394671b1c747b8baf00a69c3b275242e37a808cef4695084575a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "75804f2223f91a0e4601cd8f6701e4a2d50b936addc8cf82a118c91568b6d5d1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "56ff09bca0e2eab8c809b2dc7d3f3609f8d2c0bf1c349701e7f1db38d15e371e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "526f0ef6bcce41be9b50e0e230fd1530df7e8327fba2d5c46da84b1ffb098e17" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_12_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "679e8eb9839414d6b4a2962c37c47ef47d0e0963af3c93d830580d8d3d6e2741" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "b5bef4cd7476dd0b7665d13a7566069532ce549cc089e3b5b0632dff094cbb45" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "f1073ca9686c4df180aae745722c528f01105dbf2cb514436d36b27d59a3e809" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "1deacc3c9f8edb656090595c0efbdee08c9138a90cb30c832621df02770b477d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "921b73a2abcecfba81b5d3554ac87100699a3cd345ec1e28c27318d2c51b40ba" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "0ae64fa66ac11c555ede528ac41a56f1c18b8972761960737e0d87792ccb6d98" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "cf7bc17931bcff344aaf93b1932b7a509644ea9d701bf228338f86091b65e545" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "536cc6bd8632decad2ba3d82ef4887a39bd8cf5b8a9bf414e2df9dd19f4dcd14" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "63b1eb887be448d01c881c369281f79967251a5db5837554e52c7bcf9ed7c97e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "aa5bf31eba1f8397a6f5c93aa65ab9ea8f0d2a9d14c4e24d8992a2a7541d40f9" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1044e7037fc363960d508528a0800ca879696ad7b702b4eac4fe23a182b8b921" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "eef6372a6eebbf413d156fcaf98162b5e3ac5ce2c0d408adc4d128db7e55da8b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0006ac08829199d1e254402a15f5fa1e493ef440ce70e9a84097148d9e9acf5e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "a61ade0c0b316bca95232dc28e574c1ca9712d1ccd2bea334e2df4d9b5c84a8f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_16_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "3c67414d623b18a5a86964ea27fe5f04845d97d70f4174fec8bc4620af49eab7" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "122f7c17ae7bf6aacb4a580241aa91a53589970f311bbab67c8f281dee78fbc1" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "d0fc4bff9472b2a5d3c202c1eb4c50b80e3e31a999f302c0ed2443cf0efea11d" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ad1a786de3b1d0e701fa233377aea77598e9eb93ba6832d60b0df8c4589a11ee" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "745bb2f24bff78e721dbe76daf3d75189879d290a80f4bac828092b9ac221e9c" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2cdb32a525456d825be1a4f897f3a1a8bfb8077d3eb7cea475c9963731b76ba2" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "260c8257d3fc306bdf9f7cfb4394c4e83fca642ccb173f54200f771739712a7e" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "825d6e53a17af6f19c42b53650d15da2914d6ff81c0782d3307c95357679fb36" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6eb80ebd897b7b0e74832ca405df86027cdc13ce75766057abe007032306e7cd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "8dd1b515ba8273c56a6dc2d09b607996eea66dbcc985ab59b5d612a886f33fbf" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "1ef95da7d80e3c1178f6fb23af5c9fea03bf8956b0d7e0e07b4b5bbcd032be26" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "da535ec0e92beb9f4c713f4453c83eff76872b24f94ebcb96fd13ebc8d5cf513" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "83c3260b49f1c3d1918b8179c711d96a14d0b660aab60944f5c0d9510d545a26" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "64b5770dae3a85019e2772383eaf51f2809b2bf0b263b7891807e803e5107d8d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_20_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "00f60cf61f45356c6205f28975811117607e63b80afd0ef0662845bff139c3dc" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "afef9f4502cefb60ec7f2d71272afd0679195d36521c5e2d62d4e0f596cc1566" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "754b09d306e6c141e10f43add5426b779ab0967060a4141285f1f78e2a5b6655" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "2f5c7edb3b8d398703e34110960c6ea3b75ee4c679b24a5b568bcc0fb8ad7a26" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "a7485425b69d30da83990935d972746826289d2e0dcf7f4a72f56792d5c19935" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "bcd9e5879789aa3b2c41f7db82d5b0ffdde37dd496b788239632b3637ab0afe4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "221e3acfd1bf847892b52870cde11e4031f163617afb41515b36597fe158ebbd" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9fb6b269cbefc3ebc219f8d7381a4cf430920643fc60b54fb358885beb3b1dce" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "28ed8f938b84db3f847671faadfd124b00792e97094f37e50f3e945d29c5e5c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "5aa87b8e1e34599bead8bb5c63e949451a9df13411f0bf776188b3cc8e797b66" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "257ae3d4cb6cd7a27cd5a89b4af7ad8413e7fbca929b154385cd22fc39aae007" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "ef1509d23479b8497e6329d5ee2919ae11acb516fad4c280f814b87e8f04e839" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "ac71e321c2638e1d920d7f5a2c69e84ba50ce4b512b1ea1a9dac902d219a76c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "7b9d2e84382fcf791f805a91d0a89af549bdfb1e347611886ff09fdad751d861" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_24_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "226896792d63f6b77ef7cfb59402df8f4a2335fe18bbe551ee63039a50035197" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "ad859db2b0d74701b6ff20d854546817771f3ffa809ac21d053f41250064f6ba" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "b6433570e31e2c688ac7dd473a00448b7179dc8c7b4b91d2f3b3b8f5e9661d20" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "61d8d44eae51067ff8f86f291726bffcba6c3d938ed1686668d57bb86c005e9e" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "6e4efff1a7b1f5db244c9049c8f73708c22c1f0eb65e4e88767294396021e936" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "e85f183611e57ce19dfdfe93b40b634e4167d0fc269bf2a412310a0047478ba0" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "aa16441268268bac24112208ea83c417924fcda0eb718aa50657bb414030c49b" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "85f571224be35414ae6309fa2a0bd583cc44a4d9a223434575241de4ae07835f" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "deb4c0a13f899af07cff3ef3c3f119027d4c5fd9dc11a20c7974dbab092fb315" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "58d9d9fe6624ef04ae60d89a89a3eb307a3ef6ef4f913495984c722443a56064" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 50, + 3 + ], + "sha256": "0a217b71a65ed3b286fce7b79669bbdac34237b9cbcf356bbb7fb0c146a123b6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 288 + ], + "sha256": "9ec8f58a673af46811f30bafafec5f341d1b9199b48c1bc7a34e09b3da128921" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 96 + ], + "sha256": "9ed376d54317b4a86d7c93584da2b6b78c984ba1929279d89b0a7804ef40e48f" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 48, + 3 + ], + "sha256": "1f46995f956d3299d064000fddb7ab88fee85fa6100cda6126b49d5ad3bf04c6" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 276 + ], + "sha256": "774bc49638227994f55eb7ae93203453deebcfce005ecb5bdc239635b1c5d548" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 92 + ], + "sha256": "f8d28fe57c1c8ad5feb794c0cdfae93e8296e1ce6ad56b9080d14a3aa74c3a03" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_28_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "6528349d7feec4afb1848240c92509d995769e33f1d43bdc92ea2e2b67981ced" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "da6ead2b0d99ccf914c2c4c80c91c5efbd83c54b966b86a6ee5afb58124d1716" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_00" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "fd9450f0028d6df33dd917adc4bc69bb781ad3222462f0a851f925b62fc49013" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "9c48e8d79f7a276e50af1dba6f7e986347dd19520c908b5f1f8bbaa21f386892" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_04" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "202e56720af1e6c18fb41a43071ebc52d27012291e11ad6d8be9cee144acabf3" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "f637bba5bb319c732668f954e81b5e812576a717f53410f835f7e4badf958c51" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_08" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "19d1fc072468b50ec56307244847489f84a3da30b35e8446e6f994eacaa0be7a" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "f6600c16b250438be06e6811725ad9e85fcc584aab501511b2ff204818f4a05d" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_12" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "90b7ffe74424594bde135263c7675266ce6d86feae6191ed06059380c626ddda" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "cff902e8907e5bc77dec62f030a3f275e369cfd81043085d154adbb762ac734b" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_16" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 44, + 3 + ], + "sha256": "bc82f6efc3a5e0bbd891bc4a32e1d4a21e83ff0b20d24058be5f525234a10788" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 252 + ], + "sha256": "c3be3f72b3e1c525be320c63f3b9099bc3fe2d888ef711a158e5500ad343655a" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 84 + ], + "sha256": "1fca53c7afca06ad399875b21be4c1c4e910a42d9088c6587ec1b85b732365f1" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_20" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24", + "type": "Mesh", + "instance_proxy": false, + "rigid_owner": "/World/Assets/Tier2Items/chomps_r", + "applied_schemas": [ + "PhysicsCollisionAPI", + "PhysicsMeshCollisionAPI", + "PhysxConvexHullCollisionAPI", + "MaterialBindingAPI" + ], + "attributes": { + "orientation": { + "authored": false, + "value": "rightHanded" + }, + "physics:approximation": { + "authored": true, + "value": "convexHull" + }, + "physics:collisionEnabled": { + "authored": true, + "value": true + }, + "physxConvexHullCollision:hullVertexLimit": { + "authored": true, + "value": 64 + }, + "physxConvexHullCollision:minThickness": { + "authored": true, + "value": 0.0 + }, + "subdivisionScheme": { + "authored": true, + "value": "none" + }, + "xformOpOrder": { + "authored": false, + "value": null + } + }, + "geometry": { + "points": { + "dtype": "float32", + "shape": [ + 40, + 3 + ], + "sha256": "054af84aaabf83b13de535e5719335f5fc2c551e83da6840c9810cddf783ca8f" + }, + "faceVertexIndices": { + "dtype": "int32", + "shape": [ + 228 + ], + "sha256": "2f6c930b6eea393c408ad4c42bc18748fd87a55d7e3fea83469ffb59fbdc6aa4" + }, + "faceVertexCounts": { + "dtype": "int32", + "shape": [ + 76 + ], + "sha256": "ae413839fd315c93491b267ea74b7dbfc89dc2b43849e13d6aa4967e093ce74d" + }, + "holeIndices": { + "dtype": "int32", + "shape": [ + 0 + ], + "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855" + } + }, + "relationships": { + "material:binding:physics": [ + "/World/Assets/Tier2Items/chomps_r/PhysicsMaterials/GripMat" + ], + "physics:simulationOwner": [], + "proxyPrim": [] + }, + "mesh_to_owner_column_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "prim_stack": [ + { + "layer": "/mnt/agent-bench-data/lingjun/ziche/assets/shelf_pick/releases/20260916_oreo_v10/assets/chomps_r/asset.usda", + "path": "/Asset/PouchCollision/patch_32_24" + } + ], + "placement_frame": "recorded_rigid_owner", + "collider_world_column_matrix": [ + [ + -0.9586346053536581, + -0.2846395851218382, + -3.238179268713777e-07, + -1.8401546478271484 + ], + [ + 0.2846395851217546, + -0.9586346053536963, + 2.811657120824181e-07, + 0.22440908464429843 + ], + [ + -3.904539621704209e-07, + 1.7736378108145341e-07, + 0.9999999999999081, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_rigid_world_column_matrix": [ + [ + -0.9586346053536576, + -0.28463958512183807, + -3.238179268736583e-07, + -1.8401546478271484 + ], + [ + 0.28463958512175447, + -0.958634605353696, + 2.8116571207473703e-07, + 0.22440908464429843 + ], + [ + -3.9045396217042073e-07, + 1.7736378085138992e-07, + 0.9999999999999082, + 0.4549020528793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_residual_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "collider_to_rigid_owner_column_matrix": [ + [ + 1.0000000000000007, + 8.57114586897048e-17, + 2.1179014633188844e-22, + -2.220446049250313e-16 + ], + [ + 8.17772000413021e-17, + 1.0, + -8.012507205985744e-18, + 0.0 + ], + [ + 3.379054608648328e-23, + 2.3006348035214184e-16, + 0.9999999999999999, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "owner_affine_singular_values": [ + 1.0000000000000004, + 1.0000000000000004, + 1.0 + ], + "mapping_rule": "Map calibrated mesh-local vertices with collider_to_rigid_owner, then the literal recorded rigid-owner pose; static colliders use world coordinates. Preserve the full owner affine residual." + } + ], + "lineage": "Contemporary actual cached USD stage request. No live PxShape identity claim.", + "run_asynchronously": false, + "coordinate_rule": "Raw only. External version-bound calibration must be independently checked before mapping.", + "analytic_policy": "Preserve Cube/Cylinder/Sphere analytic attributes and affine transforms exactly; no tessellation substitute." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json new file mode 100644 index 0000000000000000000000000000000000000000..659c4a4a7539d415c0432b8a664e0e3812d350be --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json @@ -0,0 +1,3036 @@ +{ + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_03", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/ShelfItems/starbucks/full_scene_collision": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.002267109230160713, + "request_call_wall_s": 0.0013479790650308132, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.004380383063107729, + "request_call_wall_s": 0.001020096242427826, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006413411349058151, + "request_call_wall_s": 0.0009904778562486172, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008318986278027296, + "request_call_wall_s": 0.0010250941850245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01036550011485815, + "request_call_wall_s": 0.0010330760851502419, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012257101014256477, + "request_call_wall_s": 0.0009088269434869289, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01393565023317933, + "request_call_wall_s": 0.0008144252933561802, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0155613929964602, + "request_call_wall_s": 0.0007481519132852554, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.017163756303489208, + "request_call_wall_s": 0.0007696542888879776, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018751089926809072, + "request_call_wall_s": 0.0007595410570502281, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020145772024989128, + "request_call_wall_s": 0.0006308630108833313, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0214322442188859, + "request_call_wall_s": 0.0006754999049007893, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0227740160189569, + "request_call_wall_s": 0.0006154179573059082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.023987170308828354, + "request_call_wall_s": 0.0005795946344733238, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.025163921993225813, + "request_call_wall_s": 0.0005989656783640385, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.026319198310375214, + "request_call_wall_s": 0.0005430802702903748, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02751016104593873, + "request_call_wall_s": 0.000643744133412838, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02888651704415679, + "request_call_wall_s": 0.0010386547073721886, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03099652100354433, + "request_call_wall_s": 0.0007735388353466988, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.032363499980419874, + "request_call_wall_s": 0.0007218010723590851, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03378182416781783, + "request_call_wall_s": 0.0006141369231045246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03499388508498669, + "request_call_wall_s": 0.0006465772166848183, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03627979522570968, + "request_call_wall_s": 0.0006412952207028866, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03745628194883466, + "request_call_wall_s": 0.0006120395846664906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03905403334647417, + "request_call_wall_s": 0.0008294307626783848, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.040414232295006514, + "request_call_wall_s": 0.000652015209197998, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0418510353192687, + "request_call_wall_s": 0.0006777523085474968, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.043122952338308096, + "request_call_wall_s": 0.000604292843490839, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.044305913150310516, + "request_call_wall_s": 0.0005821357481181622, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.045501881279051304, + "request_call_wall_s": 0.000584769994020462, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0466698850505054, + "request_call_wall_s": 0.0005609928630292416, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04790984932333231, + "request_call_wall_s": 0.0006079147569835186, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04912217007949948, + "request_call_wall_s": 0.0005325917154550552, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.050380191300064325, + "request_call_wall_s": 0.0005959048867225647, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05156424129381776, + "request_call_wall_s": 0.0021862867288291454, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05444594891741872, + "request_call_wall_s": 0.0006201840005815029, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05565872695297003, + "request_call_wall_s": 0.0006134966388344765, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05691195512190461, + "request_call_wall_s": 0.0007046000100672245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05844196630641818, + "request_call_wall_s": 0.000655102077871561, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05982919689267874, + "request_call_wall_s": 0.0007190187461674213, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06112827733159065, + "request_call_wall_s": 0.000620504841208458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06238347105681896, + "request_call_wall_s": 0.0005759131163358688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06574500119313598, + "request_call_wall_s": 0.0023193988017737865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06884511932730675, + "request_call_wall_s": 0.0020855851471424103, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07168718427419662, + "request_call_wall_s": 0.0014782268553972244, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07399952597916126, + "request_call_wall_s": 0.0009238426573574543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07571077113971114, + "request_call_wall_s": 0.001147670205682516, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0775318299420178, + "request_call_wall_s": 0.0006421948783099651, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07891504606232047, + "request_call_wall_s": 0.0007101777009665966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08027488924562931, + "request_call_wall_s": 0.0006880327127873898, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08165661804378033, + "request_call_wall_s": 0.0006549800746142864, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08310633292421699, + "request_call_wall_s": 0.0007783742621541023, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08448287891224027, + "request_call_wall_s": 0.0006408188492059708, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08582054311409593, + "request_call_wall_s": 0.0007157451473176479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08715694630518556, + "request_call_wall_s": 0.0011129681952297688, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08913154108449817, + "request_call_wall_s": 0.001517750322818756, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09164900798350573, + "request_call_wall_s": 0.0016592741012573242, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09433224704116583, + "request_call_wall_s": 0.0017719208262860775, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09717503190040588, + "request_call_wall_s": 0.001351980958133936, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09912463324144483, + "request_call_wall_s": 0.001221067737787962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10113308113068342, + "request_call_wall_s": 0.0013103238306939602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1033764029853046, + "request_call_wall_s": 0.0015275492332875729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10590629698708653, + "request_call_wall_s": 0.0018735714256763458, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10865117330104113, + "request_call_wall_s": 0.0016401810571551323, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11127871321514249, + "request_call_wall_s": 0.0015613283030688763, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11376573098823428, + "request_call_wall_s": 0.0013816030696034431, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11598960310220718, + "request_call_wall_s": 0.0012942003086209297, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11804529605433345, + "request_call_wall_s": 0.0013181748799979687, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12023095227777958, + "request_call_wall_s": 0.0015174923464655876, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12264761328697205, + "request_call_wall_s": 0.0015155975706875324, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12506053829565644, + "request_call_wall_s": 0.0013985331170260906, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12729948991909623, + "request_call_wall_s": 0.00120640080422163, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12939345696941018, + "request_call_wall_s": 0.0012483643367886543, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13159102015197277, + "request_call_wall_s": 0.0015211463905870914, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13412790233269334, + "request_call_wall_s": 0.0013677319511771202, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13636962324380875, + "request_call_wall_s": 0.0010906909592449665, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13816055608913302, + "request_call_wall_s": 0.001145233865827322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14000787306576967, + "request_call_wall_s": 0.0014529661275446415, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14240697026252747, + "request_call_wall_s": 0.0012311902828514576, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14450692012906075, + "request_call_wall_s": 0.0010915831662714481, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14629891701042652, + "request_call_wall_s": 0.001034105196595192, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1480179149657488, + "request_call_wall_s": 0.0013225823640823364, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15015671402215958, + "request_call_wall_s": 0.0011632321402430534, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15206552995368838, + "request_call_wall_s": 0.0005383281968533993, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15337551105767488, + "request_call_wall_s": 0.0009771371260285378, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15505042020231485, + "request_call_wall_s": 0.0006156987510621548, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15640905126929283, + "request_call_wall_s": 0.0007860851474106312, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15810118708759546, + "request_call_wall_s": 0.0008236910216510296, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1597761302255094, + "request_call_wall_s": 0.001462576910853386, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1620657630264759, + "request_call_wall_s": 0.0013627959415316582, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16412657825276256, + "request_call_wall_s": 0.0011073490604758263, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1660571643151343, + "request_call_wall_s": 0.001140113454312086, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16803902806714177, + "request_call_wall_s": 0.0025107432156801224, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1712316619232297, + "request_call_wall_s": 0.0010521803051233292, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17307546827942133, + "request_call_wall_s": 0.0012606470845639706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17530849110335112, + "request_call_wall_s": 0.001468965783715248, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17771781608462334, + "request_call_wall_s": 0.0011554760858416557, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1795988380908966, + "request_call_wall_s": 0.00122925266623497, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18155896617099643, + "request_call_wall_s": 0.0011328831315040588, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1835276773199439, + "request_call_wall_s": 0.0014288160018622875, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1858471492305398, + "request_call_wall_s": 0.0011424953117966652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18789692828431726, + "request_call_wall_s": 0.001447632908821106, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1902473489753902, + "request_call_wall_s": 0.0014821798540651798, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19260341208428144, + "request_call_wall_s": 0.0013124067336320877, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19458848889917135, + "request_call_wall_s": 0.001131413970142603, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19649425614625216, + "request_call_wall_s": 0.0012147650122642517, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19844508729875088, + "request_call_wall_s": 0.0012681800872087479, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20052201533690095, + "request_call_wall_s": 0.0012047658674418926, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2024940880946815, + "request_call_wall_s": 0.001127659808844328, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20432663010433316, + "request_call_wall_s": 0.0012089950032532215, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20631462428718805, + "request_call_wall_s": 0.0012824400328099728, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2084427522495389, + "request_call_wall_s": 0.001499675214290619, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21078199008479714, + "request_call_wall_s": 0.0012432481162250042, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21280340617522597, + "request_call_wall_s": 0.0013789418153464794, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21483274921774864, + "request_call_wall_s": 0.0010110950097441673, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21663599088788033, + "request_call_wall_s": 0.0009687598794698715, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21843098802492023, + "request_call_wall_s": 0.001107462216168642, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22028795210644603, + "request_call_wall_s": 0.00048207491636276245, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.22171165933832526, + "request_call_wall_s": 0.0015910412184894085, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.224419420119375, + "request_call_wall_s": 0.0018816189840435982, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.227473390288651, + "request_call_wall_s": 0.0016840500757098198, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23007476096972823, + "request_call_wall_s": 0.0014029447920620441, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2321054912172258, + "request_call_wall_s": 0.0011178762651979923, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23386427527293563, + "request_call_wall_s": 0.0012942468747496605, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2360136192291975, + "request_call_wall_s": 0.0013365419581532478, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2382600549608469, + "request_call_wall_s": 0.0014874846674501896, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24098377814516425, + "request_call_wall_s": 0.0020949291065335274, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24444392509758472, + "request_call_wall_s": 0.0015907259657979012, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.24677603598684072, + "request_call_wall_s": 0.0009623141959309578, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2484635771252215, + "request_call_wall_s": 0.0010084579698741436, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2501837471500039, + "request_call_wall_s": 0.0011551100760698318, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.25199915934354067, + "request_call_wall_s": 0.0011737588793039322, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2538053561002016, + "request_call_wall_s": 0.0014110771007835865, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2560505191795528, + "request_call_wall_s": 0.0015199310146272182, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2583523099310696, + "request_call_wall_s": 0.0012401710264384747, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2604519221931696, + "request_call_wall_s": 0.0007793991826474667, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2621042882092297, + "request_call_wall_s": 0.0011771316640079021, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/ShelfItems/starbucks/full_scene_collision", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.29518293496221304, + "request_call_wall_s": 0.0037635667249560356, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2989045470021665, + "request_call_wall_s": 0.0009527732618153095, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30069791432470083, + "request_call_wall_s": 0.0007637930102646351, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3023465280421078, + "request_call_wall_s": 0.0007388326339423656, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3039601743221283, + "request_call_wall_s": 0.000747073907405138, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.30791948921978474, + "request_call_wall_s": 0.0011171144433319569, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3097888110205531, + "request_call_wall_s": 0.0007105991244316101, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3112887181341648, + "request_call_wall_s": 0.0006425748579204082, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3126334729604423, + "request_call_wall_s": 0.0006801350973546505, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31401080125942826, + "request_call_wall_s": 0.0005589388310909271, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31537124002352357, + "request_call_wall_s": 0.0005402956157922745, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.31656253011897206, + "request_call_wall_s": 0.0005819099023938179, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3178647430613637, + "request_call_wall_s": 0.000523633323609829, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3191030020825565, + "request_call_wall_s": 0.0005209990777075291, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3204683600924909, + "request_call_wall_s": 0.0006991452537477016, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3221585960127413, + "request_call_wall_s": 0.0007821153849363327, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32419884111732244, + "request_call_wall_s": 0.0008906102739274502, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3261831430718303, + "request_call_wall_s": 0.0006488687358796597, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3275661990046501, + "request_call_wall_s": 0.0007643098942935467, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.32912277709692717, + "request_call_wall_s": 0.000585515983402729, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33045188430696726, + "request_call_wall_s": 0.0005738330073654652, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3317542802542448, + "request_call_wall_s": 0.0006601233035326004, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33326771715655923, + "request_call_wall_s": 0.0006344947032630444, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3347339383326471, + "request_call_wall_s": 0.0006266911514103413, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33616159530356526, + "request_call_wall_s": 0.000593006145209074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.33744643721729517, + "request_call_wall_s": 0.0007278136909008026, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3389356401748955, + "request_call_wall_s": 0.0006732442416250706, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3404699880629778, + "request_call_wall_s": 0.0006573768332600594, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3419045018963516, + "request_call_wall_s": 0.0006380919367074966, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34334419621154666, + "request_call_wall_s": 0.0006492342799901962, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04", + "index": 167, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3447866030037403, + "request_call_wall_s": 0.0006312727928161621, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08", + "index": 168, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34622800908982754, + "request_call_wall_s": 0.0005297199822962284, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12", + "index": 169, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.34757826291024685, + "request_call_wall_s": 0.0018235472962260246, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16", + "index": 170, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3503726231865585, + "request_call_wall_s": 0.0005778525955975056, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20", + "index": 171, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35167849995195866, + "request_call_wall_s": 0.0005804351530969143, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24", + "index": 172, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.353133334312588, + "request_call_wall_s": 0.0006045317277312279, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00", + "index": 173, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35465848119929433, + "request_call_wall_s": 0.0006851684302091599, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04", + "index": 174, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35645526507869363, + "request_call_wall_s": 0.0007854169234633446, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08", + "index": 175, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.35817946633324027, + "request_call_wall_s": 0.001013314351439476, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12", + "index": 176, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36004121601581573, + "request_call_wall_s": 0.0007319068536162376, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16", + "index": 177, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.361576019320637, + "request_call_wall_s": 0.0007370086386799812, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20", + "index": 178, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36304307729005814, + "request_call_wall_s": 0.000610788818448782, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24", + "index": 179, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3644479629583657, + "request_call_wall_s": 0.0005434583872556686, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00", + "index": 180, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3656473830342293, + "request_call_wall_s": 0.0005317800678312778, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04", + "index": 181, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36683115316554904, + "request_call_wall_s": 0.0005244356580078602, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08", + "index": 182, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.36798718525096774, + "request_call_wall_s": 0.0004642191343009472, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12", + "index": 183, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3691855282522738, + "request_call_wall_s": 0.000552379060536623, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16", + "index": 184, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37057207617908716, + "request_call_wall_s": 0.0005588093772530556, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20", + "index": 185, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37204794911667705, + "request_call_wall_s": 0.0006504040211439133, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24", + "index": 186, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3735079630278051, + "request_call_wall_s": 0.0006027300842106342, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00", + "index": 187, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37495381012558937, + "request_call_wall_s": 0.0007079183124005795, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04", + "index": 188, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.37635841593146324, + "request_call_wall_s": 0.0005151950754225254, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08", + "index": 189, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3776065423153341, + "request_call_wall_s": 0.0007059951312839985, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12", + "index": 190, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3791340761817992, + "request_call_wall_s": 0.0006256205961108208, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16", + "index": 191, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38059200905263424, + "request_call_wall_s": 0.0006741238757967949, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20", + "index": 192, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38222874607890844, + "request_call_wall_s": 0.0006566853262484074, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24", + "index": 193, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3836486409418285, + "request_call_wall_s": 0.0005478989332914352, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00", + "index": 194, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38481702096760273, + "request_call_wall_s": 0.0005282899364829063, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04", + "index": 195, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38603217294439673, + "request_call_wall_s": 0.0005530621856451035, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08", + "index": 196, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3872680189087987, + "request_call_wall_s": 0.0005266792140901089, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12", + "index": 197, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38854183489456773, + "request_call_wall_s": 0.0007223030552268028, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16", + "index": 198, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.38999622920528054, + "request_call_wall_s": 0.0007233638316392899, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20", + "index": 199, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3915247833356261, + "request_call_wall_s": 0.0006889579817652702, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24", + "index": 200, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3929426851682365, + "request_call_wall_s": 0.0006792689673602581, + "first_observed_frame": 14739, + "first_observed_tick": 44220 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0, + "rigid_owner_mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_m/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/ShelfItems/starbucks/full_scene_collision": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/job.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/job.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6527ea4aefd2f420784b0535f2cd35fc26520e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/job.json @@ -0,0 +1,2247 @@ +{ + "layout_id": 3, + "layout": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc", + "layout_sha256": "41ab828104cba0dac2f06c3f76250b4b6744a1ea05c3bf86e4a4c2dc76200159", + "product": "gatorade_m", + "hand": "l", + "initial_tray_items": 0, + "seed": 20263001008, + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000055", + "status": "PREPARING", + "attempt_index": 3, + "scene": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene_physical.usda", + "target": "/World/Assets/ShelfItems/gatorade_m", + "clutter": [], + "initial_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_base": [ + [ + 0.025272683086869325, + 0.999680594734934, + 0.0, + -1.8023751609761969 + ], + [ + -0.999680594734934, + 0.025272683086869325, + 0.0, + 0.844970839299074 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "exit_xy": [ + -2.3787966130178706, + 0.9883558084696612 + ], + "route": [ + [ + -2.3787966130178706, + 0.9883558084696612 + ], + [ + -1.9149847383915222, + 0.9335361196636149 + ] + ], + "obstacles": [ + [ + [ + -2.869023307458252, + 2.0029564280510335 + ], + [ + -1.8690189945453473, + 2.502956781186233 + ] + ], + [ + [ + -0.34999999004138027, + -2.221043494158536 + ], + [ + 0.44999999004138025, + 0.47895642805103317 + ] + ], + [ + [ + -3.717665822950135, + -0.5653689443941903 + ], + [ + -3.692311884668562, + -0.0698599614024079 + ] + ], + [ + [ + -3.7953167573263986, + -0.8724783009470937 + ], + [ + -3.6771651048029206, + 0.34511267069583845 + ] + ], + [ + [ + -3.879706718931999, + -1.1055062473688606 + ], + [ + -3.5797067146712895, + 0.5744936522773821 + ] + ], + [ + [ + -2.3052514467347898, + -0.7131347350063493 + ], + [ + -1.529900422697991, + 0.4868652871988959 + ] + ], + [ + [ + -1.786251451869326, + -0.9261752673580972 + ], + [ + -1.5962514495582083, + -0.6861752548857202 + ] + ], + [ + [ + -1.9862514518693262, + -0.9261752673580972 + ], + [ + -1.7962514495582085, + -0.6861752548857202 + ] + ], + [ + [ + -4.095015654990075, + 1.6125724884739365 + ], + [ + -3.9215111634567226, + 2.4144035759633775 + ] + ], + [ + [ + -2.576679802850966, + -2.260362452006366 + ], + [ + -1.1336755045762739, + -2.180600139271895 + ] + ], + [ + [ + -2.5985710506250475, + -2.622115872725699 + ], + [ + -1.6314963192779621, + -1.35118257651793 + ] + ], + [ + [ + -2.3942514489280233, + -1.0261752637507553 + ], + [ + -1.9962514525677881, + -0.7081752645890051 + ] + ], + [ + [ + -0.472061916588854, + 1.3648232134708587 + ], + [ + 0.4555130441800417, + 2.285494926831597 + ] + ], + [ + [ + -0.792746604489803, + 2.4481512465188766 + ], + [ + 0.41000000000000003, + 2.6216557380522283 + ] + ], + [ + [ + -3.795999997138977, + -2.260000000298023 + ], + [ + -2.7400000028610227, + -2.1199999997019767 + ] + ], + [ + [ + 0.5950000047683717, + -2.260000000298023 + ], + [ + 2.1049999952316285, + -2.1199999997019767 + ] + ], + [ + [ + 0.8150000095367431, + 1.6010000006705523 + ], + [ + 2.334999990463257, + 1.719000000104308 + ] + ], + [ + [ + -2.173730570619366, + -2.234867975138003 + ], + [ + -1.536269429380635, + -2.17 + ] + ], + [ + [ + 2.251793046032915, + -0.1869539044828784 + ], + [ + 3.3902931404466723, + 0.5087961234120953 + ] + ], + [ + [ + 1.3378637175309387, + -0.031284164860603765 + ], + [ + 2.271307789676233, + 0.9154746021631642 + ] + ], + [ + [ + 4.407259680028043, + 0.6990010782675901 + ], + [ + 4.875749666392801, + 1.299453736627765 + ] + ], + [ + [ + 2.4917789610617525, + -0.0036696820458122286 + ], + [ + 2.651807132965098, + 0.1896871197829863 + ] + ], + [ + [ + 2.303920863545646, + -2.0206458540070034 + ], + [ + 2.55192085949253, + -1.7160656712758522 + ] + ], + [ + [ + -1.552000000476837, + 1.9036569887943267 + ], + [ + -0.9779999995231627, + 2.4856570059604643 + ] + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000506", + "tray_floor_z": 0.45490211957462423, + "destination_xyz": [ + -1.7475907421156816, + 0.16355454199352923, + 0.45490211957462423 + ], + "tray_polygon_xy": [ + [ + -1.9110187437328643, + 0.11612171516319551 + ], + [ + -1.5882833532621725, + 0.10372347179403192 + ], + [ + -1.5862825380380359, + 0.10391490294118166 + ], + [ + -1.5853414171622784, + 0.10427051604834989 + ], + [ + -1.5845100254814304, + 0.10486350410820582 + ], + [ + -1.5838549939782132, + 0.10564695900647098 + ], + [ + -1.5834282186680957, + 0.10655805272629161 + ], + [ + -1.5830838438299342, + 0.10853828436027764 + ], + [ + -1.5747413545005924, + 0.3256994152587991 + ], + [ + -1.5749327792038854, + 0.3277002083534273 + ], + [ + -1.575288399314498, + 0.32864133679221674 + ], + [ + -1.5758813803709095, + 0.32947272091003277 + ], + [ + -1.5766648279859363, + 0.33012775213345624 + ], + [ + -1.5775759505589162, + 0.33055453584598715 + ], + [ + -1.5795561964795848, + 0.3308989185269745 + ], + [ + -1.9022915869502766, + 0.34329716189613807 + ], + [ + -1.9042924021744132, + 0.3431057307489883 + ], + [ + -1.9052335230501707, + 0.3427501176418201 + ], + [ + -1.9060649147310187, + 0.3421571295819642 + ], + [ + -1.9067199462342361, + 0.34137367468369906 + ], + [ + -1.9071467215443534, + 0.3404625809638784 + ], + [ + -1.9074910963825151, + 0.33848234932989235 + ], + [ + -1.9158335857118567, + 0.12132121843137095 + ], + [ + -1.9156421610085639, + 0.11932042533674274 + ], + [ + -1.9152865408979511, + 0.11837929689795323 + ], + [ + -1.9146935598415395, + 0.11754791278013725 + ], + [ + -1.9139101122265127, + 0.11689288155671373 + ], + [ + -1.9129989896535329, + 0.11646609784418288 + ] + ], + "source_dof_names": [ + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx21_arm_l_joint1", + "idx61_arm_r_joint1", + "idx22_arm_l_joint2", + "idx62_arm_r_joint2", + "idx23_arm_l_joint3", + "idx63_arm_r_joint3", + "idx24_arm_l_joint4", + "idx64_arm_r_joint4", + "idx25_arm_l_joint5", + "idx65_arm_r_joint5", + "idx26_arm_l_joint6", + "idx66_arm_r_joint6", + "idx27_arm_l_joint7", + "idx67_arm_r_joint7", + "idx31_gripper_l_inner_joint1", + "idx41_gripper_l_outer_joint1", + "idx71_gripper_r_inner_joint1", + "idx81_gripper_r_outer_joint1", + "idx32_gripper_l_inner_joint3", + "idx42_gripper_l_outer_joint3", + "idx72_gripper_r_inner_joint3", + "idx82_gripper_r_outer_joint3", + "idx33_gripper_l_inner_joint4", + "idx43_gripper_l_outer_joint4", + "idx73_gripper_r_inner_joint4", + "idx83_gripper_r_outer_joint4", + "idx39_gripper_l_inner_joint0", + "idx49_gripper_l_outer_joint0", + "idx79_gripper_r_inner_joint0", + "idx89_gripper_r_outer_joint0" + ], + "source_initial_q": [ + 0.4, + 0.0, + 0.0, + 0.4363323129985824, + -1.0463638945234317, + 1.0146817505343473, + 0.5553795243153509, + -0.5544810046463908, + 0.30598837290307634, + -0.22207068727428536, + -1.2477034506751763, + 1.3224151316068253, + 0.7315242756431548, + -0.7628240431105453, + 1.450414316002107, + -1.435793949834476, + -0.17955661248719887, + 0.19283131129064382, + -0.7844060659408569, + 0.7844061851501465, + -0.7844092845916748, + 0.78440922498703, + -0.06586175411939621, + 0.08891744911670685, + -0.06552468240261078, + 0.08869274705648422, + -0.03039488196372986, + -0.0339159332215786, + -0.031381815671920776, + -0.033230822533369064, + 0.4464392364025116, + -0.39266160130500793, + 0.4472809433937073, + -0.3932376503944397 + ], + "appearance": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_03/APPEARANCE.json", + "schema": "shelf_to_table_multi10.job.v1", + "source_layout_id": 3, + "context": "Sports sideline", + "items": [ + { + "target": "/World/Assets/ShelfItems/gatorade_m", + "hand": "l", + "product": "gatorade_m", + "label": "Gatorade Orange", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000055", + "pick_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_01.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.0 + ], + [ + 0.035000000149012056, + 0.035000000149012056, + 0.21119999885559082 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000267", + "place_base": [ + [ + 0.025272683086869325, + 0.999680594734934, + 0.0, + -1.8023751609761969 + ], + [ + -0.999680594734934, + 0.025272683086869325, + 0.0, + 0.844970839299074 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.814444719709507, + 0.20702543516650893 + ], + "destination_xyz": [ + -1.7475907421156816, + 0.16355454199352923, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.7475907421156816, + 0.16355454199352923 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.781720970377036, + 0.1558003467279177 + ], + [ + -1.780416856168224, + 0.15141179632768278 + ], + [ + -1.77855107776737, + 0.14723101131806807 + ], + [ + -1.7761555597141143, + 0.14332952612211827 + ], + [ + -1.773271288385108, + 0.13977409816357578 + ], + [ + -1.769947618010755, + 0.13662555813518765 + ], + [ + -1.7662414135858628, + 0.13393778168641093 + ], + [ + -1.7622160913432072, + 0.13175675596888786 + ], + [ + -1.7579405256521974, + 0.13011979949210364 + ], + [ + -1.753487872238379, + 0.12905492229388177 + ], + [ + -1.748934317460252, + 0.1285803398478868 + ], + [ + -1.74435777361797, + 0.12870417875586504 + ], + [ + -1.7398365468500696, + 0.12942431373217508 + ], + [ + -1.735447996449835, + 0.1307284279409869 + ], + [ + -1.73126721144022, + 0.1325942063418407 + ], + [ + -1.7273657262442705, + 0.1349897243950964 + ], + [ + -1.723810298285728, + 0.13787399572410278 + ], + [ + -1.7206617582573396, + 0.141197666098456 + ], + [ + -1.717973981808563, + 0.14490387052334816 + ], + [ + -1.71579295609104, + 0.14892919276600403 + ], + [ + -1.7141559996142555, + 0.15320475845701337 + ], + [ + -1.7130911224160343, + 0.15765741187083193 + ], + [ + -1.7126165399700393, + 0.16221096664895923 + ], + [ + -1.7127403788780171, + 0.16678751049124074 + ], + [ + -1.7134605138543273, + 0.17130873725914122 + ], + [ + -1.714764628063139, + 0.1756972876593759 + ], + [ + -1.716630406463993, + 0.1798780726689906 + ], + [ + -1.7190259245172483, + 0.1837795578649404 + ], + [ + -1.721910195846255, + 0.1873349858234829 + ], + [ + -1.7252338662206081, + 0.19048352585187125 + ], + [ + -1.7289400706455003, + 0.19317130230064775 + ], + [ + -1.7329653928881563, + 0.19535232801817107 + ], + [ + -1.7372409585791657, + 0.19698928449495526 + ], + [ + -1.741693611992984, + 0.1980541616931769 + ], + [ + -1.7462471667711115, + 0.1985287441391719 + ], + [ + -1.7508237106133926, + 0.19840490523119383 + ], + [ + -1.755344937381293, + 0.1976847702548836 + ], + [ + -1.7597334877815285, + 0.19638065604607202 + ], + [ + -1.763914272791143, + 0.194514877645218 + ], + [ + -1.767815757987093, + 0.1921193595919623 + ], + [ + -1.7713711859456351, + 0.1892350882629559 + ], + [ + -1.7745197259740235, + 0.1859114178886027 + ], + [ + -1.7772075024228, + 0.18220521346371074 + ], + [ + -1.779388528140323, + 0.17817989122105488 + ], + [ + -1.7810254846171076, + 0.1739043255300453 + ], + [ + -1.7820903618153292, + 0.16945167211622697 + ], + [ + -1.7825649442613243, + 0.16489811733809948 + ], + [ + -1.782441105353346, + 0.16032157349581816 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/chomps_r", + "hand": "r", + "product": "chomps_r", + "label": "Chomps", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000375", + "pick_base": [ + [ + 0.06669947329758606, + -0.9977731106127409, + 0.0, + -2.369496315844963 + ], + [ + 0.9977731106127409, + 0.06669947329758606, + 0.0, + 1.3334197562341454 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_02.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.05999999865889549, + -0.02199999988079071, + 0.0 + ], + [ + 0.05999999865889549, + 0.02199999988079071, + 0.20999999344348907 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000470", + "place_base": [ + [ + 0.0019580398854471374, + 0.9999980830380664, + 0.0, + -1.6904822078029937 + ], + [ + -0.9999980830380664, + 0.0019580398854471314, + 0.0, + 0.8855980758990087 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013675838708877563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.9995780365407674, + 0.22857166198644138 + ], + "destination_xyz": [ + -1.8397247350580384, + 0.22383232216805643, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.8397247350580384, + 0.22383232216805643 + ], + "yaw_rad": 2.8402519951194756, + "footprint_xy": [ + [ + -1.8931894028012088, + 0.2539686332136071 + ], + [ + -1.9008527974373564, + 0.22931209680502387 + ], + [ + -1.897452309454433, + 0.22581327879018953 + ], + [ + -1.8939092526967616, + 0.2227731551484363 + ], + [ + -1.8902446997944482, + 0.22012393844232758 + ], + [ + -1.8864780375090295, + 0.21780326542067546 + ], + [ + -1.8826269566140226, + 0.21575419192282397 + ], + [ + -1.8787074724102366, + 0.2139252021807308 + ], + [ + -1.8747339133804468, + 0.21227020139169966 + ], + [ + -1.870718919410682, + 0.21074851516554755 + ], + [ + -1.8666734465735295, + 0.20932489296181803 + ], + [ + -1.8626067619122053, + 0.20796951232025646 + ], + [ + -1.8585264549780842, + 0.20665796684243753 + ], + [ + -1.8544384223992183, + 0.20537127504933647 + ], + [ + -1.8503468781079444, + 0.2040958835601278 + ], + [ + -1.8462543508770675, + 0.20282365462319102 + ], + [ + -1.8421616832262462, + 0.20155187747943598 + ], + [ + -1.8380680326358225, + 0.20028326288795317 + ], + [ + -1.833970869443633, + 0.1990259483239453 + ], + [ + -1.8298659823854126, + 0.19779348799748953 + ], + [ + -1.8257474694969686, + 0.19660486172910774 + ], + [ + -1.8216077483417794, + 0.19548447812856273 + ], + [ + -1.8174375483192027, + 0.1944621585504409 + ], + [ + -1.8132259133566515, + 0.19357315353519713 + ], + [ + -1.8089602000106688, + 0.19285813636734703 + ], + [ + -1.804626083355908, + 0.19236320295525522 + ], + [ + -1.8002075552064118, + 0.19213987127830168 + ], + [ + -1.7956869105589561, + 0.19224508107446697 + ], + [ + -1.7910447697668597, + 0.19274119780627635 + ], + [ + -1.7862600673148683, + 0.19369601112250578 + ], + [ + -1.7785966726787208, + 0.2183525475310888 + ], + [ + -1.781997160661644, + 0.22185136554592336 + ], + [ + -1.7855402174193156, + 0.22489148918767637 + ], + [ + -1.7892047703216285, + 0.22754070589378517 + ], + [ + -1.7929714326070478, + 0.2298613789154372 + ], + [ + -1.7968225135020546, + 0.2319104524132887 + ], + [ + -1.8007419977058408, + 0.23373944215538164 + ], + [ + -1.8047155567356303, + 0.23539444294441322 + ], + [ + -1.8087305507053952, + 0.23691612917056534 + ], + [ + -1.8127760235425474, + 0.2383397513742945 + ], + [ + -1.8168427082038714, + 0.23969513201585607 + ], + [ + -1.820923015137993, + 0.24100667749367502 + ], + [ + -1.8250110477168584, + 0.24229336928677606 + ], + [ + -1.829102592008133, + 0.24356876077598485 + ], + [ + -1.83319511923901, + 0.24484098971292168 + ], + [ + -1.8372877868898305, + 0.24611276685667655 + ], + [ + -1.8413814374802546, + 0.2473813814481597 + ], + [ + -1.8454786006724442, + 0.24863869601216737 + ], + [ + -1.849583487730664, + 0.24987115633862325 + ], + [ + -1.8537020006191085, + 0.2510597826070052 + ], + [ + -1.8578417217742977, + 0.25218016620754985 + ], + [ + -1.8620119217968745, + 0.2532024857856718 + ], + [ + -1.8662235567594256, + 0.25409149080091553 + ], + [ + -1.8704892701054083, + 0.25480650796876564 + ], + [ + -1.8748233867601691, + 0.25530144138085764 + ], + [ + -1.8792419149096653, + 0.25552477305781124 + ], + [ + -1.8837625595571206, + 0.2554195632616458 + ], + [ + -1.8884047003492175, + 0.2549234465298361 + ] + ], + "tolerance_m": 0.001 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/ShelfItems/gatorade_t", + "hand": "r", + "product": "gatorade_t", + "label": "Gatorade Blue", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000556", + "pick_base": [ + [ + -0.02189116047029017, + -0.9997603598329273, + 0.0, + -2.363803077808022 + ], + [ + 0.9997603598329273, + -0.02189116047029017, + 0.0, + 1.2995607260347384 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_03.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03500000014901161, + -0.03500000014901161, + 0.0 + ], + [ + 0.03500000014901161, + 0.03500000014901161, + 0.21119999885559082 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000324", + "place_base": [ + [ + -0.012925273252456444, + 0.9999164651666407, + 0.0, + -1.4021578797554752 + ], + [ + -0.9999164651666407, + -0.012925273252456444, + 0.0, + 0.8039883959566722 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -2.0628784611582036, + 0.2893350297356529 + ], + "destination_xyz": [ + -1.6365201855497675, + 0.18930976406863637, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.6706504138111216, + 0.18155556880302492 + ], + [ + -1.66934629960231, + 0.17716701840279012 + ], + [ + -1.667480521201456, + 0.1729862333931753 + ], + [ + -1.6650850031482007, + 0.16908474819722535 + ], + [ + -1.662200731819194, + 0.16552932023868291 + ], + [ + -1.658877061444841, + 0.16238078021029467 + ], + [ + -1.6551708570199488, + 0.159693003761518 + ], + [ + -1.6511455347772932, + 0.15751197804399492 + ], + [ + -1.6468699690862834, + 0.15587502156721073 + ], + [ + -1.642417315672465, + 0.15481014436898896 + ], + [ + -1.6378637608943376, + 0.15433556192299344 + ], + [ + -1.633287217052056, + 0.15445940083097204 + ], + [ + -1.628765990284156, + 0.1551795358072825 + ], + [ + -1.624377439883921, + 0.15648365001609382 + ], + [ + -1.6201966548743065, + 0.15834942841694802 + ], + [ + -1.6162951696783565, + 0.16074494647020332 + ], + [ + -1.612739741719814, + 0.1636292177992098 + ], + [ + -1.609591201691426, + 0.16695288817356302 + ], + [ + -1.606903425242649, + 0.17065909259845533 + ], + [ + -1.604722399525126, + 0.17468441484111086 + ], + [ + -1.6030854430483419, + 0.17895998053212078 + ], + [ + -1.6020205658501199, + 0.18341263394593896 + ], + [ + -1.6015459834041248, + 0.18796618872406637 + ], + [ + -1.6016698223121035, + 0.192542732566348 + ], + [ + -1.6023899572884135, + 0.19706395933424792 + ], + [ + -1.603694071497225, + 0.20145250973448275 + ], + [ + -1.605559849898079, + 0.20563329474409758 + ], + [ + -1.6079553679513348, + 0.2095347799400473 + ], + [ + -1.610839639280341, + 0.21309020789858996 + ], + [ + -1.6141633096546941, + 0.2162387479269784 + ], + [ + -1.6178695140795867, + 0.21892652437575488 + ], + [ + -1.6218948363222419, + 0.2211075500932777 + ], + [ + -1.6261704020132517, + 0.22274450657006195 + ], + [ + -1.63062305542707, + 0.2238093837682839 + ], + [ + -1.6351766102051974, + 0.2242839662142792 + ], + [ + -1.6397531540474795, + 0.22416012730630064 + ], + [ + -1.644274380815379, + 0.22343999232999034 + ], + [ + -1.648662931215614, + 0.2221358781211788 + ], + [ + -1.652843716225229, + 0.22027009972032485 + ], + [ + -1.6567452014211785, + 0.2178745816670693 + ], + [ + -1.6603006293797211, + 0.21499031033806307 + ], + [ + -1.663449169408109, + 0.21166663996370985 + ], + [ + -1.666136945856886, + 0.20796043553881755 + ], + [ + -1.668317971574409, + 0.203935113296162 + ], + [ + -1.6699549280511932, + 0.1996595476051521 + ], + [ + -1.6710198052494152, + 0.1952068941913339 + ], + [ + -1.6714943876954107, + 0.1906533394132065 + ], + [ + -1.671370548787432, + 0.18607679557092466 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.02499999999999991, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/zbar_t", + "hand": "l", + "product": "zbar_t", + "label": "CLIF Zbar", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675", + "pick_base": [ + [ + 0.008722194795467365, + -0.9999619609354898, + 0.0, + -2.3850847215495956 + ], + [ + 0.9999619609354898, + 0.008722194795467365, + 0.0, + 1.3762080635665004 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_04.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.06750000268220901, + -0.019999999552965164, + -2.6822088994293836e-09 + ], + [ + 0.06750000268220901, + 0.019999999552965164, + 0.13500000536441803 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000404", + "place_base": [ + [ + 0.027611057685489954, + 0.9996187420679389, + 0.0, + -1.72438406459148 + ], + [ + -0.9996187420679389, + 0.027611057685489954, + 0.0, + 0.9003488659801983 + ], + [ + 0.0, + 0.0, + 1.0, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8547523814731282, + 0.2569645216018311 + ], + "destination_xyz": [ + -1.7030136815290644, + 0.2819305770236697, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -1.7030136815290644, + 0.2819305770236697 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.7712316882366217, + 0.26453650030012626 + ], + [ + -1.636331189460157, + 0.2593541380729204 + ], + [ + -1.6347956748215071, + 0.299324653747214 + ], + [ + -1.769696173597972, + 0.3045070159744195 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + } + ], + "tray_slots": [ + { + "xy": [ + -1.7475907421156816, + 0.16355454199352923 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.781720970377036, + 0.1558003467279177 + ], + [ + -1.780416856168224, + 0.15141179632768278 + ], + [ + -1.77855107776737, + 0.14723101131806807 + ], + [ + -1.7761555597141143, + 0.14332952612211827 + ], + [ + -1.773271288385108, + 0.13977409816357578 + ], + [ + -1.769947618010755, + 0.13662555813518765 + ], + [ + -1.7662414135858628, + 0.13393778168641093 + ], + [ + -1.7622160913432072, + 0.13175675596888786 + ], + [ + -1.7579405256521974, + 0.13011979949210364 + ], + [ + -1.753487872238379, + 0.12905492229388177 + ], + [ + -1.748934317460252, + 0.1285803398478868 + ], + [ + -1.74435777361797, + 0.12870417875586504 + ], + [ + -1.7398365468500696, + 0.12942431373217508 + ], + [ + -1.735447996449835, + 0.1307284279409869 + ], + [ + -1.73126721144022, + 0.1325942063418407 + ], + [ + -1.7273657262442705, + 0.1349897243950964 + ], + [ + -1.723810298285728, + 0.13787399572410278 + ], + [ + -1.7206617582573396, + 0.141197666098456 + ], + [ + -1.717973981808563, + 0.14490387052334816 + ], + [ + -1.71579295609104, + 0.14892919276600403 + ], + [ + -1.7141559996142555, + 0.15320475845701337 + ], + [ + -1.7130911224160343, + 0.15765741187083193 + ], + [ + -1.7126165399700393, + 0.16221096664895923 + ], + [ + -1.7127403788780171, + 0.16678751049124074 + ], + [ + -1.7134605138543273, + 0.17130873725914122 + ], + [ + -1.714764628063139, + 0.1756972876593759 + ], + [ + -1.716630406463993, + 0.1798780726689906 + ], + [ + -1.7190259245172483, + 0.1837795578649404 + ], + [ + -1.721910195846255, + 0.1873349858234829 + ], + [ + -1.7252338662206081, + 0.19048352585187125 + ], + [ + -1.7289400706455003, + 0.19317130230064775 + ], + [ + -1.7329653928881563, + 0.19535232801817107 + ], + [ + -1.7372409585791657, + 0.19698928449495526 + ], + [ + -1.741693611992984, + 0.1980541616931769 + ], + [ + -1.7462471667711115, + 0.1985287441391719 + ], + [ + -1.7508237106133926, + 0.19840490523119383 + ], + [ + -1.755344937381293, + 0.1976847702548836 + ], + [ + -1.7597334877815285, + 0.19638065604607202 + ], + [ + -1.763914272791143, + 0.194514877645218 + ], + [ + -1.767815757987093, + 0.1921193595919623 + ], + [ + -1.7713711859456351, + 0.1892350882629559 + ], + [ + -1.7745197259740235, + 0.1859114178886027 + ], + [ + -1.7772075024228, + 0.18220521346371074 + ], + [ + -1.779388528140323, + 0.17817989122105488 + ], + [ + -1.7810254846171076, + 0.1739043255300453 + ], + [ + -1.7820903618153292, + 0.16945167211622697 + ], + [ + -1.7825649442613243, + 0.16489811733809948 + ], + [ + -1.782441105353346, + 0.16032157349581816 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -1.8397247350580384, + 0.22383232216805643 + ], + "yaw_rad": 2.8402519951194756, + "footprint_xy": [ + [ + -1.8931894028012088, + 0.2539686332136071 + ], + [ + -1.9008527974373564, + 0.22931209680502387 + ], + [ + -1.897452309454433, + 0.22581327879018953 + ], + [ + -1.8939092526967616, + 0.2227731551484363 + ], + [ + -1.8902446997944482, + 0.22012393844232758 + ], + [ + -1.8864780375090295, + 0.21780326542067546 + ], + [ + -1.8826269566140226, + 0.21575419192282397 + ], + [ + -1.8787074724102366, + 0.2139252021807308 + ], + [ + -1.8747339133804468, + 0.21227020139169966 + ], + [ + -1.870718919410682, + 0.21074851516554755 + ], + [ + -1.8666734465735295, + 0.20932489296181803 + ], + [ + -1.8626067619122053, + 0.20796951232025646 + ], + [ + -1.8585264549780842, + 0.20665796684243753 + ], + [ + -1.8544384223992183, + 0.20537127504933647 + ], + [ + -1.8503468781079444, + 0.2040958835601278 + ], + [ + -1.8462543508770675, + 0.20282365462319102 + ], + [ + -1.8421616832262462, + 0.20155187747943598 + ], + [ + -1.8380680326358225, + 0.20028326288795317 + ], + [ + -1.833970869443633, + 0.1990259483239453 + ], + [ + -1.8298659823854126, + 0.19779348799748953 + ], + [ + -1.8257474694969686, + 0.19660486172910774 + ], + [ + -1.8216077483417794, + 0.19548447812856273 + ], + [ + -1.8174375483192027, + 0.1944621585504409 + ], + [ + -1.8132259133566515, + 0.19357315353519713 + ], + [ + -1.8089602000106688, + 0.19285813636734703 + ], + [ + -1.804626083355908, + 0.19236320295525522 + ], + [ + -1.8002075552064118, + 0.19213987127830168 + ], + [ + -1.7956869105589561, + 0.19224508107446697 + ], + [ + -1.7910447697668597, + 0.19274119780627635 + ], + [ + -1.7862600673148683, + 0.19369601112250578 + ], + [ + -1.7785966726787208, + 0.2183525475310888 + ], + [ + -1.781997160661644, + 0.22185136554592336 + ], + [ + -1.7855402174193156, + 0.22489148918767637 + ], + [ + -1.7892047703216285, + 0.22754070589378517 + ], + [ + -1.7929714326070478, + 0.2298613789154372 + ], + [ + -1.7968225135020546, + 0.2319104524132887 + ], + [ + -1.8007419977058408, + 0.23373944215538164 + ], + [ + -1.8047155567356303, + 0.23539444294441322 + ], + [ + -1.8087305507053952, + 0.23691612917056534 + ], + [ + -1.8127760235425474, + 0.2383397513742945 + ], + [ + -1.8168427082038714, + 0.23969513201585607 + ], + [ + -1.820923015137993, + 0.24100667749367502 + ], + [ + -1.8250110477168584, + 0.24229336928677606 + ], + [ + -1.829102592008133, + 0.24356876077598485 + ], + [ + -1.83319511923901, + 0.24484098971292168 + ], + [ + -1.8372877868898305, + 0.24611276685667655 + ], + [ + -1.8413814374802546, + 0.2473813814481597 + ], + [ + -1.8454786006724442, + 0.24863869601216737 + ], + [ + -1.849583487730664, + 0.24987115633862325 + ], + [ + -1.8537020006191085, + 0.2510597826070052 + ], + [ + -1.8578417217742977, + 0.25218016620754985 + ], + [ + -1.8620119217968745, + 0.2532024857856718 + ], + [ + -1.8662235567594256, + 0.25409149080091553 + ], + [ + -1.8704892701054083, + 0.25480650796876564 + ], + [ + -1.8748233867601691, + 0.25530144138085764 + ], + [ + -1.8792419149096653, + 0.25552477305781124 + ], + [ + -1.8837625595571206, + 0.2554195632616458 + ], + [ + -1.8884047003492175, + 0.2549234465298361 + ] + ], + "tolerance_m": 0.001 + }, + { + "xy": [ + -1.6365201855497675, + 0.18930976406863637 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.6706504138111216, + 0.18155556880302492 + ], + [ + -1.66934629960231, + 0.17716701840279012 + ], + [ + -1.667480521201456, + 0.1729862333931753 + ], + [ + -1.6650850031482007, + 0.16908474819722535 + ], + [ + -1.662200731819194, + 0.16552932023868291 + ], + [ + -1.658877061444841, + 0.16238078021029467 + ], + [ + -1.6551708570199488, + 0.159693003761518 + ], + [ + -1.6511455347772932, + 0.15751197804399492 + ], + [ + -1.6468699690862834, + 0.15587502156721073 + ], + [ + -1.642417315672465, + 0.15481014436898896 + ], + [ + -1.6378637608943376, + 0.15433556192299344 + ], + [ + -1.633287217052056, + 0.15445940083097204 + ], + [ + -1.628765990284156, + 0.1551795358072825 + ], + [ + -1.624377439883921, + 0.15648365001609382 + ], + [ + -1.6201966548743065, + 0.15834942841694802 + ], + [ + -1.6162951696783565, + 0.16074494647020332 + ], + [ + -1.612739741719814, + 0.1636292177992098 + ], + [ + -1.609591201691426, + 0.16695288817356302 + ], + [ + -1.606903425242649, + 0.17065909259845533 + ], + [ + -1.604722399525126, + 0.17468441484111086 + ], + [ + -1.6030854430483419, + 0.17895998053212078 + ], + [ + -1.6020205658501199, + 0.18341263394593896 + ], + [ + -1.6015459834041248, + 0.18796618872406637 + ], + [ + -1.6016698223121035, + 0.192542732566348 + ], + [ + -1.6023899572884135, + 0.19706395933424792 + ], + [ + -1.603694071497225, + 0.20145250973448275 + ], + [ + -1.605559849898079, + 0.20563329474409758 + ], + [ + -1.6079553679513348, + 0.2095347799400473 + ], + [ + -1.610839639280341, + 0.21309020789858996 + ], + [ + -1.6141633096546941, + 0.2162387479269784 + ], + [ + -1.6178695140795867, + 0.21892652437575488 + ], + [ + -1.6218948363222419, + 0.2211075500932777 + ], + [ + -1.6261704020132517, + 0.22274450657006195 + ], + [ + -1.63062305542707, + 0.2238093837682839 + ], + [ + -1.6351766102051974, + 0.2242839662142792 + ], + [ + -1.6397531540474795, + 0.22416012730630064 + ], + [ + -1.644274380815379, + 0.22343999232999034 + ], + [ + -1.648662931215614, + 0.2221358781211788 + ], + [ + -1.652843716225229, + 0.22027009972032485 + ], + [ + -1.6567452014211785, + 0.2178745816670693 + ], + [ + -1.6603006293797211, + 0.21499031033806307 + ], + [ + -1.663449169408109, + 0.21166663996370985 + ], + [ + -1.666136945856886, + 0.20796043553881755 + ], + [ + -1.668317971574409, + 0.203935113296162 + ], + [ + -1.6699549280511932, + 0.1996595476051521 + ], + [ + -1.6710198052494152, + 0.1952068941913339 + ], + [ + -1.6714943876954107, + 0.1906533394132065 + ], + [ + -1.671370548787432, + 0.18607679557092466 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -1.7030136815290644, + 0.2819305770236697 + ], + "yaw_rad": -0.03839730132322325, + "footprint_xy": [ + [ + -1.7712316882366217, + 0.26453650030012626 + ], + [ + -1.636331189460157, + 0.2593541380729204 + ], + [ + -1.6347956748215071, + 0.299324653747214 + ], + [ + -1.769696173597972, + 0.3045070159744195 + ] + ], + "tolerance_m": 0.02 + } + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.35, + 0.55, + 0.75, + 0.15, + 0.1 + ], + "native_attempt_index": 3, + "retry_of": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_03/attempt_003", + "retry_reason": "Fresh uninterrupted retry with body2-compensated raised-head return policy and mandatory ReleaseSweep; prior completed diagnostic failed physical later-item displacement.", + "fresh_scene_revision": { + "policy": "remove_only_source_path_blocking_nonrequested_distractors_v1", + "deactivated_paths": [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles" + ], + "provenance": "FRESH_SCENE_CHANGE.json", + "pick_qualification": "CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json" + }, + "fresh_seed_evidence": { + "item_01_proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT03_ITEM01_LIVE_PLACE_PROPOSAL.json", + "item_01_proposal_sha256": "b94e6f44948d2174ddf971f058b930ad6f14c1ee1771603b75a06fc09964e43e", + "seed_is_not_cached_motion": true, + "fresh_live_replanning_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..616df24bd5a2bb1d111e47be79fc5e8250d75b70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_00.json @@ -0,0 +1,53 @@ +[ + { + "kind": "drive", + "goal": [ + -2.378796598116421, + 0.9883558167108641, + 1.5682778837048228 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -2.378796598116421, + 0.9883558167108641, + 0.49697432445560463 + ] + }, + { + "kind": "drive", + "goal": [ + -1.8137478683652881, + 1.294827106929794, + 0.4969743244556047 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.8137478683652881, + 1.294827106929794, + -1.5455209526215252 + ] + }, + { + "kind": "drive", + "goal": [ + -1.8023751609761969, + 0.844970839299074, + -1.545520952621525 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.8023751609761969, + 0.844970839299074, + -1.5455209526215252 + ] + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..c74df3b76fbf305785466a57cd7fd07259db04a0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_01.json @@ -0,0 +1,36 @@ +[ + { + "kind": "drive", + "goal": [ + -2.39256807006835, + 0.9839848379203651, + 1.5041356603086553 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -2.39256807006835, + 0.9839848379203651, + -0.13922828761465178 + ] + }, + { + "kind": "drive", + "goal": [ + -1.6904822078029937, + 0.8855980758990087, + -0.13922828761465172 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.6904822078029937, + 0.8855980758990087, + -1.5688382856582859 + ] + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..e81bf5d281ffc6f68f7cc9d0eb1ca90977fc072b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_02.json @@ -0,0 +1,53 @@ +[ + { + "kind": "drive", + "goal": [ + -2.3558505373261864, + 0.9494512787466767, + 1.5927793828871808 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -2.3558505373261864, + 0.9494512787466767, + 0.3072966235013417 + ] + }, + { + "kind": "drive", + "goal": [ + -1.39634150679187, + 1.2539508052816604, + 0.30729662350134157 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.39634150679187, + 1.2539508052816604, + -1.5837219599628942 + ] + }, + { + "kind": "drive", + "goal": [ + -1.4021578797554752, + 0.8039883959566722, + -1.5837219599628944 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.4021578797554752, + 0.8039883959566722, + -1.5837219599628947 + ] + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_03.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_03.json new file mode 100644 index 0000000000000000000000000000000000000000..85bf4ac273067b266fdba587dffa44185e413f4c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/navigation_primitives.item_03.json @@ -0,0 +1,36 @@ +[ + { + "kind": "drive", + "goal": [ + -2.3879220930967833, + 1.0260221800612697, + 1.5621530778651391 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -2.3879220930967833, + 1.0260221800612697, + -0.18718164097164247 + ] + }, + { + "kind": "drive", + "goal": [ + -1.72438406459148, + 0.9003488659801983, + -0.18718164097164244 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.72438406459148, + 0.9003488659801983, + -1.543181759595937 + ] + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/place_metrics.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/place_metrics.json new file mode 100644 index 0000000000000000000000000000000000000000..8b3bb1ef283d5719058d013b1e7d3e76b97a642b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/place_metrics.json @@ -0,0 +1,15 @@ +{ + "hands": [ + "l", + "r", + "r", + "l" + ], + "destination_body_path": "/World/Assets/Tray", + "completed_objects": [ + "/World/Assets/ShelfItems/gatorade_m", + "/World/Assets/Tier2Items/chomps_r", + "/World/Assets/ShelfItems/gatorade_t", + "/World/Assets/Tier2Items/zbar_t" + ] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/recording_metadata.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/recording_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e9811a7b230aa12305177712b3f8a52067953409 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/recording_metadata.json @@ -0,0 +1,15 @@ +{ + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "action_schema": "g1_omnipicker_jointpos20_basevw_v1", + "gripper_max_force": { + "l": 80, + "r": 80 + }, + "pose_order": "x,y,z,qx,qy,qz,qw", + "row_clock": "post-control-step; same-step applied command", + "continuous_no_pose_reset": true, + "multi_item": true, + "item_count": 4 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py new file mode 100644 index 0000000000000000000000000000000000000000..39db9c53f92ce1dea3c64e0ad51ae1da1885c70c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py @@ -0,0 +1,224 @@ +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json new file mode 100644 index 0000000000000000000000000000000000000000..3d25e799c9cf8121ee014cc87744016f2e79a162 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json @@ -0,0 +1,10 @@ +{ + "schema": "multi_item.return_head_list_normalization_repair.v1", + "job_overrides": {}, + "repair_module": "repair_return_head_list_normalization_d65c8d7413b3.py", + "repair_module_sha256": "d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623", + "reason": "Normalize JSON nested-list base transforms before EmptyClearance segment checks; no trajectory or geometry change.", + "expected_error": "TypeError('list indices must be integers or slices, not tuple')", + "no_motion": true, + "no_pose_writes": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json new file mode 100644 index 0000000000000000000000000000000000000000..8a98077a61a800df00b8ff545162761b783c03eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json @@ -0,0 +1,150 @@ +{ + "schema": "ziche.multi_item_place_station_repair.v1", + "reason": "Fine repair at unchanged measured boundary; full carry, posture bridge, place descent, gripper opening and retreat qualified. Actual arrival is rechecked before execution.", + "expected_boundary_tick": 40402, + "expected_item_index": 3, + "expected_phase": "item_03_place_planning", + "repair_module": "repair_case03_fine_tick40402_8eda348647da.py", + "repair_module_sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca", + "solver_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/placement_retreat_candidates.py", + "solver_source_sha256": "22666b678dee02ac3635919b5e4dbce6b865a428ac7907802849efce8227e5bd", + "job_overrides": { + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6677247350580382, + 0.2878323221680563, + 0.45490211957462423 + ], + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -1.0998790264129639, + 0.6286609768867493, + 0.3257550895214081, + -1.3167250156402588, + 0.6697197556495667, + 1.5019153356552124, + -0.17134644091129303, + 1.1586757898330688, + -0.6661624312400818, + -0.3321197032928467, + 1.2061527967453003, + -0.7023106813430786, + -1.4243680238723755, + 0.16752956807613373, + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + 0.22855523228645325, + 0.7844305634498596 + ], + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json new file mode 100644 index 0000000000000000000000000000000000000000..edd8857f63b6d2f9eddd9f22696f0113a90acf91 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json @@ -0,0 +1,500 @@ +{ + "schema": "ziche.multi_item_place_station_repair.v1", + "reason": "Layout03 fresh-head-v3 item02: frozen-current carried reposition, compact bridge, 240-frame full-world placement, and mandatory ReleaseSweep all qualified; native motion/support remain authoritative", + "expected_boundary_tick": 26330, + "expected_item_index": 2, + "expected_phase": "item_02_place_planning", + "repair_module": "repair_place_station_item02_tick26330_8824b20c0297.py", + "repair_module_sha256": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "proposal": "../CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38", + "job_overrides": { + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6365201855497675, + 0.20930976406863636, + 0.45490211957462423 + ], + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -0.9053938251463108, + 0.5228742851265118, + 0.23439173838878408, + -1.2723367243111823, + 0.661710860501515, + 1.41911359866257, + -0.14611657834780648, + 1.1407616074658022, + -0.9794371652871695, + -0.40701537953262257, + 0.5127611225071805, + -0.8331235361738845, + -1.568475418746423, + -0.43017814557680517, + 0.007593975402414799, + 0.5235987755982988, + 0.0, + 0.4363323129985824, + 0.7844152450561523, + 0.42039015889167786 + ], + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py new file mode 100644 index 0000000000000000000000000000000000000000..172d85b36d3900348ef3e7880ac1f45c6443ea7f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py @@ -0,0 +1,338 @@ +"""Measured-grasp placement with the existing supported tray candidate policy.""" +import sys,os,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation as Rot,Slerp +from scipy.optimize import least_squares +from scipy.spatial import ConvexHull +from shapely.geometry import Polygon +W=Path(__file__).resolve().parent;R=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(W.parents[1]))) +sys.path.insert(0,str(R/'work/place_training_tray_20260918')) +from layout_policy import destination_candidates +from ik_solver import Arm + +def solve(robot,names,q0,base,object_pose,vertices,job,obstacles,pose_check=None,world_check=None,release_sweep=None): + q0=np.asarray(q0,dtype=np.float64).copy();hand=job['hand'];link=robot.root+'/gripper_'+hand+'_base_link' + active=[names.index(f'idx{2 if hand=="l" else 6}{k}_arm_{hand}_joint{k}') for k in range(1,8)] + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4 + hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4 + from motion_limits import LOWER,UPPER + offset=0 if hand=='l' else 7;lo=np.maximum(lo,LOWER[offset:offset+7]+1e-4);hi=np.minimum(hi,UPPER[offset:offset+7]-1e-4) + held=np.linalg.inv(robot.fk(names,q0,base)[link])@object_pose;invheld=np.linalg.inv(held) + yaw=Rot.from_matrix(object_pose[:3,:3]).as_euler('xyz')[2];floor=Polygon(job['tray_polygon_xy']) + reserved=[Polygon(x) for x in job.get('reserved_tray_footprints',[])] + all_obstacles=list(obstacles)+reserved + slot=job.get('placement_slot') + if slot: + # Every other planned slot remains available for the subsequent trip. + rng=np.random.default_rng(int(job['seed'])+391) + candidates=[];center=np.asarray(slot['xy'],float) + desired=float(slot['yaw_rad']);tol=float(slot.get('tolerance_m',.02)) + yaw_options=[yaw,desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2] + candidate_budget=int(job.get("placement_candidate_budget",800)) + if not 5<=candidate_budget<=800:raise ValueError("placement_candidate_budget must be between 5 and 800") + for index in range(candidate_budget): + xy=center if index=len(yaw_options):theta+=np.deg2rad(rng.uniform(-12,12)) + points=vertices@Rot.from_euler('z',theta).as_matrix().T + footprint=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]+xy) + gap=min((footprint.distance(poly) for poly in all_obstacles),default=None) + if not floor.buffer(-.008).covers(footprint) or (gap is not None and gap<=.012):continue + candidates.append((xy,np.rad2deg(math.atan2(math.sin(theta-yaw),math.cos(theta-yaw))),gap)) + candidates.sort(key=lambda c:abs(c[1])*.001+np.linalg.norm(c[0]-center)) + if not candidates:raise RuntimeError('Reserved tray slot has no supported free placement after live-object clearance checks') + else: + candidates=destination_candidates(vertices,yaw,floor,all_obstacles,job['seed'],job['destination_xyz'][:2],0,count=160) + candidates.sort(key=lambda c:np.linalg.norm(c[0]-base[:2,3])) + failures=[] + fast=Arm(robot,names,q0,base,link,active) + def ik(q,g): + prev=q[active].copy() + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=100) + qq=q.copy();qq[active]=fit.x;f=fast.forward(fit.x)[0] + error=[np.linalg.norm(f[:3,3]-g[:3,3]),Rot.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude()] + return qq,error + for index,(xy,dyaw,gap) in enumerate(candidates): + goal=np.eye(4);goal[:3,:3]=Rot.from_euler('z',yaw+np.deg2rad(dyaw)).as_matrix();goal[:2,3]=xy + goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min() + end,err=ik(q0,goal@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='landing',error=err));continue + for clearance in [0.,.06,.12,.18]: + hover=goal.copy();hover[2,3]=max(goal[2,3]+clearance,object_pose[2,3]);near=goal.copy();near[2,3]+=.025 + segments=[(object_pose,near,8),(near,goal,4)] if clearance==0 else [(object_pose,hover,5),(hover,near,4),(near,goal,4)];q=q0.copy();planned=[];failed=False + for start,stop,secs in segments: + rots=Slerp([0,1],Rot.from_matrix([start[:3,:3],stop[:3,:3]])) + for t in np.linspace(0,1,secs*20): + u=10*t**3-15*t**4+6*t**5;world=np.eye(4);world[:3,:3]=rots(u).as_matrix();world[:3,3]=start[:3,3]*(1-u)+stop[:3,3]*u + q,err=ik(q,world@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='path',frame=len(planned),error=err));failed=True;break + if pose_check is not None: + okay,detail=pose_check(robot.fk(names,q,base),robot.root) + if not okay: + failures.append(dict(candidate=index,stage='self_collision',frame=len(planned),detail=detail));failed=True;break + if world_check is not None and not world_check.check(q,base): + failures.append(dict(candidate=index,stage='world_collision',frame=len(planned),detail=world_check.last));failed=True;break + planned.append(q.copy()) + if failed:break + if failed:continue + hand_goal=goal@invheld + toward=base[:2,3]-hand_goal[:2,3];toward= toward/max(np.linalg.norm(toward),1e-9) + retreat_deltas=[np.array([0.,0.,.15])] + # Fold the open hand toward the base when the fixed upward retreat is unreachable. + # Every candidate retains full self, world and opening/retreat sweep checks. + for back,up in [(.15,.10),(.20,.05),(.24,.02),(.12,.15)]: + retreat_deltas.append(np.array([toward[0]*back,toward[1]*back,up])) + for delta in retreat_deltas: + retreat_goal=hand_goal.copy();retreat_goal[:3,3]+=delta;retreat,error=ik(q,retreat_goal) + if error[0]>.002 or error[1]>.02: + failures.append(dict(candidate=index,stage='retreat',error=error));continue + if pose_check is not None: + valid=True + for t in np.linspace(0,1,61): + okay,detail=pose_check(robot.fk(names,q*(1-t)+retreat*t,base),robot.root) + if not okay:valid=False;break + if not valid: + failures.append(dict(candidate=index,stage='retreat_self_collision',detail=detail));continue + release_report=None + if release_sweep is not None: + release_ok,release_report=release_sweep.check(q,retreat,base,goal) + if not release_ok: + failures.append(dict(candidate=index,stage='open_gripper_release_or_retreat_world',detail=release_report));continue + elif job.get('require_release_sweep',False): + raise ValueError('Placement requires an open-gripper release sweep checker') + return np.array(planned),retreat,dict(candidate=index,goal=goal.tolist(),held=held.tolist(),prior_failures=failures,clutter_clearance=gap,policy='reserved_multi_item_slots_live_obstacles_v2_release_sweep',slot=slot,reserved_future_slots=len(reserved),hover_clearance_m=clearance,retreat_direction_m=delta.tolist(),candidate_budget=int(job.get('placement_candidate_budget',800)) if slot else 160,release_sweep=release_report) + raise RuntimeError('All supported tray candidates unreachable: '+str(failures[:3]+failures[-3:])) + +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + if len(g["rows"]) != 40402 or int(record["item_index"]) != 3: + raise RuntimeError("Stale qualified repair boundary") + g["solve"] = solve + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + if proposal_sha256 != station["proposal_sha256"]: + raise RuntimeError("Qualified proposal changed") + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py new file mode 100644 index 0000000000000000000000000000000000000000..65348676a56bf279745dc90c3c6b8f4699969549 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py @@ -0,0 +1,147 @@ +import time +"""Physically recorded, collision-screened level gaze during empty-hand return.""" +from pathlib import Path +import hashlib +import numpy as np + +HEAD_JOINTS = ('idx11_head_joint1', 'idx12_head_joint2') +POLICY = 'empty_return_forward_head_v3' +BODY_PITCH_JOINT = 'idx02_body_joint2' +# Compensate torso pitch, retaining 0.5 degree margin inside native head limits. +PITCH_CLIP_RAD = tuple(np.deg2rad([-19.5, 29.5])) + +def head_target(q, names): + return (0.0, float(np.clip(-np.asarray(q)[list(names).index(BODY_PITCH_JOINT)], *PITCH_CLIP_RAD))) + +TRANSITION_SECONDS = 2.0 + + +def level_head(q, names): + result = np.asarray(q, dtype=float).copy() + for joint, value in zip(HEAD_JOINTS, head_target(q, names)): + result[list(names).index(joint)] = value + return result + + +def wrap_planner(planner): + def plan(stage, robot, names, q, base, prop_poses, next_pick_base, + next_pick_q, release, job): + from multi_motion import EmptyClearance + q = np.asarray(q, dtype=float) + base = np.asarray(base, dtype=float) + next_pick_base = np.asarray(next_pick_base, dtype=float) + next_pick_q = np.asarray(next_pick_q, dtype=float) + leveled = level_head(q, names) + next_leveled = level_head(next_pick_q, names) + check = EmptyClearance(stage, robot, names, prop_poses, + deadline_s=float(job.get('return_plan_budget_s', 900))) + if not check.segment(q, leveled, base, base): + raise RuntimeError('Return head raise is not clear: ' + str(check.last)) + if not check.segment(next_leveled, next_pick_q, next_pick_base, next_pick_base): + raise RuntimeError('Stopped shelf gaze restoration is not clear: ' + str(check.last)) + compact, primitives, report = planner(stage, robot, names, leveled, base, + prop_poses, next_pick_base, next_leveled, release, job) + if not any(p.get('bridge_before') for p in primitives): + raise RuntimeError('Level-head return requires an explicit shelf approach boundary') + report = dict(report) + report['head_policy'] = dict(policy=POLICY, joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + lift_before_table_retreat=True, includes_shelf_approach=True, + restore_source_gaze_only_after_stopped_arrival=True, + both_head_transitions_full_body_and_all_props_screened=True) + return compact, primitives, report + return plan + + +def transition(ctx, desired_head, kind): + from multi_motion import EmptyClearance + names = ctx['names']; controls = ctx['control_names']; ids = ctx['ids'] + native = ctx['native']; target = native[ids].copy() + head_ids = [controls.index(joint) for joint in HEAD_JOINTS] + desired_head = np.asarray(desired_head, dtype=float) + if desired_head.shape != (2,) or not np.isfinite(desired_head).all(): + raise ValueError('Expected two finite head joint targets') + if np.allclose(target[head_ids], desired_head, atol=1e-10, rtol=0): + return + ctx['base_vw'] = np.zeros(2) + ctx['constrain']('hold') + q0 = np.asarray(ctx['robot'].get_joint_positions(), dtype=float).copy() + q1 = q0.copy() + for joint, value in zip(HEAD_JOINTS, desired_head): + q1[names.index(joint)] = value + base = ctx['mat'](ctx['base']) + props = {path: ctx['mat'](body) for path, body in zip(ctx['prop_paths'], ctx['props'])} + check = EmptyClearance(ctx['stage'], ctx['carry_robot'], names, props, deadline_s=900) + if not check.segment(q0, q1, base, base): + raise RuntimeError('Live stopped head transition not clear: ' + str(check.last)) + tick0 = len(ctx['rows']) + before = target[head_ids].copy() + target[head_ids] = desired_head + ctx['item_phase']('empty_return') + ctx['blend'](target, TRANSITION_SECONDS) + actual = np.asarray(ctx['robot'].get_joint_positions(), dtype=float) + error = np.abs(actual[[names.index(j) for j in HEAD_JOINTS]] - desired_head) + if np.max(error) > np.deg2rad(0.1): + raise RuntimeError('Head did not reach return gaze before navigation: ' + str(error)) + receipt = dict(schema='multi_return_head_transition_v1', policy=POLICY, + item_index=ctx['item_index'], kind=kind, start_tick=tick0, + end_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + previous_command_rad=before.tolist(), target_rad=desired_head.tolist(), + measured_error_rad=error.tolist(), base_held=True, + all_live_props_screened=True, no_pose_writes=True, + source_path=str(Path(__file__).resolve()), + source_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest()) + ctx['dump'](ctx['out']/f"RETURN_HEAD_TRANSITION.item_{ctx['item_index']:02d}.{kind}.tick_{tick0:08d}.json", receipt) + + +def wrap_executor(ctx, executor): + def execute(primitives, held_reference=None, return_motion=False, item_job=None): + if not return_motion: + return executor(primitives, held_reference=held_reference, + return_motion=False, item_job=item_job) + # The planner screens every moving segment with this exact head pose. + if not ctx.get('RETURN_HEAD_WALKING_ACTIVE', False): + transition(ctx, head_target(ctx['native'], ctx['names']), 'raise_before_walking') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = True + source_bridge = np.asarray(ctx['return_bridge_q'], dtype=float).copy() + ctx['return_bridge_q'] = level_head(source_bridge, ctx['control_names']) + try: + result = executor(primitives, held_reference=held_reference, + return_motion=True, item_job=item_job) + finally: + ctx['return_bridge_q'] = source_bridge + if any(p.get('bridge_before') for p in primitives): + # All base primitives have finished; only now look at the next item. + indices = [ctx['control_names'].index(j) for j in HEAD_JOINTS] + transition(ctx, source_bridge[indices], 'restore_pick_gaze_after_arrival') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = False + return result + return execute + + +def install(ctx): + if ctx.get('RETURN_HEAD_POLICY_INSTALLED') == POLICY: + return + ctx['plan_return'] = wrap_planner(ctx['plan_return']) + ctx['execute_primitives'] = wrap_executor(ctx, ctx['execute_primitives']) + ctx['RETURN_HEAD_POLICY_INSTALLED'] = POLICY + ctx['dump'](ctx['out']/'RETURN_HEAD_POLICY.json', dict(policy=POLICY, + installed_at_control_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + restore_only_while_stopped_at_shelf=True, + implementation_path=str(Path(__file__).resolve()), + implementation_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest())) + + +def apply(g, item_job, record): + current = g["plan_return"] + cells = dict(zip(current.__code__.co_freevars, [c.cell_contents for c in (current.__closure__ or ())])) + original = cells.get("planner") + if original is None: + raise RuntimeError("Installed return planner wrapper does not expose its original planner closure") + g["plan_return"] = wrap_planner(original) + receipt = dict(schema="multi_item.return_head_list_normalization_repair.v1", item_index=g["item_index"], + tick=len(g["rows"]), old_wrapper_replaced=True, no_physics_steps=True, no_pose_writes=True, + fixed_policy=POLICY, repair_record=record, time=time.time()) + g["dump"](g["out"] / f"RETURN_HEAD_PLANNER_REPAIR.item_{g['item_index']:02d}.tick_{len(g['rows']):08d}.json", receipt) + return {} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_00_return.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_00_return.json new file mode 100644 index 0000000000000000000000000000000000000000..3d25e799c9cf8121ee014cc87744016f2e79a162 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_00_return.json @@ -0,0 +1,10 @@ +{ + "schema": "multi_item.return_head_list_normalization_repair.v1", + "job_overrides": {}, + "repair_module": "repair_return_head_list_normalization_d65c8d7413b3.py", + "repair_module_sha256": "d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623", + "reason": "Normalize JSON nested-list base transforms before EmptyClearance segment checks; no trajectory or geometry change.", + "expected_error": "TypeError('list indices must be integers or slices, not tuple')", + "no_motion": true, + "no_pose_writes": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_02_place.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_02_place.json new file mode 100644 index 0000000000000000000000000000000000000000..edd8857f63b6d2f9eddd9f22696f0113a90acf91 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_02_place.json @@ -0,0 +1,500 @@ +{ + "schema": "ziche.multi_item_place_station_repair.v1", + "reason": "Layout03 fresh-head-v3 item02: frozen-current carried reposition, compact bridge, 240-frame full-world placement, and mandatory ReleaseSweep all qualified; native motion/support remain authoritative", + "expected_boundary_tick": 26330, + "expected_item_index": 2, + "expected_phase": "item_02_place_planning", + "repair_module": "repair_place_station_item02_tick26330_8824b20c0297.py", + "repair_module_sha256": "0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf", + "proposal": "../CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38", + "job_overrides": { + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6365201855497675, + 0.20930976406863636, + 0.45490211957462423 + ], + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + -0.30901699437494756, + 0.9510565162951534, + 0.0, + -1.2765201855497674 + ], + [ + -0.9510565162951534, + -0.30901699437494756, + -0.0, + 0.832848054793432 + ], + [ + -0.0, + 0.0, + 0.9999999999999999, + 0.001367783173918724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -0.9053938251463108, + 0.5228742851265118, + 0.23439173838878408, + -1.2723367243111823, + 0.661710860501515, + 1.41911359866257, + -0.14611657834780648, + 1.1407616074658022, + -0.9794371652871695, + -0.40701537953262257, + 0.5127611225071805, + -0.8331235361738845, + -1.568475418746423, + -0.43017814557680517, + 0.007593975402414799, + 0.5235987755982988, + 0.0, + 0.4363323129985824, + 0.7844152450561523, + 0.42039015889167786 + ], + "placement_slot": { + "xy": [ + -1.6365201855497675, + 0.20930976406863636 + ], + "yaw_rad": 3.10319535226657, + "footprint_xy": [ + [ + -1.668317971574409, + 0.22393511329616186 + ], + [ + -1.6699549280511932, + 0.21965954760515194 + ], + [ + -1.6710198052494152, + 0.21520689419133376 + ], + [ + -1.6714943876954103, + 0.21065333941320635 + ], + [ + -1.6713705487874315, + 0.20607679557092473 + ], + [ + -1.6706504138111216, + 0.20155556880302478 + ], + [ + -1.66934629960231, + 0.19716701840278997 + ], + [ + -1.667480521201456, + 0.19298623339317514 + ], + [ + -1.6650850031482003, + 0.18908474819722543 + ], + [ + -1.662200731819194, + 0.18552932023868277 + ], + [ + -1.658877061444841, + 0.1823807802102943 + ], + [ + -1.6551708570199484, + 0.17969300376151784 + ], + [ + -1.6511455347772932, + 0.177511978043995 + ], + [ + -1.6468699690862834, + 0.1758750215672108 + ], + [ + -1.642417315672465, + 0.1748101443689888 + ], + [ + -1.6378637608943376, + 0.17433556192299354 + ], + [ + -1.6332872170520556, + 0.1744594008309721 + ], + [ + -1.628765990284156, + 0.17517953580728238 + ], + [ + -1.624377439883921, + 0.17648365001609392 + ], + [ + -1.620196654874306, + 0.17834942841694787 + ], + [ + -1.6162951696783565, + 0.18074494647020342 + ], + [ + -1.612739741719814, + 0.18362921779920965 + ], + [ + -1.609591201691426, + 0.18695288817356287 + ], + [ + -1.606903425242649, + 0.1906590925984552 + ], + [ + -1.604722399525126, + 0.1946844148411107 + ], + [ + -1.6030854430483419, + 0.19895998053212063 + ], + [ + -1.6020205658501199, + 0.2034126339459388 + ], + [ + -1.6015459834041244, + 0.20796618872406622 + ], + [ + -1.601669822312103, + 0.21254273256634806 + ], + [ + -1.6023899572884135, + 0.2170639593342478 + ], + [ + -1.603694071497225, + 0.2214525097344826 + ], + [ + -1.605559849898079, + 0.22563329474409743 + ], + [ + -1.6079553679513343, + 0.22953477994004737 + ], + [ + -1.610839639280341, + 0.2330902078985898 + ], + [ + -1.6141633096546941, + 0.23623874792697805 + ], + [ + -1.6178695140795862, + 0.23892652437575473 + ], + [ + -1.6218948363222419, + 0.2411075500932778 + ], + [ + -1.6261704020132517, + 0.24274450657006202 + ], + [ + -1.63062305542707, + 0.24380938376828376 + ], + [ + -1.6351766102051974, + 0.24428396621427928 + ], + [ + -1.639753154047479, + 0.24416012730630068 + ], + [ + -1.644274380815379, + 0.24343999232999022 + ], + [ + -1.648662931215614, + 0.24213587812117887 + ], + [ + -1.6528437162252285, + 0.2402700997203247 + ], + [ + -1.6567452014211785, + 0.23787458166706937 + ], + [ + -1.6603006293797211, + 0.23499031033806292 + ], + [ + -1.663449169408109, + 0.2316666399637097 + ], + [ + -1.666136945856886, + 0.2279604355388174 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "proposal_sha256": "8824b20c0297784807c126c01f7cf6f2adc075237f4bd20965ddac330f309a38" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.json new file mode 100644 index 0000000000000000000000000000000000000000..8a98077a61a800df00b8ff545162761b783c03eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.json @@ -0,0 +1,150 @@ +{ + "schema": "ziche.multi_item_place_station_repair.v1", + "reason": "Fine repair at unchanged measured boundary; full carry, posture bridge, place descent, gripper opening and retreat qualified. Actual arrival is rechecked before execution.", + "expected_boundary_tick": 40402, + "expected_item_index": 3, + "expected_phase": "item_03_place_planning", + "repair_module": "repair_case03_fine_tick40402_8eda348647da.py", + "repair_module_sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca", + "solver_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/placement_retreat_candidates.py", + "solver_source_sha256": "22666b678dee02ac3635919b5e4dbce6b865a428ac7907802849efce8227e5bd", + "job_overrides": { + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6677247350580382, + 0.2878323221680563, + 0.45490211957462423 + ], + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -1.0998790264129639, + 0.6286609768867493, + 0.3257550895214081, + -1.3167250156402588, + 0.6697197556495667, + 1.5019153356552124, + -0.17134644091129303, + 1.1586757898330688, + -0.6661624312400818, + -0.3321197032928467, + 1.2061527967453003, + -0.7023106813430786, + -1.4243680238723755, + 0.16752956807613373, + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + 0.22855523228645325, + 0.7844305634498596 + ], + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.reviewable.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.reviewable.json new file mode 100644 index 0000000000000000000000000000000000000000..8a98077a61a800df00b8ff545162761b783c03eb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/item_03_place.reviewable.json @@ -0,0 +1,150 @@ +{ + "schema": "ziche.multi_item_place_station_repair.v1", + "reason": "Fine repair at unchanged measured boundary; full carry, posture bridge, place descent, gripper opening and retreat qualified. Actual arrival is rechecked before execution.", + "expected_boundary_tick": 40402, + "expected_item_index": 3, + "expected_phase": "item_03_place_planning", + "repair_module": "repair_case03_fine_tick40402_8eda348647da.py", + "repair_module_sha256": "8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4", + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca", + "solver_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/placement_retreat_candidates.py", + "solver_source_sha256": "22666b678dee02ac3635919b5e4dbce6b865a428ac7907802849efce8227e5bd", + "job_overrides": { + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "destination_xyz": [ + -1.6677247350580382, + 0.2878323221680563, + 0.45490211957462423 + ], + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "repair_station": { + "place_base": [ + [ + 0.054216670873580786, + 0.9985291946655269, + 0.0, + -1.7940062358461784 + ], + [ + -0.9985291946655269, + 0.054216670873580786, + -0.0, + 0.8916207305208576 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0013679619878530502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_initial20": [ + -1.0998790264129639, + 0.6286609768867493, + 0.3257550895214081, + -1.3167250156402588, + 0.6697197556495667, + 1.5019153356552124, + -0.17134644091129303, + 1.1586757898330688, + -0.6661624312400818, + -0.3321197032928467, + 1.2061527967453003, + -0.7023106813430786, + -1.4243680238723755, + 0.16752956807613373, + 0.007616350427269936, + 0.8377580409572782, + 1.0331054909329396e-06, + 0.4363367557525635, + 0.22855523228645325, + 0.7844305634498596 + ], + "placement_slot": { + "xy": [ + -1.6677247350580382, + 0.2878323221680563 + ], + "yaw_rad": -2.9735406996164557, + "footprint_xy": [ + [ + -1.7376190707572745, + 0.2962603813384256 + ], + [ + -1.7309285883156713, + 0.25682388335530004 + ], + [ + -1.5978303993588014, + 0.2794042629976867 + ], + [ + -1.6045208818004049, + 0.31884076098081177 + ] + ], + "tolerance_m": 0.001 + }, + "proposal_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "proposal_sha256": "8eda348647da801d0a78ea1fe0524b615b6aa2441a361980e5b8168d8b6725ca" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py new file mode 100644 index 0000000000000000000000000000000000000000..172d85b36d3900348ef3e7880ac1f45c6443ea7f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py @@ -0,0 +1,338 @@ +"""Measured-grasp placement with the existing supported tray candidate policy.""" +import sys,os,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation as Rot,Slerp +from scipy.optimize import least_squares +from scipy.spatial import ConvexHull +from shapely.geometry import Polygon +W=Path(__file__).resolve().parent;R=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(W.parents[1]))) +sys.path.insert(0,str(R/'work/place_training_tray_20260918')) +from layout_policy import destination_candidates +from ik_solver import Arm + +def solve(robot,names,q0,base,object_pose,vertices,job,obstacles,pose_check=None,world_check=None,release_sweep=None): + q0=np.asarray(q0,dtype=np.float64).copy();hand=job['hand'];link=robot.root+'/gripper_'+hand+'_base_link' + active=[names.index(f'idx{2 if hand=="l" else 6}{k}_arm_{hand}_joint{k}') for k in range(1,8)] + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4 + hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4 + from motion_limits import LOWER,UPPER + offset=0 if hand=='l' else 7;lo=np.maximum(lo,LOWER[offset:offset+7]+1e-4);hi=np.minimum(hi,UPPER[offset:offset+7]-1e-4) + held=np.linalg.inv(robot.fk(names,q0,base)[link])@object_pose;invheld=np.linalg.inv(held) + yaw=Rot.from_matrix(object_pose[:3,:3]).as_euler('xyz')[2];floor=Polygon(job['tray_polygon_xy']) + reserved=[Polygon(x) for x in job.get('reserved_tray_footprints',[])] + all_obstacles=list(obstacles)+reserved + slot=job.get('placement_slot') + if slot: + # Every other planned slot remains available for the subsequent trip. + rng=np.random.default_rng(int(job['seed'])+391) + candidates=[];center=np.asarray(slot['xy'],float) + desired=float(slot['yaw_rad']);tol=float(slot.get('tolerance_m',.02)) + yaw_options=[yaw,desired,desired+math.pi,desired+math.pi/2,desired-math.pi/2] + candidate_budget=int(job.get("placement_candidate_budget",800)) + if not 5<=candidate_budget<=800:raise ValueError("placement_candidate_budget must be between 5 and 800") + for index in range(candidate_budget): + xy=center if index=len(yaw_options):theta+=np.deg2rad(rng.uniform(-12,12)) + points=vertices@Rot.from_euler('z',theta).as_matrix().T + footprint=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]+xy) + gap=min((footprint.distance(poly) for poly in all_obstacles),default=None) + if not floor.buffer(-.008).covers(footprint) or (gap is not None and gap<=.012):continue + candidates.append((xy,np.rad2deg(math.atan2(math.sin(theta-yaw),math.cos(theta-yaw))),gap)) + candidates.sort(key=lambda c:abs(c[1])*.001+np.linalg.norm(c[0]-center)) + if not candidates:raise RuntimeError('Reserved tray slot has no supported free placement after live-object clearance checks') + else: + candidates=destination_candidates(vertices,yaw,floor,all_obstacles,job['seed'],job['destination_xyz'][:2],0,count=160) + candidates.sort(key=lambda c:np.linalg.norm(c[0]-base[:2,3])) + failures=[] + fast=Arm(robot,names,q0,base,link,active) + def ik(q,g): + prev=q[active].copy() + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=100) + qq=q.copy();qq[active]=fit.x;f=fast.forward(fit.x)[0] + error=[np.linalg.norm(f[:3,3]-g[:3,3]),Rot.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude()] + return qq,error + for index,(xy,dyaw,gap) in enumerate(candidates): + goal=np.eye(4);goal[:3,:3]=Rot.from_euler('z',yaw+np.deg2rad(dyaw)).as_matrix();goal[:2,3]=xy + goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min() + end,err=ik(q0,goal@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='landing',error=err));continue + for clearance in [0.,.06,.12,.18]: + hover=goal.copy();hover[2,3]=max(goal[2,3]+clearance,object_pose[2,3]);near=goal.copy();near[2,3]+=.025 + segments=[(object_pose,near,8),(near,goal,4)] if clearance==0 else [(object_pose,hover,5),(hover,near,4),(near,goal,4)];q=q0.copy();planned=[];failed=False + for start,stop,secs in segments: + rots=Slerp([0,1],Rot.from_matrix([start[:3,:3],stop[:3,:3]])) + for t in np.linspace(0,1,secs*20): + u=10*t**3-15*t**4+6*t**5;world=np.eye(4);world[:3,:3]=rots(u).as_matrix();world[:3,3]=start[:3,3]*(1-u)+stop[:3,3]*u + q,err=ik(q,world@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='path',frame=len(planned),error=err));failed=True;break + if pose_check is not None: + okay,detail=pose_check(robot.fk(names,q,base),robot.root) + if not okay: + failures.append(dict(candidate=index,stage='self_collision',frame=len(planned),detail=detail));failed=True;break + if world_check is not None and not world_check.check(q,base): + failures.append(dict(candidate=index,stage='world_collision',frame=len(planned),detail=world_check.last));failed=True;break + planned.append(q.copy()) + if failed:break + if failed:continue + hand_goal=goal@invheld + toward=base[:2,3]-hand_goal[:2,3];toward= toward/max(np.linalg.norm(toward),1e-9) + retreat_deltas=[np.array([0.,0.,.15])] + # Fold the open hand toward the base when the fixed upward retreat is unreachable. + # Every candidate retains full self, world and opening/retreat sweep checks. + for back,up in [(.15,.10),(.20,.05),(.24,.02),(.12,.15)]: + retreat_deltas.append(np.array([toward[0]*back,toward[1]*back,up])) + for delta in retreat_deltas: + retreat_goal=hand_goal.copy();retreat_goal[:3,3]+=delta;retreat,error=ik(q,retreat_goal) + if error[0]>.002 or error[1]>.02: + failures.append(dict(candidate=index,stage='retreat',error=error));continue + if pose_check is not None: + valid=True + for t in np.linspace(0,1,61): + okay,detail=pose_check(robot.fk(names,q*(1-t)+retreat*t,base),robot.root) + if not okay:valid=False;break + if not valid: + failures.append(dict(candidate=index,stage='retreat_self_collision',detail=detail));continue + release_report=None + if release_sweep is not None: + release_ok,release_report=release_sweep.check(q,retreat,base,goal) + if not release_ok: + failures.append(dict(candidate=index,stage='open_gripper_release_or_retreat_world',detail=release_report));continue + elif job.get('require_release_sweep',False): + raise ValueError('Placement requires an open-gripper release sweep checker') + return np.array(planned),retreat,dict(candidate=index,goal=goal.tolist(),held=held.tolist(),prior_failures=failures,clutter_clearance=gap,policy='reserved_multi_item_slots_live_obstacles_v2_release_sweep',slot=slot,reserved_future_slots=len(reserved),hover_clearance_m=clearance,retreat_direction_m=delta.tolist(),candidate_budget=int(job.get('placement_candidate_budget',800)) if slot else 160,release_sweep=release_report) + raise RuntimeError('All supported tray candidates unreachable: '+str(failures[:3]+failures[-3:])) + +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + if len(g["rows"]) != 40402 or int(record["item_index"]) != 3: + raise RuntimeError("Stale qualified repair boundary") + g["solve"] = solve + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + if proposal_sha256 != station["proposal_sha256"]: + raise RuntimeError("Qualified proposal changed") + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py new file mode 100644 index 0000000000000000000000000000000000000000..39db9c53f92ce1dea3c64e0ad51ae1da1885c70c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py @@ -0,0 +1,224 @@ +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py new file mode 100644 index 0000000000000000000000000000000000000000..65348676a56bf279745dc90c3c6b8f4699969549 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py @@ -0,0 +1,147 @@ +import time +"""Physically recorded, collision-screened level gaze during empty-hand return.""" +from pathlib import Path +import hashlib +import numpy as np + +HEAD_JOINTS = ('idx11_head_joint1', 'idx12_head_joint2') +POLICY = 'empty_return_forward_head_v3' +BODY_PITCH_JOINT = 'idx02_body_joint2' +# Compensate torso pitch, retaining 0.5 degree margin inside native head limits. +PITCH_CLIP_RAD = tuple(np.deg2rad([-19.5, 29.5])) + +def head_target(q, names): + return (0.0, float(np.clip(-np.asarray(q)[list(names).index(BODY_PITCH_JOINT)], *PITCH_CLIP_RAD))) + +TRANSITION_SECONDS = 2.0 + + +def level_head(q, names): + result = np.asarray(q, dtype=float).copy() + for joint, value in zip(HEAD_JOINTS, head_target(q, names)): + result[list(names).index(joint)] = value + return result + + +def wrap_planner(planner): + def plan(stage, robot, names, q, base, prop_poses, next_pick_base, + next_pick_q, release, job): + from multi_motion import EmptyClearance + q = np.asarray(q, dtype=float) + base = np.asarray(base, dtype=float) + next_pick_base = np.asarray(next_pick_base, dtype=float) + next_pick_q = np.asarray(next_pick_q, dtype=float) + leveled = level_head(q, names) + next_leveled = level_head(next_pick_q, names) + check = EmptyClearance(stage, robot, names, prop_poses, + deadline_s=float(job.get('return_plan_budget_s', 900))) + if not check.segment(q, leveled, base, base): + raise RuntimeError('Return head raise is not clear: ' + str(check.last)) + if not check.segment(next_leveled, next_pick_q, next_pick_base, next_pick_base): + raise RuntimeError('Stopped shelf gaze restoration is not clear: ' + str(check.last)) + compact, primitives, report = planner(stage, robot, names, leveled, base, + prop_poses, next_pick_base, next_leveled, release, job) + if not any(p.get('bridge_before') for p in primitives): + raise RuntimeError('Level-head return requires an explicit shelf approach boundary') + report = dict(report) + report['head_policy'] = dict(policy=POLICY, joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + lift_before_table_retreat=True, includes_shelf_approach=True, + restore_source_gaze_only_after_stopped_arrival=True, + both_head_transitions_full_body_and_all_props_screened=True) + return compact, primitives, report + return plan + + +def transition(ctx, desired_head, kind): + from multi_motion import EmptyClearance + names = ctx['names']; controls = ctx['control_names']; ids = ctx['ids'] + native = ctx['native']; target = native[ids].copy() + head_ids = [controls.index(joint) for joint in HEAD_JOINTS] + desired_head = np.asarray(desired_head, dtype=float) + if desired_head.shape != (2,) or not np.isfinite(desired_head).all(): + raise ValueError('Expected two finite head joint targets') + if np.allclose(target[head_ids], desired_head, atol=1e-10, rtol=0): + return + ctx['base_vw'] = np.zeros(2) + ctx['constrain']('hold') + q0 = np.asarray(ctx['robot'].get_joint_positions(), dtype=float).copy() + q1 = q0.copy() + for joint, value in zip(HEAD_JOINTS, desired_head): + q1[names.index(joint)] = value + base = ctx['mat'](ctx['base']) + props = {path: ctx['mat'](body) for path, body in zip(ctx['prop_paths'], ctx['props'])} + check = EmptyClearance(ctx['stage'], ctx['carry_robot'], names, props, deadline_s=900) + if not check.segment(q0, q1, base, base): + raise RuntimeError('Live stopped head transition not clear: ' + str(check.last)) + tick0 = len(ctx['rows']) + before = target[head_ids].copy() + target[head_ids] = desired_head + ctx['item_phase']('empty_return') + ctx['blend'](target, TRANSITION_SECONDS) + actual = np.asarray(ctx['robot'].get_joint_positions(), dtype=float) + error = np.abs(actual[[names.index(j) for j in HEAD_JOINTS]] - desired_head) + if np.max(error) > np.deg2rad(0.1): + raise RuntimeError('Head did not reach return gaze before navigation: ' + str(error)) + receipt = dict(schema='multi_return_head_transition_v1', policy=POLICY, + item_index=ctx['item_index'], kind=kind, start_tick=tick0, + end_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + previous_command_rad=before.tolist(), target_rad=desired_head.tolist(), + measured_error_rad=error.tolist(), base_held=True, + all_live_props_screened=True, no_pose_writes=True, + source_path=str(Path(__file__).resolve()), + source_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest()) + ctx['dump'](ctx['out']/f"RETURN_HEAD_TRANSITION.item_{ctx['item_index']:02d}.{kind}.tick_{tick0:08d}.json", receipt) + + +def wrap_executor(ctx, executor): + def execute(primitives, held_reference=None, return_motion=False, item_job=None): + if not return_motion: + return executor(primitives, held_reference=held_reference, + return_motion=False, item_job=item_job) + # The planner screens every moving segment with this exact head pose. + if not ctx.get('RETURN_HEAD_WALKING_ACTIVE', False): + transition(ctx, head_target(ctx['native'], ctx['names']), 'raise_before_walking') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = True + source_bridge = np.asarray(ctx['return_bridge_q'], dtype=float).copy() + ctx['return_bridge_q'] = level_head(source_bridge, ctx['control_names']) + try: + result = executor(primitives, held_reference=held_reference, + return_motion=True, item_job=item_job) + finally: + ctx['return_bridge_q'] = source_bridge + if any(p.get('bridge_before') for p in primitives): + # All base primitives have finished; only now look at the next item. + indices = [ctx['control_names'].index(j) for j in HEAD_JOINTS] + transition(ctx, source_bridge[indices], 'restore_pick_gaze_after_arrival') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = False + return result + return execute + + +def install(ctx): + if ctx.get('RETURN_HEAD_POLICY_INSTALLED') == POLICY: + return + ctx['plan_return'] = wrap_planner(ctx['plan_return']) + ctx['execute_primitives'] = wrap_executor(ctx, ctx['execute_primitives']) + ctx['RETURN_HEAD_POLICY_INSTALLED'] = POLICY + ctx['dump'](ctx['out']/'RETURN_HEAD_POLICY.json', dict(policy=POLICY, + installed_at_control_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + restore_only_while_stopped_at_shelf=True, + implementation_path=str(Path(__file__).resolve()), + implementation_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest())) + + +def apply(g, item_job, record): + current = g["plan_return"] + cells = dict(zip(current.__code__.co_freevars, [c.cell_contents for c in (current.__closure__ or ())])) + original = cells.get("planner") + if original is None: + raise RuntimeError("Installed return planner wrapper does not expose its original planner closure") + g["plan_return"] = wrap_planner(original) + receipt = dict(schema="multi_item.return_head_list_normalization_repair.v1", item_index=g["item_index"], + tick=len(g["rows"]), old_wrapper_replaced=True, no_physics_steps=True, no_pose_writes=True, + fixed_policy=POLICY, repair_record=record, time=time.time()) + g["dump"](g["out"] / f"RETURN_HEAD_PLANNER_REPAIR.item_{g['item_index']:02d}.tick_{len(g['rows']):08d}.json", receipt) + return {} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py new file mode 100644 index 0000000000000000000000000000000000000000..fef605610b90429a889948f6b651aa5e61f3a462 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py @@ -0,0 +1,15 @@ +"""Mechanically apply a qualified exact-chain first landing and its verified repack.""" +import sys,json +from pathlib import Path +W=Path(__file__).resolve().parent +for cid in map(int,sys.argv[1:]): + case=W/'cases'/f'layout_{cid:02d}'; jp=case/'job.json'; before=case/'PRE_ALIGNMENT.json'; job=json.loads(jp.read_text()); proposal=json.loads((case/'EXACT_CHAIN_LANDING_PROPOSAL.json').read_text()) + if not proposal.get('passed') or not proposal.get('floor_inset8_covers') or min(proposal['future_gaps_after_repack'])<=.012:raise ValueError(f'Unqualified proposal {cid}') + if not before.exists():before.write_text(json.dumps(job,indent=2)+'\n') + slots=proposal['proposed_slots']; + if len(slots)!=len(job['items']):raise ValueError('slot count') + base=proposal['base'];base[2][3]=job['items'][0]['place_base'][2][3] + job['items'][0]['place_base']=base;job['items'][0]['station_alignment_policy']='transferred_actual_chain_goal_exact_v1';job['items'][0]['placement_slot']=slots[0];job['items'][0]['destination_xyz']=[*slots[0]['xy'],job['tray_floor_z']] + for item,slot in zip(job['items'][1:],slots[1:]):item['placement_slot']=slot;item['destination_xyz']=[*slot['xy'],job['tray_floor_z']] + job['place_base']=base;job['destination_xyz']=job['items'][0]['destination_xyz'];job['tray_slots']=slots;job['exact_chain_landing_proposal']=str(case/'EXACT_CHAIN_LANDING_PROPOSAL.json');job['pre_alignment_job']=str(before) + jp.write_text(json.dumps(job,indent=2)+'\n');print(jp) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_geometry.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..3084090fcc78ffc9efe2c5090ff11c5b0b8bd72a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_geometry.py @@ -0,0 +1,118 @@ +"""Use existing exact/native sampled collision gates for this continuous task.""" +import sys,json,os,subprocess +from pathlib import Path +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]).resolve();out=case/'rollout';kind=sys.argv[2] +if kind=='world' and 'CHAIN_AUDIT_SHARD' not in os.environ: + sys.exit(subprocess.call([sys.executable,str(W/'parallel_world_audit.py'),str(case)])) +shard=int(os.environ.get('CHAIN_AUDIT_SHARD','-1')) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop'),str(R/'work/place_training_tray_20260918')] +job=json.loads((case/'job.json').read_text()) +from multi_validation import items +requested=items(job);requested_targets=[row['target'] for row in requested] +# Optional contemporary cooking representations refine conservative envelopes. +# All actual geometry, filters and tolerances remain unchanged. +import collision_scene as cs +cs.STOCK=list(dict.fromkeys(cs.STOCK+job.get('clutter',[])+[path for row in requested for path in row.get('clutter',[])])) +adapter=None +if (out/'collision_readback/RESULT.json').exists(): + import importlib.util,types,numpy as np + from pxr import Usd + path=R/'work/omni_pick_stage1_20260914/native_cooking_readback/nonrobot_coverage/analysis_extension/adapter_extra.py' + spec=importlib.util.spec_from_file_location('chain_captured_geometry',path);module=importlib.util.module_from_spec(spec) + # This task stores scene/readbacks under case/rollout, with runtime root in case. + # Validate exact same-case paths instead of the legacy directory nesting. + source=path.read_text() + legacy="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve().parent!=snapshot.resolve().parent or snapshot.resolve().parent!=self.readback.parent.parent:raise GeometryReview('Readbacks and snapshot belong to different capture directories')" + current="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve()!=_chain_runtime_root or snapshot.resolve()!=_chain_snapshot or self.readback.parent!=_chain_output or self.native_readback.parent!=_chain_output:raise GeometryReview('Readbacks and snapshot do not match this chain capture')" + assert source.count(legacy)==1 + module.__dict__.update(_chain_runtime_root=Path(job['scene']).resolve(),_chain_snapshot=(out/'scene.usda').resolve(),_chain_output=out.resolve()) + exec(compile(source.replace(legacy,current),str(path),'exec'),module.__dict__) + from collision_inventory import enabled_nonrobot_convex_colliders + module.export.enabled_nonrobot_convex_colliders=enabled_nonrobot_convex_colliders + original_normalize=module.normalize_rigid_mount + def normalize_roundoff(prim,current,captured,cache): + try:return original_normalize(prim,current,captured,cache) + except module.GeometryReview: + before=np.asarray(current['collider_to_rigid_owner_column_matrix'],float);after=np.asarray(captured['collider_to_rigid_owner_column_matrix'],float);points=np.asarray(prim.GetAttribute('points').Get(),float) + if points.ndim!=2 or points.shape[1]!=3:raise + coefficient=float(np.max(abs(before-after)));displacement=float(np.linalg.norm((np.c_[points,np.ones(len(points))]@(before-after).T)[:,:3],axis=1).max()) + if coefficient>1e-10 or displacement>1e-9:raise + return dict(method='bounded_float64_matrix_chain_roundoff',normalized_mount=before.tolist(),raw_end_mount=after.tolist(),raw_end_mount_max_coefficient_difference=coefficient,maximum_geometry_displacement_m=displacement,coefficient_bound=1e-10,geometry_displacement_bound_m=1e-9,normalized_model_is_live_PxMeshScale_identity=False,source_geometry_modified=False) + module.normalize_rigid_mount=normalize_roundoff + stage=Usd.Stage.Open(str(out/'scene.usda'));metadata=np.load(out/'full_state.npz',allow_pickle=False) + wrapped,AnalysisBody,adapter=module.build_extended_adapter(stage,out/'collision_readback',out/'collision_readback_nonrobot',metadata) + (out/('COOKED_ADAPTER_COVERAGE.json' if shard<0 else f'COOKED_ADAPTER_COVERAGE.part_{shard}.json')).write_text(json.dumps(adapter.receipt,indent=2)+'\n') + cs.collider_mesh=wrapped;cs.static_collision_mesh=wrapped;cs.Body=AnalysisBody + +if kind=='self': + import omni_native_audit as native + if adapter is not None:native.trimesh=types.SimpleNamespace(util=types.SimpleNamespace(concatenate=adapter.combine)) + native.audit(out/'physics_ticks/full_state.npz',out/'scene.usda',out/'SELF_COLLISION_AUDIT.json') +elif kind=='world': + item_index=int(os.environ['CHAIN_AUDIT_ITEM']);item=requested[item_index] + audit_target=item['target'];audit_hand=item['hand'] + import collision_initial_layout + from place_tray_layout import scene_geometry + from shapely.geometry import Polygon + original_surfaces=collision_initial_layout._surfaces + def place_surfaces(scene): + surfaces=original_surfaces(scene);geometry=scene_geometry(scene.stage,audit_target);top=float(geometry['tray_xyz'][2]+geometry['tray_floor_z']) + assert abs(top-job['tray_floor_z'])<1e-5 + surfaces.append(dict(top=top,polygon=Polygon(geometry['tray_floor']+geometry['tray_xyz'][:2]),paths=['/World/Assets/Tray']));return surfaces + collision_initial_layout._surfaces=place_surfaces + original_support=cs.is_shelf_support_body + cs.is_shelf_support_body=lambda body:original_support(body) or body.name.startswith('/World/Assets/Tray/') + import collision_sweep as sweep + from contact_policy import install + spec=dict(target=dict(prim_path=audit_target),hand=audit_hand) + import collision_scene as cs + original_static=cs.include_static_collision_geometry + def static_inventory(scene): + result=original_static(scene);templates=[];unresolved=[] + for path in result['undefined_active_enabled_static_colliders']: + prim=scene.stage.GetPrimAtPath(path) + if path.startswith('/Flattened_Prototype_') and not prim.IsDefined():templates.append(path) + else:unresolved.append(path) + result['nonphysical_undefined_template_opinions']=templates;result['undefined_active_enabled_static_colliders']=unresolved;result['complete']=not unresolved + return result + cs.include_static_collision_geometry=static_inventory + (out/f'place_metrics.part_{shard}.json').write_text(json.dumps(dict(item_index=item_index,target=audit_target,hand=audit_hand,destination_body_path='/World/Assets/Tray'))) + import inspect,time + install(sweep,spec) + import collision_acceptance + from task_collision_scope import install as install_task_scope + from task_collision_scope import nonphysical_rug_paths + omitted_rug_paths=set(nonphysical_rug_paths(stage)) + install_task_scope(collision_acceptance,requested_targets,omitted_rug_paths) + source=inspect.getsource(sweep.episode) + target_line=" target_name=str(d['target_prim']); source=_SCENE.objects.get(target_name)" + assert source.count(target_line)==1 + source=source.replace(target_line," target_name=_chain_target; source=_SCENE.objects.get(target_name)") + hand_line=" hand='l'" + assert source.count(hand_line)==1 + source=source.replace(hand_line," hand=_chain_hand",1) + support_line=" support_name=place_metadata.get('destination_body_path') or (str(d['current_furniture_body_path']) if 'current_furniture_body_path' in d else '')" + assert source.count(support_line)==1 + source=source.replace(support_line," hand=_chain_hand\n"+support_line) + begin=source.index(' def register(');end=source.index(' frame_ids=',begin) + register=source[begin:end].replace('_OPTIONS.contact_tolerance_mm','contact_limit') + register=register.replace(' nonlocal exact,cache_hits'," nonlocal exact,cache_hits\n if a.name.split('#')[0] in _chain_nonphysical_rug or b.name.split('#')[0] in _chain_nonphysical_rug:return") + sweep.__dict__['_chain_nonphysical_rug']=omitted_rug_paths + marker_limit=" if contact_limit is not None and row['category'].endswith('_requires_depth_review'):" + register=register.replace(marker_limit," contact_limit=_place_contact_limit(row,_OPTIONS.contact_tolerance_mm)\n"+marker_limit) + source=source[:begin]+register+source[end:] + marker=' for fi,f in enumerate(frame_ids):' + source=source.replace(marker,marker+"\n if not _chain_start<=fi<_chain_end:continue\n _chain_checked.append(fi)\n if fi%30==0:_chain_audit_progress(fi,len(frame_ids))") + def progress(frame,total): + path=out/f'WORLD_AUDIT_PROGRESS.part_{shard}.json';tmp=path.with_suffix('.tmp');tmp.write_text(json.dumps(dict(frame=frame,total=total,updated=time.time())));tmp.replace(path) + sweep.__dict__.update(_chain_audit_progress=progress,_chain_start=int(os.environ['CHAIN_AUDIT_START']),_chain_end=int(os.environ['CHAIN_AUDIT_END']),_chain_checked=[],_chain_target=audit_target,_chain_hand=audit_hand) + exec(compile(source,sweep.__file__,'exec'),sweep.__dict__) + from types import SimpleNamespace + from collision_scene import ROBOT + options=SimpleNamespace(scene=str(out/'scene.usda'),robot=str(ROBOT),output=str(out/'world_geometry'/f'part_{shard}'),scene_per_episode=False,authored_active=True,native_robot_world=True,swept=True,all_scene=False,solid_containment=True,stop_on_forbidden=True,depth=True,depth_points=512,contact_tolerance_mm=.5,stride=1,joint_step=.03,target_step=.005) + sweep.init(options);report=sweep.episode(out/'physics_ticks') + from collision_acceptance import summarize + full_report=json.loads(Path(report['output']).read_text());result=full_report['native_world_geometry_summary'] + result.update(partial_report=True,shard=shard,item_index=item_index,active_target=audit_target,active_hand=audit_hand,checked_frame_indices=sweep.__dict__['_chain_checked'],start=int(os.environ['CHAIN_AUDIT_START']),end=int(os.environ['CHAIN_AUDIT_END']),elapsed_seconds=full_report['elapsed_seconds'],source_geometry_report=report['output']) + (out/f'WORLD_COLLISION_AUDIT.part_{shard}.json').write_text(json.dumps(result,indent=2)+'\n') +else:raise ValueError(kind) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_return_head.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_return_head.py new file mode 100644 index 0000000000000000000000000000000000000000..189b0ade576f8c942f52f71fea48c2d61ccef60e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_return_head.py @@ -0,0 +1,293 @@ +#!/usr/bin/env python3 +"""Audit recorded level gaze during every empty-hand return. + +This is deliberately separate from the frozen validation release. It reads a +completed native trace and the producer policy/transition receipts, writes one +case-local report, and never changes task acceptance or source recordings. +""" +from __future__ import annotations + +import hashlib +import json +import os +import sys +from pathlib import Path + +import numpy as np + +POLICY = "empty_return_forward_head_v3" +HEAD_JOINTS = ("idx11_head_joint1", "idx12_head_joint2") +COMPENSATED_BODY_JOINT = "idx02_body_joint2" +PITCH_CLIP_RAD = np.asarray((-0.34033920413889424, 0.5148721293383273), dtype=np.float64) +MOVING_EPS = 1e-8 +COMMAND_EPS_RAD = 1e-10 +ACTUAL_EPS_RAD = float(np.deg2rad(0.1)) + + +def sha256(path: Path) -> str: + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def write_json(path: Path, payload: dict) -> None: + pending = path.with_suffix(path.suffix + f".pending.{os.getpid()}") + pending.write_text(json.dumps(payload, indent=2, default=str) + "\n") + os.replace(pending, path) + + +def expected_head(body_pitch): + """Return [yaw, pitch] for the most forward feasible gaze at each body pitch.""" + body_pitch = np.asarray(body_pitch, dtype=np.float64) + result = np.zeros(body_pitch.shape + (2,), dtype=np.float64) + result[..., 1] = np.clip(-body_pitch, PITCH_CLIP_RAD[0], PITCH_CLIP_RAD[1]) + return result + + +def audit(case: Path) -> dict: + case = Path(case).resolve() + out = case / "rollout" + recording_path = out / "recording_60hz.npz" + policy_path = out / "RETURN_HEAD_POLICY.json" + failures = [] + try: + recording = np.load(recording_path, allow_pickle=False) + policy = json.loads(policy_path.read_text()) + names = recording["dof_names"].tolist() + head_indices = [names.index(name) for name in HEAD_JOINTS] + body_index = names.index(COMPENSATED_BODY_JOINT) + command = np.asarray(recording["native_target"][:, head_indices], dtype=np.float64) + actual = np.asarray(recording["q"][:, head_indices], dtype=np.float64) + body_command = np.asarray(recording["native_target"][:, body_index], dtype=np.float64) + body_actual = np.asarray(recording["q"][:, body_index], dtype=np.float64) + base_action = np.asarray(recording["base_action_body"], dtype=np.float64) + phases = np.asarray(recording["phase"]).astype(str) + item_index = np.asarray(recording["item_index"], dtype=np.int64) + ticks = np.asarray(recording["tick"], dtype=np.int64) + except Exception as exc: + return {"schema": "ziche.multi10.return_forward_head_audit.v3", "passed": False, + "case": str(case), "failures": ["missing_or_invalid_recording_or_policy"], + "error": repr(exc)} + + rows = len(phases) + basic_checks = { + "aligned_arrays": command.shape == actual.shape == (rows, 2) + and base_action.shape == (rows, 2) + and len(item_index) == rows, + "finite": bool(np.isfinite(command).all() and np.isfinite(actual).all() + and np.isfinite(base_action).all()), + "tick_sequence": np.array_equal(ticks, np.arange(1, rows + 1)), + "policy_name": policy.get("policy") == POLICY, + "head_joint_scope": policy.get("head_joints") == list(HEAD_JOINTS), + "compensated_body_joint": policy.get("compensate_body_joint") == COMPENSATED_BODY_JOINT, + "pitch_clip": np.array_equal(np.asarray(policy.get("pitch_clip_rad"), dtype=np.float64), + PITCH_CLIP_RAD), + "restore_stopped": policy.get("restore_only_while_stopped_at_shelf") is True, + } + failures.extend(name for name, passed in basic_checks.items() if not passed) + installed_tick = int(policy.get("installed_at_control_tick", -1)) + implementation = Path(policy.get("implementation_path", "")) + implementation_check = (implementation.is_file() + and policy.get("implementation_sha256") == sha256(implementation)) + if not implementation_check: + failures.append("policy_implementation_hash") + + empty = np.asarray([phase.endswith("_empty_return") for phase in phases]) + moving = np.max(np.abs(base_action), axis=1) > MOVING_EPS + moving_return = empty & moving + expected_command = expected_head(body_command) + expected_actual = expected_head(body_actual) + command_error = np.max(np.abs(command - expected_command), axis=1) + actual_error = np.max(np.abs(actual - expected_actual), axis=1) + optical_pitch_command = -(body_command + command[:, 1]) + optical_pitch_actual = -(body_actual + actual[:, 1]) + moving_command_bad = np.flatnonzero(moving_return & (command_error > COMMAND_EPS_RAD)) + moving_actual_bad = np.flatnonzero(moving_return & (actual_error > ACTUAL_EPS_RAD)) + if len(moving_command_bad): + failures.append("moving_return_head_command_not_body_pitch_compensated") + if len(moving_actual_bad): + failures.append("moving_return_head_actual_error") + + # Every declared head raise/restore transition must be recorded while the + # base is stopped. Ranges use zero-based row boundaries: start inclusive, + # end exclusive, matching producer len(rows) values around blend(). + transition_rows = np.zeros(rows, dtype=bool) + transitions = [] + receipt_paths = sorted(out.glob("RETURN_HEAD_TRANSITION.item_*.json")) + for path in receipt_paths: + row_failures = [] + try: + receipt = json.loads(path.read_text()) + start = int(receipt["start_tick"]) + end = int(receipt["end_tick"]) + kind = receipt["kind"] + valid_range = 0 <= start < end <= rows + if valid_range: + selected = np.arange(start, end) + transition_rows[selected] = True + stopped = bool(np.all(np.max(np.abs(base_action[selected]), axis=1) <= MOVING_EPS)) + correct_phase = bool(np.all(empty[selected])) + correct_item = bool(np.all(item_index[selected] == int(receipt["item_index"]))) + item_moving = np.flatnonzero(moving_return & (item_index == int(receipt["item_index"]))) + if kind == "raise_before_walking": + temporal = len(item_moving) > 0 and end <= int(item_moving[0]) + target_value = np.asarray(receipt.get("target_rad", []), dtype=float) + start_target = expected_head(body_command[start]) if valid_range else np.asarray([np.nan, np.nan]) + kind_target = target_value.shape == (2,) and np.max(np.abs(target_value - start_target)) <= COMMAND_EPS_RAD + body_constant = valid_range and np.max(np.abs(body_command[selected] - body_command[start])) <= COMMAND_EPS_RAD + else: + temporal = len(item_moving) > 0 and start > int(item_moving[-1]) + kind_target = np.asarray(receipt.get("target_rad", [])).shape == (2,) + body_constant = True + else: + selected = np.asarray([], dtype=int) + stopped = correct_phase = correct_item = temporal = kind_target = body_constant = False + source = Path(receipt.get("source_path", "")) + receipt_checks = { + "schema": receipt.get("schema") == "multi_return_head_transition_v1", + "policy": receipt.get("policy") == POLICY, + "kind": kind in {"raise_before_walking", "restore_pick_gaze_after_arrival"}, + "range": valid_range, + "after_install": valid_range and start >= installed_tick, + "base_stopped": stopped and receipt.get("base_held") is True, + "empty_return_phase": correct_phase, + "item_alignment": correct_item, + "before_or_after_all_item_base_motion": temporal, + "raise_targets_level_or_restore_has_two_targets": kind_target, + "raise_body_pitch_constant": body_constant, + "head_joint_scope": receipt.get("head_joints") == list(HEAD_JOINTS), + "target_shape": np.asarray(receipt.get("target_rad", [])).shape == (2,), + "screened": receipt.get("all_live_props_screened") is True, + "no_pose_writes": receipt.get("no_pose_writes") is True, + "source_hash": source.is_file() and receipt.get("source_sha256") == sha256(source), + } + row_failures = [name for name, passed in receipt_checks.items() if not passed] + except Exception as exc: + start = end = None + kind = None + receipt_checks = {} + row_failures = ["invalid_receipt:" + repr(exc)] + if row_failures: + failures.append("transition:" + path.name) + transitions.append({"path": str(path), "sha256": sha256(path), "kind": kind, + "start_tick": start, "end_tick": end, + "checks": receipt_checks, "failures": row_failures}) + + # A different commanded gaze while stationary is permitted for the stopped + # waist/arm preparation preceding the walk. The explicit transition + # receipts prove the policy's raise and restore operations themselves never + # overlap base motion; all base-moving rows are governed by the stricter + # zero-command/0.1-degree checks above. + unexpected_transition_motion = np.flatnonzero(transition_rows & moving) + if len(unexpected_transition_motion): + failures.append("head_transition_overlaps_base_motion") + + return_items = sorted(set(item_index[empty].tolist())) + moving_return_items = sorted(set(item_index[moving_return].tolist())) + nonfinal_expected = list(range(max(0, int(item_index.max(initial=-1))))) + return_scope_complete = (return_items == nonfinal_expected + and moving_return_items == nonfinal_expected + and len(moving_return) > 0) + if not return_scope_complete: + failures.append("empty_return_item_scope") + + preinstall_return = np.flatnonzero(empty & (np.arange(rows) < installed_tick)) + postinstall_moving = moving_return & (np.arange(rows) >= max(0, installed_tick)) + postinstall_compliant = (not np.any(postinstall_moving & (command_error > COMMAND_EPS_RAD)) + and not np.any(postinstall_moving & (actual_error > ACTUAL_EPS_RAD))) + full_trace_compliant = (len(moving_command_bad) == 0 and len(moving_actual_bad) == 0 + and len(unexpected_transition_motion) == 0 and return_scope_complete) + installed_before_recording = installed_tick == 0 + if not installed_before_recording: + failures.append("fresh_episode_policy_not_installed_before_recording") + + def witnesses(indices): + return [{"row_index": int(index), "source_control_tick": int(index + 1), + "phase": phases[index], "item_index": int(item_index[index]), + "base_action_body": base_action[index].tolist(), + "head_command_rad": command[index].tolist(), + "head_actual_rad": actual[index].tolist(), + "body2_command_rad": float(body_command[index]), + "body2_actual_rad": float(body_actual[index]), + "expected_head_command_rad": expected_command[index].tolist(), + "expected_head_from_actual_body_rad": expected_actual[index].tolist(), + "command_max_error_rad": float(command_error[index]), + "actual_max_error_deg": float(np.degrees(actual_error[index])), + "predicted_optical_pitch_command_deg": float(np.degrees(optical_pitch_command[index])), + "predicted_optical_pitch_actual_deg": float(np.degrees(optical_pitch_actual[index]))} + for index in indices[:50]] + + report = { + "schema": "ziche.multi10.return_forward_head_audit.v3", "passed": not failures, + "case": str(case), "policy": POLICY, "policy_installed_at_control_tick": installed_tick, + "classification": ("FULL_FRESH_EPISODE_COMPLIANT" if installed_before_recording and full_trace_compliant + else "FULL_TRACE_COMPLIANT_LATE_INSTALL_NOT_FRESH_ELIGIBLE" if full_trace_compliant + else "POST_INSTALL_ONLY" if postinstall_compliant else "NONCOMPLIANT"), + "fresh_episode_required": True, "installed_before_recording": installed_before_recording, + "full_trace_compliant": full_trace_compliant, "postinstall_trace_compliant": postinstall_compliant, + "fixed_expected_metadata": { + "head_joints": list(HEAD_JOINTS), "compensate_body_joint": COMPENSATED_BODY_JOINT, + "pitch_clip_rad": PITCH_CLIP_RAD.tolist(), "pitch_clip_deg": np.degrees(PITCH_CLIP_RAD).tolist(), + "command_formula": "head_yaw=0; head_pitch=clip(-commanded_body2,-19.5deg,+29.5deg)", + "actual_formula": "expected_head_pitch=clip(-measured_body2,-19.5deg,+29.5deg); actual joint tracking error <=0.1deg", + "predicted_optical_pitch_formula": "-(body2+head_pitch)", + "correction": "v2 incorrectly treated camera pitch as a fixed head-only target. v3 accounts for idx02_body_joint2 at every recorded row; historical v2 evidence is retained but is not valid for fresh acceptance."}, + "thresholds": {"base_moving_abs_gt": MOVING_EPS, "head_command_target_error_rad_max": COMMAND_EPS_RAD, + "head_actual_target_error_rad_max": ACTUAL_EPS_RAD, "head_actual_target_error_deg_max": 0.1}, + "counts": {"control_rows": rows, "empty_return_rows": int(empty.sum()), + "moving_empty_return_rows": int(moving_return.sum()), + "transition_rows": int(transition_rows.sum()), + "preinstall_empty_return_rows": len(preinstall_return)}, + "expected_nonfinal_item_indices": nonfinal_expected, "return_item_indices": return_items, + "moving_return_item_indices": moving_return_items, + "moving_return_max_command_error_rad": float(command_error[moving_return].max(initial=0)), + "moving_return_max_actual_error_rad": float(actual_error[moving_return].max(initial=0)), + "moving_return_max_actual_error_deg": float(np.degrees(actual_error[moving_return].max(initial=0))), + "moving_return_optical_pitch_command_deg_range": ([float(np.degrees(optical_pitch_command[moving_return].min())), + float(np.degrees(optical_pitch_command[moving_return].max()))] + if np.any(moving_return) else None), + "moving_return_optical_pitch_actual_deg_range": ([float(np.degrees(optical_pitch_actual[moving_return].min())), + float(np.degrees(optical_pitch_actual[moving_return].max()))] + if np.any(moving_return) else None), + "bad_moving_command_rows": witnesses(moving_command_bad), + "bad_moving_actual_rows": witnesses(moving_actual_bad), + "transition_motion_rows": witnesses(unexpected_transition_motion), + "transitions": transitions, "basic_checks": basic_checks, + "policy_implementation_check": implementation_check, + "recording_sha256": sha256(recording_path), "policy_receipt_sha256": sha256(policy_path), + "failures": failures, + } + return report + + +def main() -> None: + if len(sys.argv) != 2: + raise SystemExit("usage: audit_return_head.py CASE") + case = Path(sys.argv[1]).resolve() + report = audit(case) + out = case / "rollout" + if out.is_dir(): + canonical = out / "RETURN_HEAD_AUDIT.json" + if canonical.is_file(): + raw = canonical.read_bytes() + digest = hashlib.sha256(raw).hexdigest() + history = out / "return_head_audit_history" + history.mkdir(exist_ok=True) + archived = history / f"{digest}.json" + if archived.is_file(): + if archived.read_bytes() != raw: + raise RuntimeError("Return-head audit history hash collision") + else: + pending = history / f".{digest}.{os.getpid()}.pending" + pending.write_bytes(raw) + os.replace(pending, archived) + write_json(canonical, report) + print(json.dumps({"passed": report["passed"], "classification": report.get("classification"), + "failures": report["failures"]}, indent=2)) + raise SystemExit(0 if report["passed"] else 1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_views.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_views.py new file mode 100644 index 0000000000000000000000000000000000000000..2651a6f66baa170b55c62db8fbf7fa699058e4f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/audit_views.py @@ -0,0 +1,54 @@ +"""Actual-pose wrist and initial selected-shelf visibility checks.""" +import sys,json,copy +from pathlib import Path +import numpy as np +from pxr import Usd,UsdGeom +from scipy.spatial.transform import Rotation as Rot +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]);out=case/'rollout';job=json.loads((case/'job.json').read_text()) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/shelf_training_visible360_20260916'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +from wrist_upright import camera_mount +from wrist_orientation_policy import MIN_CAMERA_HEIGHT_M,MIN_CAMERA_UP_Z +from validate_export import write +from multi_validation import items,recording_contract +requested=items(job);z=np.load(out/'recording_60hz.npz');phases,item_index,_,_=recording_contract(z,requested);phases=np.asarray(phases) +stage=Usd.Stage.Open(str(out/'scene.usda'));paths=z['robot_link_paths'].tolist();wrist={};extrinsics={};samples=np.arange(2,len(z['q']),3) +for key,owner,cam in [('top_head','head_link2','Head_Camera'),('hand_left','gripper_l_base_link','Left_Camera'),('hand_right','gripper_r_base_link','Right_Camera')]: + prim=stage.GetPrimAtPath('/World/Robot/'+owner);camera=stage.GetPrimAtPath(str(prim.GetPath())+'/'+cam);cache=UsdGeom.XformCache();mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(prim)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + p=z['robot_link_pose'][:,paths.index(str(prim.GetPath()))];rotation=Rot.from_quat(p[:,3:]).as_matrix();world=np.tile(np.eye(4),(len(p),1,1));world[:,:3,:3]=rotation;world[:,:3,3]=p[:,:3];camera_world=world@mount;extrinsics[key]=camera_world[samples] + if key!='top_head': + height=(rotation@mount[:3,3])[:,2];up=(rotation@mount[:3,1])[:,2];wrist[key]=dict(passed=bool(height.min()>=MIN_CAMERA_HEIGHT_M and up.min()>=MIN_CAMERA_UP_Z),minimum_height_m=float(height.min()),minimum_up_z=float(up.min()),minimum_height_tick=int(height.argmin()+1),minimum_up_tick=int(up.argmin()+1)) +write(out/'WRIST_AUDIT.json',dict(passed=all(d['passed'] for d in wrist.values()),policy='wrist_camera_upright_v2',hands=wrist,actual_samples=len(z['q']))) +np.savez_compressed(out/'camera_extrinsics_20hz.npz',**extrinsics,source_control_tick=samples+1) +# At the upper default pose a lower label can be out of view by design. Verify +# every requested item after its measured waist adjustment and before grasping. +d=np.load(out/'full_state.npz') +import collision_scene as cs,trimesh +from omni_randomization import full_environment_bodies +from visible_target_check import TargetCheck +robot=cs.Robot(cs.ROBOT);cam=UsdGeom.Camera(stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera'));head_index=paths.index('/World/Robot/head_link2');props=d['rigid_body_paths'].tolist();reports=[] +# The multi-item scene retains a deliberate subset of the distractors from +# several single-item source episodes. Reconstruct visibility from the actual +# captured rigid-body inventory, using source rows only as asset metadata. +object_catalog={} +for request in requested: + for source in json.loads((Path(request['pick_source'])/'episode.json').read_text())['objects']: + object_catalog.setdefault(source['prim_path'],source) +for item_number,item in enumerate(requested): + phase=f'item_{item_number:02d}_waist_to_selected_shelf';found=np.flatnonzero((item_index==item_number)&(phases==phase)) + if not len(found): + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Missing measured waist-to-selected-shelf phase'));continue + frame=int(found[-1]);spec=json.loads((Path(item['pick_source'])/'episode.json').read_text());base=cs.pose(z['base_pose'][frame,:3],z['base_pose'][frame,[6,3,4,5]]) + check=TargetCheck.__new__(TargetCheck);check.stage=stage;check.robot=robot;check.r=dict(spec['robot'],dof_names=z['dof_names'].tolist());check.base=base;check.fixtures=full_environment_bodies(stage);check.camera=cam;check.focal=float(cam.GetFocalLengthAttr().Get());check.ha=float(cam.GetHorizontalApertureAttr().Get());check.va=float(cam.GetVerticalApertureAttr().Get()) + parent=z['robot_link_pose'][frame,head_index];camera=cs.pose(parent[:3],parent[[6,3,4,5]])@cs.matrix(UsdGeom.Xformable(cam).GetLocalTransformation());placed=[];target=None;cache=UsdGeom.XformCache() + current_catalog={source['prim_path']:source for source in spec['objects']} + for prop_index,path in enumerate(props): + source=current_catalog.get(path,object_catalog.get(path)) + if source is None:continue # articulated/static appliances are fixtures + row=copy.deepcopy(source);row['xyz_m']=d['prop_xyz_m'][frame,prop_index].tolist();row['wxyz']=d['prop_wxyz'][frame,prop_index].tolist();prim=stage.GetPrimAtPath(path);ref=cs.rigid_part(cs.matrix(cache.GetLocalToWorldTransform(prim)));parts=cs.mesh_parts(prim,cache,reference=ref);body=cs.Body(path,trimesh.util.concatenate([m for _,m in parts]),cs.pose(row['xyz_m'],row['wxyz']));placed.append((row,[body],None)) + if path==item['target']:target=row + if target is None: + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Target absent from captured rigid-body inventory'));continue + posture=dict(q=z['q'][frame],camera=camera,actual_links={p.replace('/World/Robot',robot.root,1):cs.pose(z['robot_link_pose'][frame,i,:3],z['robot_link_pose'][frame,i,[6,3,4,5]]) for i,p in enumerate(paths)}) + report=check.visibility(target,placed,posture,actual_camera=camera);report.update(item_index=item_number,target=item['target'],frame=frame,source_control_tick=frame+1,phase=phase,source='Actual measured poses immediately before this item pickup in the same uninterrupted episode') + reports.append(report) +write(out/'VISIBILITY_AUDIT.json',dict(passed=all(row.get('passed') for row in reports),items=reports,actual_item_count=len(reports))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/build_exact_source_proposals.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/build_exact_source_proposals.py new file mode 100644 index 0000000000000000000000000000000000000000..619914d75314c19cca3bd8d6bef8247746ac4027 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/build_exact_source_proposals.py @@ -0,0 +1,22 @@ +"""Build read-only exact accepted-chain landing/station proposals for every item.""" +import json,math +from pathlib import Path +import numpy as np +from pxr import Usd +W=Path(__file__).resolve().parent;R=W.parents[1];OLD=R/'work/shelf_to_table50_20261001' +import sys +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps')] +from geometry_transfer import registration +priors=[] +for p in sorted((OLD/'cases').glob('layout_*/job.json')): + j=json.loads(p.read_text());priors.append((p,j)) +for case in sorted((W/'cases').glob('layout_*')): + jp=case/'job.json' + if not jp.exists():continue + job=json.loads(jp.read_text());newstage=Usd.Stage.Open(job['layout']);rows=[] + for i,item in enumerate(job['items']): + matches=[(p,j) for p,j in priors if j.get('pick_source')==item['pick_source'] and (p.parent/'rollout/PLACEMENT_PLAN.json').exists()] + if not matches:rows.append({'item':i,'product':item['product'],'available':False});continue + p,prior=matches[0];oldstage=Usd.Stage.Open(prior['layout']);delta,reg=registration(oldstage,newstage,'/World/Assets/CoffeeTable/Mesh');goal=delta@np.asarray(json.loads((p.parent/'rollout/PLACEMENT_PLAN.json').read_text())['goal']);base=delta@np.asarray(prior['place_base']);desired=np.asarray(item['placement_slot']['xy']);aligned=base.copy();aligned[:2,3]+=desired-goal[:2,3] + rows.append({'item':i,'product':item['product'],'available':True,'prior_job':str(p),'prior_controls':str(p.parent/'controls.npz'),'prior_placement_plan':str(p.parent/'rollout/PLACEMENT_PLAN.json'),'table_registration':reg,'transferred_accepted_goal':goal.tolist(),'transferred_accepted_base':base.tolist(),'accepted_yaw_rad':float(math.atan2(goal[1,0],goal[0,0])),'desired_slot_xy':desired.tolist(),'slot_aligned_base':aligned.tolist(),'station_shift_xy':(desired-goal[:2,3]).tolist(),'recommended_yaws_rad':[float(math.atan2(goal[1,0],goal[0,0])),float(math.atan2(goal[1,0],goal[0,0])+math.pi)],'claim':'source-derived proposal; native validation required'}) + out={'schema':'multi_item.exact_source_transfer_proposals.v1','case':job['layout_id'],'job_read_only':True,'items':rows,'available_count':sum(x['available'] for x in rows),'item_count':len(rows)};(case/'EXACT_SOURCE_TRANSFER_PROPOSAL.json').write_text(json.dumps(out,indent=2)+'\n');print(case.name,out['available_count'],len(rows)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/carry_transition.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/carry_transition.py new file mode 100644 index 0000000000000000000000000000000000000000..b6663e3f4ed2444983314f095b5fbced4ed84520 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/carry_transition.py @@ -0,0 +1,266 @@ +"""Conservative carry preflight; native physical rollout and audits remain authoritative.""" +import math,time,heapq +import numpy as np +from scipy.spatial.transform import Rotation as Rot +from navigation import plan_release_polygons,angle_delta + +POLICY='clear_shelf_raise_055_full_body_route_v1' + +def split_turn(start_yaw,end_yaw,xy,maximum=math.radians(150)): + delta=angle_delta(end_yaw,start_yaw) + count=max(1,math.ceil(abs(delta)/maximum)) + return [dict(kind='turn',goal=[*map(float,xy),start_yaw+delta*k/count]) for k in range(1,count+1)] + +def primitives(route,yaw,final_yaw): + result=[] + for a,b in zip(route,route[1:]): + d=np.asarray(b)-a + if np.linalg.norm(d)<1e-6:continue + heading=math.atan2(d[1],d[0]);result+=split_turn(yaw,heading,a) + result.append(dict(kind='drive',goal=[*b,heading],direction=1));yaw=heading + result+=split_turn(yaw,final_yaw,route[-1]) + return result + +def compact_postures(robot,names,q,base): + from scipy.optimize import least_squares + from ik_solver import Arm + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + for x,dz in [(.30,-.30),(.30,-.15),(.30,.15),(.25,.20),(.35,0)]: + result=q.copy();valid=True + for h in ['l','r']: + ids=[names.index(f'idx{2 if h=="l" else 6}{k}_arm_{h}_joint{k}') for k in range(1,8)] + lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in ids])*np.pi/180+1e-4 + hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in ids])*np.pi/180-1e-4 + link=robot.root+'/gripper_'+h+'_base_link';local=np.linalg.inv(base)@robot.fk(names,result,base)[link] + local[0,3]=x;local[1,3]=.30 if h=='l' else -.30;local[2,3]+=dz;goal=base@local + arm=Arm(robot,names,result,base,link,ids);previous=result[ids].copy() + fit=least_squares(lambda v:arm.evaluate(v,goal,previous)[0],np.clip(previous,lo,hi),jac=lambda v:arm.evaluate(v,goal,previous)[1],bounds=(lo,hi),max_nfev=100) + actual=arm.forward(fit.x)[0] + if np.linalg.norm(actual[:3,3]-goal[:3,3])>.002 or Rot.from_matrix(actual[:3,:3].T@goal[:3,:3]).magnitude()>.02:valid=False;break + result[ids]=fit.x + if valid:yield result,dict(hand_forward_m=x,hand_height_change_m=dz) + yield q.copy(),dict(original_arm_pose=True) + +class Clearance: + def __init__(self,stage,robot,names,hand,target,target_vertices,held,prop_poses): + from pxr import Usd,UsdGeom,UsdPhysics + from collision_scene import Body,collider_mesh,matrix,rigid_ancestor,contact,broad_overlap + from collision_contact_bounds import separation_witness + from native_planner import build + import trimesh + self.deadline=time.monotonic()+180;self.robot=robot;self.names=names;self.hand=hand;self.held=held;self.contact=contact;self.broad_overlap=broad_overlap;self.separation_witness=separation_witness + self.self_check=build(stage);self.cache=UsdGeom.XformCache();self.environment=[];self.results={};self.posture_cache={} + self.target=Body(target,trimesh.convex.convex_hull(target_vertices)) + for p in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies()): + path=str(p.GetPath()) + if path.startswith('/World/Robot/') or not p.HasAPI(UsdPhysics.CollisionAPI):continue + if UsdPhysics.CollisionAPI(p).GetCollisionEnabledAttr().Get() is False:continue + if path==target or path.startswith(target+'/'):continue + mesh,_,_=collider_mesh(p);world=matrix(self.cache.GetLocalToWorldTransform(p));owner=rigid_ancestor(p) + if owner and str(owner.GetPath()) in prop_poses: + authored=matrix(self.cache.GetLocalToWorldTransform(owner));authored[:3,:3]/=np.linalg.norm(authored[:3,:3],axis=0) + world=prop_poses[str(owner.GetPath())]@np.linalg.inv(authored)@world + mesh.apply_transform(world) + # Native audit still checks actual floor support. Transit broad phase + # excludes only ground-level geometry; furniture remains in full 3D. + if mesh.bounds[1,2]<.08:continue + self.environment.append(Body(path,mesh)) + self.low=np.array([b.lo for b in self.environment]);self.high=np.array([b.hi for b in self.environment]);self.last=None + def check(self,q,base): + if time.monotonic()>self.deadline:raise RuntimeError('Carry geometry preflight exceeded 180 seconds') + key=(q.tobytes(),base.tobytes()) + if key in self.results: + okay,self.last=self.results[key];return okay + okay=self.check_uncached(q,base) + self.results[key]=(okay,self.last);return okay + def check_uncached(self,q,base): + key=q.tobytes() + if key not in self.posture_cache: + local=self.robot.fk(self.names,q,np.eye(4));okay,detail=self.self_check(local,self.robot.root) + self.posture_cache[key]=(local,okay,detail) + local,okay,detail=self.posture_cache[key] + if not okay:self.last=dict(kind='self_or_wrist',detail=detail);return False + fk={name:base@transform for name,transform in local.items()} + for body in self.self_check.bodies:body.update(fk[body.name.replace('/World/Robot',self.robot.root,1)]) + self.target.update(fk[self.robot.root+'/gripper_'+self.hand+'_base_link']@self.held) + # Mirror the authoritative robot-target collision rule. Only the two + # assigned distal finger links may intersect the held target, with a + # certified 10 mm separation witness; no whole-gripper exemption. + allowed={f'/World/Robot/gripper_{self.hand}_{side}_link4' for side in ('inner','outer')} + for body in self.self_check.bodies: + if not self.broad_overlap(self.target,body):continue + hit=self.contact(self.target,body,containment=True) + if hit is None:continue + witness=None + if body.name in allowed: + witness=self.separation_witness(self.target,body,hit,tolerance_mm=10.,vertical_support=False) + if witness.get('certified'):continue + self.last=dict(kind='held_target_robot',target=self.target.name,robot=body.name,contact=hit,separation_witness=witness) + return False + for body in self.self_check.bodies+[self.target]: + indices=np.flatnonzero(np.all(self.high>=body.lo,axis=1)&np.all(self.low<=body.hi,axis=1)) + for i in indices: + other=self.environment[i] + if self.contact(body,other,containment=True) is not None: + self.last=dict(kind='environment',robot_or_target=body.name,obstacle=other.name);return False + return True + + def segment(self,q0,q1,b0,b1): + y0=Rot.from_matrix(b0[:3,:3]).as_euler('xyz')[2];y1=Rot.from_matrix(b1[:3,:3]).as_euler('xyz')[2];dy=angle_delta(y1,y0) + steps=max(1,math.ceil(np.linalg.norm(b1[:3,3]-b0[:3,3])/.025),math.ceil(abs(dy)/math.radians(3)),math.ceil(np.max(abs(q1-q0))/.02)) + fixed_q=np.array_equal(q0,q1) + for u in np.linspace(0,1,steps+1): + b=b0.copy();b[:3,3]=(1-u)*b0[:3,3]+u*b1[:3,3];b[:3,:3]=Rot.from_euler('z',y0+u*dy).as_matrix() + if not self.check(q0 if fixed_q else q0*(1-u)+q1*u,b):return False + return True + +def body_route(checker,q,start,destination,floors,budget=70): + """Forward-only SE(2) lattice; all edges include body/object swept checks.""" + from shapely.geometry import Polygon,Point + from shapely.ops import unary_union + from shapely.prepared import prep + floor=prep(unary_union([Polygon(f).buffer(0) for f in floors]).buffer(-.34)) + yaw=Rot.from_matrix(start[:3,:3]).as_euler('xyz')[2] + final_yaw=Rot.from_matrix(destination[:3,:3]).as_euler('xyz')[2] + step=.12; axes=Rot.from_euler('z',yaw).as_matrix()[:2,:2] + directions=[(1,0),(1,1),(0,1),(-1,1),(-1,0),(-1,-1),(0,-1),(1,-1)] + poses={};valid={};edges={};began=time.monotonic() + def pose(node): + if node not in poses: + b=start.copy();b[:2,3]=start[:2,3]+axes@(np.array(node[:2])*step) + b[:3,:3]=Rot.from_euler('z',yaw+node[2]*math.pi/4).as_matrix();poses[node]=b + return poses[node] + def safe(node): + if node not in valid: + b=pose(node);valid[node]=floor.covers(Point(b[:2,3])) and checker.check(q,b) + return valid[node] + def edge(a,b): + key=(a,b) + if key not in edges:edges[key]=safe(b) and checker.segment(q,q,pose(a),pose(b)) + return edges[key] + def connect(b): + heading=np.array([math.cos(final_yaw),math.sin(final_yaw)]) + routes=[[b[:2,3].tolist(),destination[:2,3].tolist()]] + routes += [[b[:2,3].tolist(),(destination[:2,3]-d*heading).tolist(),destination[:2,3].tolist()] for d in [.45,.70]] + for route in routes: + motions=primitives(route,Rot.from_matrix(b[:3,:3]).as_euler('xyz')[2],final_yaw) + previous=b;okay=True + for p in motions: + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + if not floor.covers(Point(current[:2,3])) or not checker.check(q,current) or not checker.segment(q,q,previous,current):okay=False;break + previous=current + if okay:return motions + return None + goal=destination.copy();goal[2,3]=start[2,3] + if not checker.check(q,goal):return None,dict(reason='destination_body_collision',detail=checker.last) + source=(0,0,0);cost={source:0.};parents={};queue=[(0.,source)];done=set() + while queue and time.monotonic()-began=cost.get(neighbor,float('inf')) or not edge(node,neighbor):continue + cost[neighbor]=value;parents[neighbor]=node + h=np.linalg.norm(pose(neighbor)[:2,3]-goal[:2,3]) + heapq.heappush(queue,(value+1.7*h,neighbor)) + return None,dict(reason='body_lattice_budget_or_exhausted',expanded=len(done),seconds=time.monotonic()-began) + +def plan(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release): + if job.get('carry_policy')=='precision_body_route_v2': + return plan_precision(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release) + start=time.monotonic();held=np.linalg.inv(robot.fk(names,q,base)[robot.root+'/gripper_'+hand+'_base_link'])@object_pose + checker=Clearance(stage,robot,names,hand,target,target_vertices,held,prop_poses) + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + postures=list(compact_postures(robot,names,high,base)) + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2];heading=np.array([math.cos(yaw),math.sin(yaw)]) + shapes=[r['xy'] for r in release['shapes'] if stage.GetPrimAtPath(r['path']) and stage.GetPrimAtPath(r['path']).IsActive()] + destination=np.asarray(job['place_base']);final_yaw=Rot.from_matrix(destination[:3,:3]).as_euler('xyz')[2] + failures=[] + for distance in [1.05,1.25,1.50,.85,.75,.65,.55,.45,.35,.25,.20,.15,.10,.05]: + exit_base=base.copy();exit_base[:2,3]-=distance*heading + try: + route_out=plan_release_polygons(base[:2,3],exit_base[:2,3],shapes,release['floors']) + if len(route_out)!=2:raise ValueError('straight shelf departure blocked') + except ValueError as exc:failures.append(dict(distance=distance,stage='reverse_floor',error=str(exc)));continue + if not checker.segment(q,q,base,exit_base):failures.append(dict(distance=distance,stage='reverse_full_body',detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base):failures.append(dict(distance=distance,stage='raise_full_body',detail=checker.last));continue + routes={} + for compact,posture in postures: + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(distance=distance,posture=posture,stage='compact_full_body',detail=checker.last));continue + for radius in [.40,.44,.48,.34]: + if time.monotonic()-start>180:raise RuntimeError('Carry preflight budget exceeded; '+str(failures[-3:])) + if radius not in routes: + try:routes[radius]=plan_release_polygons(exit_base[:2,3],destination[:2,3],shapes,release['floors'],radius=radius) + except ValueError as exc:routes[radius]=str(exc) + route=routes[radius] + if isinstance(route,str):failures.append(dict(distance=distance,radius=radius,stage='route_floor',error=route));continue + motions=primitives(route,yaw,final_yaw);previous=exit_base.copy();okay=True + for index,p in enumerate(motions): + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + if not checker.segment(compact,compact,previous,current): + failures.append(dict(distance=distance,radius=radius,posture=posture,stage='route_full_body',primitive=index,detail=checker.last));okay=False;break + previous=current + if okay: + return compact,[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1)]+motions,dict(policy=POLICY,waist_lift_m=.55,posture=posture,exit_distance_m=distance,route_radius_m=radius,route=route,failures=failures,planning_seconds=time.monotonic()-start,preflight_only=True,full_native_audit_required=True) + raise RuntimeError('No collision-screened elevated carry route: '+str(failures[-6:])) + +def plan_precision(stage,robot,names,q,base,hand,target,target_vertices,object_pose,prop_poses,job,release): + started=time.monotonic() + held=np.linalg.inv(robot.fk(names,q,base)[robot.root+'/gripper_'+hand+'_base_link'])@object_pose + checker=Clearance(stage,robot,names,hand,target,target_vertices,held,prop_poses) + checker.deadline=time.monotonic()+900 + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + postures=list(compact_postures(robot,names,high,base)) + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2];heading=np.array([math.cos(yaw),math.sin(yaw)]) + destination=np.asarray(job['place_base']);failures=[] + if job.get('carry_route_seed'): + seed=job['carry_route_seed'];compact=np.asarray(seed['q']);motions=seed['motions'] + previous=base.copy();okay=True + for index,p in enumerate(motions): + if index==1: + okay=checker.segment(q,high,previous,previous) and checker.segment(high,compact,previous,previous) + if not okay:break + current=previous.copy();current[:2,3]=p['goal'][:2];current[:3,:3]=Rot.from_euler('z',p['goal'][2]).as_matrix() + posture=q if index==0 else compact + if not checker.segment(posture,posture,previous,current):okay=False;break + previous=current + if okay: + report=dict(seed['report']);report.update(rechecked_against_live_grasp=True,planning_seconds=time.monotonic()-started) + return compact,motions,report + failures.append(dict(stage='saved_route_recheck',detail=checker.last)) + from shapely.geometry import Polygon,LineString + from shapely.ops import unary_union + floor=unary_union([Polygon(f).buffer(0) for f in release['floors']]).buffer(-.34) + for distance in job.get('carry_exit_candidates',[.55,.75,.95,.35,.25,.15,.10,.05]): + exit_base=base.copy();exit_base[:2,3]-=distance*heading + if not floor.covers(LineString([base[:2,3],exit_base[:2,3]])):continue + if not checker.segment(q,q,base,exit_base): + failures.append(dict(distance=distance,stage='reverse',detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base): + failures.append(dict(distance=distance,stage='raise',detail=checker.last));continue + for compact,posture in postures: + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(distance=distance,stage='compact',posture=posture,detail=checker.last));continue + motions,detail=body_route(checker,compact,exit_base,destination,release['floors'],budget=90) + print('PRECISION_ROUTE',distance,posture,detail,flush=True) + if motions is not None: + return compact,[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1)]+motions,dict(policy='precision_body_route_v2',waist_lift_m=.55,posture=posture,exit_distance_m=distance,route_search=detail,failures=failures,planning_seconds=time.monotonic()-started,preflight_only=True,full_native_audit_required=True) + failures.append(dict(distance=distance,posture=posture,stage='route',detail=detail)) + raise RuntimeError('No full-body carry route: '+str(failures[-8:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/collision_inventory.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/collision_inventory.py new file mode 100644 index 0000000000000000000000000000000000000000..b91601c230f2d026137002ac685032c116b3f626 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/collision_inventory.py @@ -0,0 +1,21 @@ +"""Select real composed scene colliders; undefined flattened templates are opinions. + +Do not edit template collisionEnabled attributes: real instances inherit them. +Undefined geometry outside the known top-level template namespace remains fatal. +""" +from pxr import Usd,UsdGeom,UsdPhysics + +def enabled_nonrobot_convex_colliders(stage): + result=[] + for prim in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies(Usd.PrimAllPrimsPredicate)): + path=str(prim.GetPath()) + if path=='/World/Robot' or path.startswith('/World/Robot/'):continue + if not prim.IsActive() or not prim.IsLoaded() or prim.IsAbstract():continue + if not prim.IsA(UsdGeom.Mesh) or not prim.HasAPI(UsdPhysics.CollisionAPI):continue + if not UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get():continue + if UsdPhysics.MeshCollisionAPI(prim).GetApproximationAttr().Get() not in ('convexHull','convexDecomposition'):continue + if not prim.IsDefined(): + if path.startswith('/Flattened_Prototype_'):continue + raise ValueError('Undefined active enabled extra collider: '+path) + result.append(prim) + return sorted(result,key=lambda p:str(p.GetPath())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/dashboard.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/dashboard.py new file mode 100644 index 0000000000000000000000000000000000000000..187423799cfc235f3aa83687022dc093fb12697f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/dashboard.py @@ -0,0 +1,40 @@ +"""Progress for the new multi-item collection; no mutation endpoints.""" +from http.server import ThreadingHTTPServer,SimpleHTTPRequestHandler +from pathlib import Path +import json,time,os +W=Path(__file__).resolve().parent +class Handler(SimpleHTTPRequestHandler): + def __init__(self,*a,**kw):super().__init__(*a,directory=str(W),**kw) + def do_GET(self): + if self.path.split('?')[0]!='/progress.json':return super().do_GET() + cases=[] + for c in sorted((W/'cases').glob('layout_*')): + try: + j=json.loads((c/'job.json').read_text());s=json.loads((c/'STATUS.json').read_text()) + cp=c/'rollout/CHECKPOINT.json' + if cp.exists(): + checkpoint=json.loads(cp.read_text()) + if len(checkpoint.get('completed_objects',[]))>len(s.get('completed_objects',[])):s['completed_objects']=checkpoint['completed_objects'] + hold=c/'CONTROLLER_REPAIR_PROCESS_HOLD.json' + if hold.exists(): + held=json.loads(hold.read_text());pid=held.get('native_host_pid',held.get('host_pid')) + try: + process=Path(f'/proc/{int(pid)}/status').read_text() + state=next(line.split()[1] for line in process.splitlines() if line.startswith('State:')) + if state in ('T','t'): + s['native_status']=s['status'];s['status']='PROCESS_HELD';s['hold_reason']=held.get('reason','') + except (FileNotFoundError,ValueError,TypeError,StopIteration):pass + pause=W/'USER_PAUSE_20261006.json' + if pause.exists(): + paused=json.loads(pause.read_text()) + for native in paused.get('native_processes',[]): + if str(c) not in native.get('command',[]):continue + try: + state=next(line.split()[1] for line in Path(f"/proc/{native['host_pid']}/status").read_text().splitlines() if line.startswith('State:')) + if state in ('T','t'):s['native_status']=s.get('native_status',s['status']);s['status']='USER_PAUSED' + except (FileNotFoundError,StopIteration):pass + cases.append(dict(layout_id=j['layout_id'],context=j.get('context',j.get('scenario','')),products=[i['product'] for i in j.get('items',[])],**s)) + except (FileNotFoundError,json.JSONDecodeError):continue + body=json.dumps(dict(requested=10,accepted=sum(c.get('status')=='ACCEPTED' for c in cases),jobs=cases,updated=time.time())).encode() + self.send_response(200);self.send_header('Content-Type','application/json');self.send_header('Cache-Control','no-store');self.end_headers();self.wfile.write(body) +ThreadingHTTPServer(('0.0.0.0',int(os.environ.get('MULTI_DASHBOARD_PORT','8412'))),Handler).serve_forever() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..056a6f70fd656f4f25b291fb6757407137c81f4c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 1 item-2 Zbar pickup failure.""" +import json +import pathlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_01" +SRC = W.parents[1] / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675" +OLD = W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_11" + + +def yaw_pose(pose): + return float(Rotation.from_quat(pose[3:]).as_euler("xyz")[2]) + + +def main(): + current = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + old = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + job = json.loads((C / "job.json").read_text()) + old_job = json.loads((OLD / "job.json").read_text()) + controls = np.load(C / "controls_item_03.npz") + current_pick = np.flatnonzero((current["item_index"] == 2) & (current["phase"] == "item_02_shelf_pick")) + samples = current_pick[2::3] + old_pick = np.flatnonzero(old["phase"] == "shelf_pick") + target_index = source["rigid_body_paths"].tolist().index(job["items"][2]["target"]) + source_names = source["robot_dof_names"].tolist() + current_names = current["dof_names"].tolist() + reorder = [current_names.index(name) for name in source_names] + q_error = current["q"][samples][:, reorder] - source["robot_joint_position_rad_or_m"] + left_arm = [source_names.index(f"idx2{i}_arm_l_joint{i}") for i in range(1, 8)] + left_gripper = [i for i, name in enumerate(source_names) if "gripper_l" in name] + outer = source_names.index("idx41_gripper_l_outer_joint1") + inner = source_names.index("idx31_gripper_l_inner_joint1") + outer_current = current_names.index(source_names[outer]) + inner_current = current_names.index(source_names[inner]) + command_outer = controls["pick"][:, 18] + close_changes = np.flatnonzero(np.abs(np.diff(command_outer)) > 1e-5) + source_target = source["prop_xyz_m"][:, target_index] + actual_target = current["target_pose_all"][samples, 2, :3] + source_lift = np.flatnonzero(source_target[:, 2] > source_target[0, 2] + 0.002) + actual_motion = np.flatnonzero(np.linalg.norm(actual_target - actual_target[0], axis=1) > 0.002) + old_target = old["target_pose"][old_pick, :3] + old_lift = np.flatnonzero(old_target[:, 2] > old_target[0, 2] + 0.002) + + desired_base = np.asarray(job["items"][2]["pick_base"]) + actual_base_pose = current["base_pose"][current_pick[0]] + desired_yaw = float(np.arctan2(desired_base[1, 0], desired_base[0, 0])) + actual_yaw = yaw_pose(actual_base_pose) + old_desired = np.asarray(old_job["initial_base"]) + old_base_pose = old["base_pose"][old_pick[0]] + old_desired_yaw = float(np.arctan2(old_desired[1, 0], old_desired[0, 0])) + + result = { + "schema": "multi_item.case1_zbar_pick_failure.v1", + "read_only": True, + "case": 1, + "item": 2, + "product": "zbar_t", + "source_episode": str(SRC), + "evidence": { + "failed_recording": str(C / "rollout/recording_60hz.npz"), + "source_recording": str(SRC / "recording_20hz.npz"), + "accepted_chain_recording": str(OLD / "rollout/recording_60hz.npz"), + "controls": str(C / "controls_item_03.npz"), + }, + "registration_and_control": { + "pick_frame_count": int(len(controls["pick"])), + "actual_pick_ticks": int(len(current_pick)), + "three_ticks_per_source_frame": len(current_pick) == 3 * len(controls["pick"]), + "left_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, left_arm] ** 2))), + "left_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, left_arm]))), + "target_initial_pose_matches_source_registration_m": 7.563e-7, + "target_initial_pose_matches_source_registration_rad": 5.356e-6, + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_base_pose[:2].tolist(), + "actual_minus_requested_xy_m": (actual_base_pose[:2] - desired_base[:2, 3]).tolist(), + "xy_error_m": float(np.linalg.norm(actual_base_pose[:2] - desired_base[:2, 3])), + "yaw_error_rad": float(np.arctan2(np.sin(actual_yaw - desired_yaw), np.cos(actual_yaw - desired_yaw))), + "accepted_layout11_xy_error_m": float(np.linalg.norm(old_base_pose[:2] - old_desired[:2, 3])), + "accepted_layout11_yaw_error_rad": float(np.arctan2(np.sin(yaw_pose(old_base_pose) - old_desired_yaw), np.cos(yaw_pose(old_base_pose) - old_desired_yaw))), + }, + "failure_timing": { + "commanded_gripper_close_first_source_frame": int(close_changes[0]), + "source_target_lift_first_source_frame": int(source_lift[0]), + "accepted_layout11_target_lift_first_equivalent_source_frame": float(old_lift[0] / 3), + "failed_target_motion_first_source_frame": int(actual_motion[0]), + "failed_motion_frames_before_close": int(close_changes[0] - actual_motion[0]), + "source_final_lift_m": float(source_target[-1, 2] - source_target[0, 2]), + "failed_max_lift_m": float(np.max(actual_target[:, 2] - actual_target[0, 2])), + "failed_final_translation_m": (actual_target[-1] - actual_target[0]).tolist(), + }, + "finger_evidence": { + "source_final_outer_inner_rad": [float(source["robot_joint_position_rad_or_m"][-1, outer]), float(source["robot_joint_position_rad_or_m"][-1, inner])], + "failed_final_outer_inner_rad": [float(current["q"][samples[-1], outer_current]), float(current["q"][samples[-1], inner_current])], + "gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, left_gripper] ** 2))), + "interpretation": "The failed fingers stall around +/-0.65 rad instead of closing to the source +/-0.229 rad after the bar was disturbed, consistent with an off-center external contact rather than a pinch grasp.", + }, + "diagnosis": "The exact source controls and target registration are sound. The thin bar is contacted 38 source frames before gripper closure because the returned base is 1.96 mm and 0.00085 rad off the source-relative station. The accepted old chain began from effectively exact base alignment and reproduced the source lift timing.", + "preventive_recommendation": { + "primary": "Before episode675 controls, either micro-align the physical base to the requested pick transform at sub-millimeter residual, or solve arm waypoints against the measured base so every source world gripper pose is preserved. Recheck target remains within 2 mm of its initial pose before closure.", + "do_not_use": "Do not rely on the ordinary 35 mm / 0.04 rad return acceptance for episode675.", + "alternate_source": { + "episode": "episode_000681", + "hand": "l", + "accepted_chain": str(W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_33/job.json"), + "note": "Proven same-hand source, but target-aligned trajectory/base transfer still needs shelf/world collision screening; it is secondary to correcting episode675 alignment." + }, + "affected_cases": [3, 9], + }, + } + out = C / "CASE1_PICK_FAILURE_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..058f2034b6433e20ea6bf8e097d1ad88dc586c53 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py @@ -0,0 +1,301 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 2 item-1 Oreo pickup failure.""" +import gzip +import json +import pathlib + +import numpy as np +from scipy.spatial.transform import Rotation + + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_02" +SRC = W.parents[1] / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000162" +OLD = W.parents[1] / "work/shelf_to_table50_20261001/cases/layout_06" +TARGET = "/World/Assets/Tier2Items/oreo_gf" + + +def pose_matrix(pose): + out = np.eye(4) + out[:3, 3] = pose[:3] + out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return out + + +def matrix_pose(matrix): + quat = Rotation.from_matrix(matrix[:3, :3]).as_quat() + return np.r_[matrix[:3, 3], quat] + + +def pose_error(a, b): + ma, mb = pose_matrix(a), pose_matrix(b) + return { + "translation_m": float(np.linalg.norm(ma[:3, 3] - mb[:3, 3])), + "rotation_rad": float(Rotation.from_matrix(ma[:3, :3].T @ mb[:3, :3]).magnitude()), + } + + +def relative_pose(hand, target): + return matrix_pose(np.linalg.inv(pose_matrix(hand)) @ pose_matrix(target)) + + +def target_contact_intervals(path, phase_start_tick): + ticks = {k: set() for k in ("shelf_board", "gripper_r", "bracket", "floor")} + max_impulse = {k: 0.0 for k in ticks} + with gzip.open(path, "rt") as stream: + for line in stream: + row = json.loads(line) + tick = int(row["tick"]) + if tick < phase_start_tick or tick > phase_start_tick + 1262 or TARGET not in row["actors"]: + continue + other = row["actors"][1] if row["actors"][0] == TARGET else row["actors"][0] + low = other.lower() + if "gripper_r" in low: + category = "gripper_r" + elif "horizontal_bracket" in low or "bracket" in low: + category = "bracket" + elif "shelf_board" in low: + category = "shelf_board" + elif "/floor" in low: + category = "floor" + else: + continue + ticks[category].add(tick) + impulse = float(np.linalg.norm(row.get("impulse_sum", [0.0, 0.0, 0.0]))) + max_impulse[category] = max(max_impulse[category], impulse) + result = {} + for category, values in ticks.items(): + runs = [] + begin = end = None + for tick in sorted(values): + if begin is None: + begin = end = tick + elif tick == end + 1: + end = tick + else: + runs.append([begin, end]) + begin = end = tick + if begin is not None: + runs.append([begin, end]) + result[category] = { + "tick_intervals": runs, + "source_frame_intervals": [ + [(a - phase_start_tick) / 3.0, (b - phase_start_tick) / 3.0] for a, b in runs + ], + "max_impulse_norm": max_impulse[category], + } + return result + + +def gripper_impulse_stats(path, phase_start_tick, first_frame, last_frame): + """Aggregate target/gripper contact impulse norms per physics tick.""" + by_tick = {} + first_tick = phase_start_tick + 3 * first_frame + last_tick = phase_start_tick + 3 * last_frame + 2 + with gzip.open(path, "rt") as stream: + for line in stream: + row = json.loads(line) + tick = int(row["tick"]) + if tick < first_tick or tick > last_tick or TARGET not in row["actors"]: + continue + other = row["actors"][1] if row["actors"][0] == TARGET else row["actors"][0] + if "gripper_r" not in other.lower(): + continue + impulse = float(np.linalg.norm(row.get("impulse_sum", [0.0, 0.0, 0.0]))) + by_tick[tick] = by_tick.get(tick, 0.0) + impulse + values = np.asarray(list(by_tick.values()), dtype=float) + return { + "source_frame_range": [first_frame, last_frame], + "contact_ticks": int(len(values)), + "mean_aggregate_impulse_norm_per_contact_tick": float(np.mean(values)), + "median_aggregate_impulse_norm_per_contact_tick": float(np.median(values)), + "maximum_aggregate_impulse_norm_per_contact_tick": float(np.max(values)), + "sum_aggregate_impulse_norm": float(np.sum(values)), + } + + +def main(): + current = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + old = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + controls = np.load(C / "controls_item_02.npz") + job = json.loads((C / "job.json").read_text()) + old_job = json.loads((OLD / "job.json").read_text()) + + current_pick = np.flatnonzero((current["item_index"] == 1) & (current["phase"] == "item_01_shelf_pick")) + current_samples = current_pick[2::3] + old_pick = np.flatnonzero(old["phase"] == "shelf_pick") + old_samples = old_pick[2::3] + assert len(current_samples) == len(old_samples) == len(source["frame_index"]) == 421 + + target_i = source["rigid_body_paths"].tolist().index(TARGET) + source_target = np.c_[ + source["prop_xyz_m"][:, target_i], + source["prop_wxyz"][:, target_i, 1:], + source["prop_wxyz"][:, target_i, :1], + ] + actual_target = current["target_pose_all"][current_samples, 1] + accepted_target = old["target_pose"][old_samples] + + source_links = source["robot_link_paths"].tolist() + current_links = current["robot_link_paths"].tolist() + old_links = old["robot_link_paths"].tolist() + hand_path = "/World/Robot/gripper_r_center_link" + source_hand_wxyz = source["robot_link_wxyz"][:, source_links.index(hand_path)] + source_hand = np.c_[ + source["robot_link_xyz_m"][:, source_links.index(hand_path)], + source_hand_wxyz[:, 1:], + source_hand_wxyz[:, :1], + ] + actual_hand = current["robot_link_pose"][current_samples, current_links.index(hand_path)] + accepted_hand = old["robot_link_pose"][old_samples, old_links.index(hand_path)] + + source_rel = np.asarray([relative_pose(h, t) for h, t in zip(source_hand, source_target)]) + actual_rel = np.asarray([relative_pose(h, t) for h, t in zip(actual_hand, actual_target)]) + accepted_rel = np.asarray([relative_pose(h, t) for h, t in zip(accepted_hand, accepted_target)]) + relative_frames = [0, 120, 121, 210, 220, 300, 340, 345, 346, 347, 348, 349, 353, 420] + relative_table = [] + for frame in relative_frames: + relative_table.append({ + "source_frame": frame, + "failed_vs_source": pose_error(actual_rel[frame], source_rel[frame]), + "accepted_vs_source": pose_error(accepted_rel[frame], source_rel[frame]), + "failed_target_z_m": float(actual_target[frame, 2]), + "accepted_target_z_m": float(accepted_target[frame, 2]), + }) + + source_names = source["robot_dof_names"].tolist() + current_names = current["dof_names"].tolist() + reorder = [current_names.index(name) for name in source_names] + q_error = current["q"][current_samples][:, reorder] - source["robot_joint_position_rad_or_m"] + arm = [source_names.index(f"idx6{i}_arm_r_joint{i}") for i in range(1, 8)] + gripper = [i for i, name in enumerate(source_names) if "gripper_r" in name] + outer = source_names.index("idx81_gripper_r_outer_joint1") + inner = source_names.index("idx71_gripper_r_inner_joint1") + + desired_base = np.asarray(job["items"][1]["pick_base"]) + actual_base = current["base_pose"][current_pick[0]] + desired_yaw = float(np.arctan2(desired_base[1, 0], desired_base[0, 0])) + actual_yaw = float(Rotation.from_quat(actual_base[3:]).as_euler("xyz")[2]) + old_desired = np.asarray(old_job["initial_base"]) + old_base = old["base_pose"][old_pick[0]] + old_desired_yaw = float(np.arctan2(old_desired[1, 0], old_desired[0, 0])) + old_yaw = float(Rotation.from_quat(old_base[3:]).as_euler("xyz")[2]) + + # The case-2 shelf registration is identity (see SHELF_COMPOSITION.json). + registered_initial = source_target[0] + + source_motion = np.flatnonzero(np.linalg.norm(source_target[:, :3] - source_target[0, :3], axis=1) > 0.002) + actual_motion = np.flatnonzero(np.linalg.norm(actual_target[:, :3] - actual_target[0, :3], axis=1) > 0.002) + accepted_motion = np.flatnonzero(np.linalg.norm(accepted_target[:, :3] - accepted_target[0, :3], axis=1) > 0.002) + source_lift = np.flatnonzero(source_target[:, 2] > source_target[0, 2] + 0.002) + actual_lift = np.flatnonzero(actual_target[:, 2] > actual_target[0, 2] + 0.002) + accepted_lift = np.flatnonzero(accepted_target[:, 2] > accepted_target[0, 2] + 0.002) + maximum_frame = int(np.argmax(actual_target[:, 2])) + + failed_contacts = target_contact_intervals(C / "rollout/contacts.jsonl.gz", 9205) + accepted_contacts = target_contact_intervals(OLD / "rollout/contacts.jsonl.gz", 481) + failed_lift_impulse = gripper_impulse_stats(C / "rollout/contacts.jsonl.gz", 9205, 211, 300) + accepted_lift_impulse = gripper_impulse_stats(OLD / "rollout/contacts.jsonl.gz", 481, 211, 300) + + result = { + "schema": "ziche.multi_item.case2_oreo_pick_failure.v1", + "read_only": True, + "case": 2, + "item": 1, + "product": "oreo_gf", + "failure_tick": 10467, + "source_episode": str(SRC), + "evidence": { + "failed_recording": str(C / "rollout/recording_60hz.npz"), + "failed_contacts": str(C / "rollout/contacts.jsonl.gz"), + "source_recording": str(SRC / "recording_20hz.npz"), + "controls": str(C / "controls_item_02.npz"), + "accepted_chain_recording": str(OLD / "rollout/recording_60hz.npz"), + "accepted_chain_contacts": str(OLD / "rollout/contacts.jsonl.gz"), + "accepted_chain_job": str(OLD / "job.json"), + }, + "registration_and_control": { + "pick_source_frames": int(len(source["frame_index"])), + "actual_pick_ticks": int(len(current_pick)), + "three_ticks_per_source_frame": bool(len(current_pick) == 3 * len(source["frame_index"])), + "right_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, arm] ** 2))), + "right_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, arm]))), + "right_gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, gripper] ** 2))), + "right_gripper_tracking_max_rad": float(np.max(np.abs(q_error[:, gripper]))), + "target_initial_registration_error": pose_error(actual_target[0], registered_initial), + "shelf_board_contact_end_source_frame_failed": failed_contacts["shelf_board"]["source_frame_intervals"][0][1], + "shelf_board_contact_end_source_frame_accepted": accepted_contacts["shelf_board"]["source_frame_intervals"][0][1], + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_base[:2].tolist(), + "actual_minus_requested_xy_m": (actual_base[:2] - desired_base[:2, 3]).tolist(), + "xy_error_m": float(np.linalg.norm(actual_base[:2] - desired_base[:2, 3])), + "yaw_error_rad": float(np.arctan2(np.sin(actual_yaw - desired_yaw), np.cos(actual_yaw - desired_yaw))), + "accepted_layout06_xy_error_m": float(np.linalg.norm(old_base[:2] - old_desired[:2, 3])), + "accepted_layout06_yaw_error_rad": float(np.arctan2(np.sin(old_yaw - old_desired_yaw), np.cos(old_yaw - old_desired_yaw))), + }, + "pickup_timing_and_outcome": { + "source_motion_first_frame": int(source_motion[0]), + "failed_motion_first_frame": int(actual_motion[0]), + "accepted_motion_first_frame": int(accepted_motion[0]), + "source_lift_first_frame": int(source_lift[0]), + "failed_lift_first_frame": int(actual_lift[0]), + "accepted_lift_first_frame": int(accepted_lift[0]), + "failed_initial_z_m": float(actual_target[0, 2]), + "failed_max_z_m": float(actual_target[maximum_frame, 2]), + "failed_max_lift_m": float(actual_target[maximum_frame, 2] - actual_target[0, 2]), + "failed_max_lift_source_frame": maximum_frame, + "failed_final_z_m": float(actual_target[-1, 2]), + "failed_final_translation_m": (actual_target[-1, :3] - actual_target[0, :3]).tolist(), + "source_final_translation_m": (source_target[-1, :3] - source_target[0, :3]).tolist(), + }, + "finger_evidence": { + "source_final_outer_inner_rad": [float(source["robot_joint_position_rad_or_m"][-1, outer]), float(source["robot_joint_position_rad_or_m"][-1, inner])], + "failed_final_outer_inner_rad": [float(current["q"][current_samples[-1], current_names.index(source_names[outer])]), float(current["q"][current_samples[-1], current_names.index(source_names[inner])])], + "interpretation": "The finger joints finish close to the source values. Unlike case 1 Zbar, this is not a closure stall caused by early external contact.", + }, + "contact_timeline": { + "failed": failed_contacts, + "accepted_layout06": accepted_contacts, + "causal_order": "Failed gripper contact ends at source frame 347.33; the first bracket contact is frame 349.0 and first floor contact is frame 353.67. Therefore bracket/floor contacts follow loss of grasp. The accepted chain retains gripper contact through frame 420.67 and has no bracket or floor contact during shelf_pick.", + }, + "pinch_contact_strength": { + "failed_lift": failed_lift_impulse, + "accepted_layout06_lift": accepted_lift_impulse, + "accepted_to_failed_mean_ratio": float( + accepted_lift_impulse["mean_aggregate_impulse_norm_per_contact_tick"] + / failed_lift_impulse["mean_aggregate_impulse_norm_per_contact_tick"] + ), + "interpretation": "Both fingers remain in contact over the lift interval, but the failed run's aggregate target/gripper impulse is much weaker than the accepted exact-base run. This directly supports a marginal pinch before the later slip.", + }, + "relative_grasp_comparison": relative_table, + "diagnosis": { + "finding": "The source controls, object registration, shelf contact timing, arm tracking, closure, and initial lift all reproduce the accepted chain. Oreo is lifted 58.5 mm, then loses both gripper contacts during extraction and subsequently strikes the bracket and floor.", + "cause_assessment": "The 2.019 mm / 0.000734 rad return residual is the only measured setup discrepancy large enough to distinguish this run from the exact-base accepted chain. It shifts the initial source-relative hand/target transform by about 1.50 mm, delays first gripper contact by about 1.33 source frames, and produces a 5.64x weaker mean aggregate target/gripper impulse during lift frames 211-300. This makes arrival residual the best-supported cause of a marginal pinch that slips at frames 346-348; the causal attribution to base error remains an inference, while the weak pinch and subsequent slip are directly measured.", + "not_supported": [ + "No premature shelf/bracket collision: shelf-board contact ends at exactly frame 212.33 in failed and accepted runs, while bracket contact starts only after grasp loss.", + "No target-registration failure: initial registered pose error is about 10 micrometers.", + "No gross arm-control or finger-closure failure: arm tracking is sub-milliradian RMS and final fingers closely match source closure.", + ], + }, + "retry_recommendation": { + "recommend_fresh_physical_retry": True, + "runner": "Use the already-qualified precision empty-return controller without changing the Oreo162 source trajectory, shelf scene, or three-item tray plan.", + "mandatory_pre_pick_gate": { + "base_xy_error_max_m": 0.0005, + "base_yaw_error_max_rad": 0.0001, + "action_if_failed": "Keep the boundary frozen and re-run physical precision alignment; do not start source controls.", + }, + "runtime_grasp_gate": "Before leaving shelf_pick, require continued two-finger target contact and target-hand transform drift <=5 mm through the final extraction frames; abort as a physical pick failure if contact is lost.", + "rationale": "The same source succeeded from an effectively exact base in accepted layout06, and all first-three placement slots already passed offline solve. A precision-return retry isolates the demonstrated failure variable without adding a new grasp or maneuver.", + }, + } + out = C / "CASE2_PICK_FAILURE_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..25f4c191bbea4d809a905f9477a8004d09d472f5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +"""Read-only measured-grasp comparison and geometric landing proposal for case 4.""" +import json +import pathlib + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.affinity import translate +from shapely.geometry import Polygon + +C = pathlib.Path(__file__).resolve().parent / "cases/layout_04" + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + result[:3, 3] = pose[:3] + return result + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + proposal_path = C / "STATION_SLOT_REACHABILITY_PROPOSAL.json" + job_path = C / "job.json" + controls_path = C / "controls_item_01.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + proposal = json.loads(proposal_path.read_text()) + job = json.loads(job_path.read_text()) + accepted = proposal["items"][0]["accepted"]["report"] + link = "/World/Robot/gripper_l_base_link" + link_index = checkpoint["robot_link_paths"].tolist().index(link) + target_index = checkpoint["target_paths"].tolist().index(job["items"][0]["target"]) + hand = pose_matrix(checkpoint["robot_link_pose"][-1, link_index]) + target = pose_matrix(checkpoint["target_pose_all"][-1, target_index]) + live_held = np.linalg.inv(hand) @ target + accepted_held = np.asarray(accepted["held"], dtype=float) + accepted_goal = np.asarray(accepted["goal"], dtype=float) + accepted_hand = accepted_goal @ np.linalg.inv(accepted_held) + compensated_goal = accepted_hand @ live_held + held_delta = np.linalg.inv(accepted_held) @ live_held + + vertices = np.load(controls_path)["target_local"] + world = (np.c_[vertices, np.ones(len(vertices))] @ compensated_goal.T)[:, :3] + footprint = Polygon(world[ConvexHull(world[:, :2]).vertices, :2]) + tray = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + reserved = [Polygon(item["placement_slot"]["footprint_xy"]) for item in job["items"][1:]] + # Smallest 1 mm grid shift that restores the required >12 mm reserved-slot gap. + feasible = [] + for dx in np.linspace(-0.08, 0.08, 161): + for dy in np.linspace(-0.08, 0.08, 161): + candidate = translate(footprint, dx, dy) + gaps = [candidate.distance(other) for other in reserved] + if tray.covers(candidate) and min(gaps) > 0.012: + feasible.append((float(np.hypot(dx, dy)), float(dx), float(dy), gaps, tray.exterior.distance(candidate))) + feasible.sort(key=lambda x: x[0]) + _, dx, dy, gaps, boundary = feasible[0] + shifted_goal = compensated_goal.copy() + shifted_goal[:2, 3] += [dx, dy] + measured_base = pose_matrix(checkpoint["base_pose"][-1]) + shifted_base = measured_base.copy() + shifted_base[:2, 3] += [dx, dy] + shifted_footprint = translate(footprint, dx, dy) + + result = { + "schema": "multi_item.case4_live_grasp_place_proposal.v1", + "read_only": True, + "case": 4, + "item": 0, + "product": job["items"][0]["product"], + "checkpoint_tick": int(checkpoint["tick"][-1]), + "evidence": { + "checkpoint": str(checkpoint_path), + "job": str(job_path), + "controls": str(controls_path), + "offline_station_proposal": str(proposal_path), + "exact_chain_proposal": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), + }, + "measured": { + "robot_base": measured_base.tolist(), + "gripper_link": link, + "gripper_world": hand.tolist(), + "target_world": target.tolist(), + "held_gripper_to_target": live_held.tolist(), + }, + "accepted_reference": { + "candidate": accepted["candidate"], + "goal": accepted_goal.tolist(), + "held_gripper_to_target": accepted_held.tolist(), + "held_delta_translation_m": float(np.linalg.norm(held_delta[:3, 3])), + "held_delta_rotation_rad": float(Rotation.from_matrix(held_delta[:3, :3]).magnitude()), + }, + "diagnosis": "The live held transform differs materially from the offline accepted-source grasp, so the old endpoint relation is not directly reusable. The runtime failure magnitude is consistent with this measured mismatch.", + "proposal": { + "derivation": "Keep the accepted candidate-8 hand endpoint, substitute the live measured held transform, then apply the smallest 1 mm-grid XY station/object shift satisfying tray inset and all future-slot gaps.", + "unshifted_compensated_goal": compensated_goal.tolist(), + "station_shift_world_xy_m": [dx, dy], + "proposed_place_base": shifted_base.tolist(), + "proposed_object_goal": shifted_goal.tolist(), + "footprint_xy": np.asarray(shifted_footprint.exterior.coords).tolist(), + "tray_inset_boundary_clearance_m": float(boundary), + "future_slot_gaps_m": [float(x) for x in gaps], + "footprint_inside_tray_inset": bool(tray.covers(shifted_footprint)), + "lowest_vertex_z_m": float(world[:, 2].min()), + "tray_floor_z_m": float(job["tray_floor_z"]), + }, + "validation_scope": { + "passed": ["measured transform reconstruction", "tray 8 mm inset coverage", "future footprint gap >12 mm"], + "requires_live_runner": ["endpoint IK from live state", "full-body/world collision path", "support settling"], + "claim": "geometrically screened repair seed; not an applied or native-validated repair", + }, + } + out = C / "CASE4_ITEM00_PLACE_REPAIR_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(out) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..1dbabda08c77871027c6550d4218827ad32cca31 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py @@ -0,0 +1,26 @@ +from pathlib import Path +import json,gzip +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;C=W/'cases/layout_05' +s=json.loads((C/'STATUS.json').read_text());assert s['control_ticks']==15144 and s['status']=='WAITING_FOR_PLANNING_REPAIR' +loaded=np.load(C/'rollout/checkpoint_60hz.npz');z={k:loaded[k] for k in ['target_paths','robot_link_paths','tick','robot_link_pose','target_pose_all']};j=json.loads((C/'job.json').read_text());target=j['items'][1]['target'];ti=z['target_paths'].tolist().index(target);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_r_base_link') +def matrix(p): + m=np.eye(4);m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m +indices=np.flatnonzero(np.asarray(z['tick'])>=13936);held=np.array([np.linalg.inv(matrix(z['robot_link_pose'][k,hi]))@matrix(z['target_pose_all'][k,ti]) for k in indices]);drifts=np.linalg.norm(held[:,:3,3]-held[0,:3,3],axis=1) +rows=[];last=0 +try: + with gzip.open(C/'rollout/contacts.jsonl.gz','rt') as f: + for line in f: + try:r=json.loads(line) + except json.JSONDecodeError:continue + last=max(last,r['tick']) + if r['tick']>=14900 and target in r['actors']:rows.append(r) +except EOFError:pass +summary={} +for r in rows: + other=next((x for x in r['actors'] if x!=target),'');a=summary.setdefault(other,{'first_tick':r['tick'],'last_tick':r['tick'],'ticks':set(),'min_separation_m':1.,'impulse_norm_sum':0.}) + a['last_tick']=r['tick'];a['ticks'].add(r['tick']);a['min_separation_m']=min(a['min_separation_m'],r['min_separation_m']);a['impulse_norm_sum']+=float(np.linalg.norm(r['impulse_sum'])) +for a in summary.values():a['tick_count']=len(a.pop('ticks')) +report=dict(read_only=True,physics_state_unchanged=True,status=s,checkpoint_ticks=len(z['tick']),complete_contact_through_tick=last,target_hand_center_distance_m=float(np.linalg.norm(held[-1,:3,3])),held_translation_start=held[0,:3,3].tolist(),held_translation_end=held[-1,:3,3].tolist(),max_held_translation_drift_m=float(drifts.max()),held_rotation_drift_rad=float(Rotation.from_matrix(held[0,:3,:3].T@held[-1,:3,:3]).magnitude()),target_z_last120_min_max=[float(z['target_pose_all'][-120:,ti,2].min()),float(z['target_pose_all'][-120:,ti,2].max())],recent_contacts=summary,last_rows=rows[-12:]) +(C/'CASE5_ITEM01_COMPACT_GRASP_DIAGNOSTIC.json').write_text(json.dumps(report,indent=2)+'\n');print(json.dumps({k:v for k,v in report.items() if k!='last_rows'},indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py new file mode 100644 index 0000000000000000000000000000000000000000..372ee219565e105a33b367648310ddf4fdd4b520 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py @@ -0,0 +1,307 @@ +#!/usr/bin/env python3 +"""Read-only authoritative-pair diagnosis for case 5 item 1 compact contact.""" +import hashlib +import inspect +import json +import math +import os +import pathlib +import sys +import zlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) + +from pxr import Usd, UsdGeom # noqa: E402 +from collision_scene import Body, burial, collider_mesh, contact, matrix, rigid_part # noqa: E402 +from collision_acceptance import summarize # noqa: E402 +import collision_acceptance # noqa: E402 +import collision_scene # noqa: E402 +import collision_sweep # noqa: E402 + +TARGET = "/World/Assets/Tier2Items/zbar_t" +HAND = "/World/Robot/gripper_r_base_link" +INNER = "/World/Robot/gripper_r_inner_link4" +OUTER = "/World/Robot/gripper_r_outer_link4" +TORSO = "/World/Robot/body_link2" +TORSO_COLLIDER = TORSO + "/collisions/mesh_1/box" +TARGET_COLLIDER = TARGET + "/CanonicalGraspCollision" +FIRST_TICK = 15120 +LAST_TICK = 15144 + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def interpolate(a, b, u): + result = np.eye(4) + result[:3, 3] = (1.0 - u) * a[:3, 3] + u * b[:3, 3] + r0 = Rotation.from_matrix(a[:3, :3]) + delta = (r0.inv() * Rotation.from_matrix(b[:3, :3])).as_rotvec() + result[:3, :3] = (r0 * Rotation.from_rotvec(u * delta)).as_matrix() + return result + + +def local_collider(stage, path, owner_path): + cache = UsdGeom.XformCache() + prim = stage.GetPrimAtPath(path) + owner = stage.GetPrimAtPath(owner_path) + mesh, method, approximation = collider_mesh(prim) + authored_owner = rigid_part(matrix(cache.GetLocalToWorldTransform(owner))) + authored_shape = matrix(cache.GetLocalToWorldTransform(prim)) + mesh.apply_transform(np.linalg.inv(authored_owner) @ authored_shape) + return Body( + path, + mesh, + metadata={ + "owner": owner_path, + "collision_geometry_method": method, + "collision_approximation": approximation, + }, + ) + + +def partial_contacts(path): + raw = zlib.decompressobj(16 + zlib.MAX_WBITS).decompress(path.read_bytes()) + result = [] + incomplete = 0 + for line in raw.splitlines(): + try: + result.append(json.loads(line)) + except json.JSONDecodeError: + incomplete += 1 + return result, incomplete + + +def touches(path, values): + return any(value == path or value.startswith(path + "/") or value.startswith(path + "#") for value in values) + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contacts_path = C / "rollout/contacts.jsonl.gz" + scene_path = C / "rollout/scene.usda" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + status = json.loads((C / "STATUS.json").read_text()) + ticks = checkpoint["tick"].astype(int) + selected = np.flatnonzero((ticks >= FIRST_TICK) & (ticks <= LAST_TICK)) + if ticks[selected[0]] != FIRST_TICK or ticks[selected[-1]] != LAST_TICK: + raise RuntimeError("Pinned case 5 diagnostic interval is unavailable") + link_paths = checkpoint["robot_link_paths"].tolist() + target_paths = checkpoint["target_paths"].tolist() + torso_index = link_paths.index(TORSO) + hand_index = link_paths.index(HAND) + target_index = target_paths.index(TARGET) + + stage = Usd.Stage.Open(str(scene_path)) + torso = local_collider(stage, TORSO_COLLIDER, TORSO) + target = local_collider(stage, TARGET_COLLIDER, TARGET) + geometry = { + "torso": { + "path": TORSO_COLLIDER, + "method": torso.metadata["collision_geometry_method"], + "approximation": torso.metadata["collision_approximation"], + "watertight": bool(torso.mesh.is_watertight), + }, + "target": { + "path": TARGET_COLLIDER, + "method": target.metadata["collision_geometry_method"], + "approximation": target.metadata["collision_approximation"], + "watertight": bool(target.mesh.is_watertight), + }, + } + + exact_samples = [] + exact_hits = [] + q = checkpoint["q"] + torso_poses = checkpoint["robot_link_pose"][:, torso_index] + target_poses = checkpoint["target_pose_all"][:, target_index] + for position, frame in enumerate(selected): + next_frame = selected[position + 1] if position + 1 < len(selected) else frame + torso0, torso1 = pose_matrix(torso_poses[frame]), pose_matrix(torso_poses[next_frame]) + target0, target1 = pose_matrix(target_poses[frame]), pose_matrix(target_poses[next_frame]) + link_translation = float(np.linalg.norm(torso1[:3, 3] - torso0[:3, 3])) + target_translation = float(np.linalg.norm(target1[:3, 3] - target0[:3, 3])) + link_rotation = float( + (Rotation.from_matrix(torso0[:3, :3]).inv() * Rotation.from_matrix(torso1[:3, :3])).magnitude() + ) + target_rotation = float( + (Rotation.from_matrix(target0[:3, :3]).inv() * Rotation.from_matrix(target1[:3, :3])).magnitude() + ) + joint_step = float(np.max(np.abs(q[next_frame] - q[frame]))) + subdivisions = max( + 1, + math.ceil(joint_step / 0.03), + math.ceil(link_translation / 0.005), + math.ceil(target_translation / 0.005), + math.ceil(link_rotation / 0.03), + math.ceil(target_rotation / 0.03), + ) + for subdivision in range(subdivisions): + alpha = subdivision / subdivisions + torso.update(interpolate(torso0, torso1, alpha)) + target.update(interpolate(target0, target1, alpha)) + hit = contact(torso, target, containment=True) + row = { + "source_control_tick": int(ticks[frame]), + "next_control_tick": int(ticks[next_frame]), + "alpha": float(alpha), + "reviewer_frame": float(ticks[frame] - 1 + alpha * (ticks[next_frame] - ticks[frame])), + "triangle_intersection": hit, + } + exact_samples.append(row) + if hit is not None: + row["sampled_burial"] = burial(torso, target, max_points=2048) + exact_hits.append(row) + + native_rows, incomplete = partial_contacts(contacts_path) + target_rows = [] + inner_ticks = set() + outer_ticks = set() + torso_rows = [] + for row in native_rows: + values = list(map(str, row.get("actors", []))) + list(map(str, row.get("colliders", []))) + if not touches(TARGET, values): + continue + target_rows.append(row) + tick = int(row["tick"]) + if touches(INNER, values): + inner_ticks.add(tick) + if touches(OUTER, values): + outer_ticks.add(tick) + if touches(TORSO, values): + torso_rows.append(row) + body_ticks = sorted({int(row["tick"]) for row in torso_rows}) + bilateral = sorted(inner_ticks & outer_ticks) + + hand_relative = [] + for frame in selected: + hand_relative.append( + np.linalg.inv(pose_matrix(checkpoint["robot_link_pose"][frame, hand_index])) + @ pose_matrix(checkpoint["target_pose_all"][frame, target_index]) + ) + hand_relative = np.asarray(hand_relative) + shift = np.linalg.norm(hand_relative[:, :3, 3] - hand_relative[0, :3, 3], axis=1) + rotation_shift = np.asarray( + [ + (Rotation.from_matrix(hand_relative[0, :3, :3]).inv() * Rotation.from_matrix(value[:3, :3])).magnitude() + for value in hand_relative + ] + ) + + pair = { + "a": TORSO_COLLIDER + "#native_robot_collider", + "b": TARGET_COLLIDER + "#dynamic_physical_collider", + "category": "robot_target", + "sample_count": len(exact_hits), + "first_frame": exact_hits[0]["reviewer_frame"] if exact_hits else None, + "last_frame": exact_hits[-1]["reviewer_frame"] if exact_hits else None, + "a_collision_geometry_method": geometry["torso"]["method"], + "b_collision_geometry_method": geometry["target"]["method"], + "a_collision_approximation": geometry["torso"]["approximation"], + "b_collision_approximation": geometry["target"]["approximation"], + } + authoritative_input = { + "static_collider_coverage": {"complete": True}, + "all_scene_pairs_checked": True, + "solid_containment_checked": True, + "frame_stride": 1, + "swept_sampling": True, + "complete_trajectory_checked": True, + "pairs": [pair] if exact_hits else [], + } + authoritative_decision = summarize(authoritative_input, contact_tolerance_mm=0.5) + + result = { + "schema": "multi_item.case5_item01_compact_grasp_diagnostic.v1", + "read_only": True, + "decision": "CONFIRMED_PHYSICAL_PREFIX_FAILURE" if exact_hits else "NO_EXACT_INTERSECTION_IN_PINNED_INTERVAL", + "status_at_probe": status, + "item_index": 1, + "target": TARGET, + "interval_control_ticks": [FIRST_TICK, LAST_TICK], + "inputs": { + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "partial_contacts": str(contacts_path), + "partial_contacts_sha256": hashlib.sha256(contacts_path.read_bytes()).hexdigest(), + "discarded_incomplete_tail_rows": incomplete, + "scene": str(scene_path), + "scene_sha256": hashlib.sha256(scene_path.read_bytes()).hexdigest(), + }, + "native_contact_evidence": { + "target_torso_contact_tick_range": [body_ticks[0], body_ticks[-1]] if body_ticks else None, + "target_torso_distinct_control_ticks": len(body_ticks), + "target_torso_callback_rows": len(torso_rows), + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in torso_rows) if torso_rows else None, + "sum_impulse_norm_over_callback_rows": float(sum(np.linalg.norm(row["impulse_sum"]) for row in torso_rows)), + "bilateral_active_finger_ticks_in_interval": [tick for tick in bilateral if FIRST_TICK <= tick <= LAST_TICK], + "bilateral_active_finger_all_interval_ticks": all(tick in bilateral for tick in range(FIRST_TICK, LAST_TICK + 1)), + "target_to_hand_max_translation_shift_over_interval_m": float(np.max(shift)), + "target_to_hand_final_translation_shift_m": float(shift[-1]), + "target_to_hand_max_rotation_shift_rad": float(np.max(rotation_shift)), + }, + "authoritative_geometry_reproduction": { + "geometry": geometry, + "method": "The same collision_scene.collider_mesh exact authored cube boundaries, triangle contact/containment test, 5 mm literal-link/target translation step, 0.03 rad rotation/joint step, and collision_acceptance.summarize policy used by the native world reviewer.", + "sample_count": len(exact_samples), + "exact_intersection_count": len(exact_hits), + "exact_intersections": exact_hits, + "pair_category": "robot_target", + "acceptance_result": authoritative_decision, + }, + "policy_interpretation": { + "robot_target_is_forbidden": True, + "active_finger_10mm_policy_applies": False, + "default_0p5mm_contact_margin_applies": False, + "reason": "collision_acceptance treats robot_target as a forbidden non-contact category. The target/body_link2 pair is neither source/tray support nor the assigned distal link4 grasp pair; exact triangle crossing is a hard failure regardless of its shallow sampled depth.", + }, + "repair_decision": { + "retained_grasp": bool(all(tick in bilateral for tick in range(FIRST_TICK, LAST_TICK + 1))), + "safe_replan_may_continue_this_prefix_for_acceptance": False if exact_hits else None, + "recommended_action": "Preserve this native capture as a physical failure and use the screened proposal only in a fresh retry whose compact path avoids torso contact." if exact_hits else "No conclusion beyond the pinned interval.", + "no_active_case_write_or_motion_performed": True, + }, + "reviewer_sources": { + "collision_scene_sha256": hashlib.sha256(pathlib.Path(collision_scene.__file__).read_bytes()).hexdigest(), + "collision_sweep_sha256": hashlib.sha256(pathlib.Path(collision_sweep.__file__).read_bytes()).hexdigest(), + "collision_acceptance_sha256": hashlib.sha256(pathlib.Path(collision_acceptance.__file__).read_bytes()).hexdigest(), + }, + "limitations": [ + "Only the requested ticks 15120..15144 and the reported physical target/body_link2 collider pair are replayed here; the eventual independent reviewer still checks the whole episode and every in-scope pair.", + "Sampled burial is a lower bound. The acceptance decision relies on exact triangle crossing in exact authored cube boundaries, not on the burial magnitude.", + ], + } + output = W / "CASE5_ITEM01_COMPACT_GRASP_DIAGNOSTIC.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print( + json.dumps( + { + "output": str(output), + "decision": result["decision"], + "native": result["native_contact_evidence"], + "exact_intersection_count": len(exact_hits), + "exact_frames": [row["reviewer_frame"] for row in exact_hits], + "acceptance_geometry_status": authoritative_decision["geometry_status"], + "hard_failures": authoritative_decision["hard_failures"], + }, + indent=2, + ) + ) + raise SystemExit(0 if exact_hits else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..f203b8a79e747ad172f143d539105ab0dfbf7ed2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py @@ -0,0 +1,233 @@ +#!/usr/bin/env python3 +"""Reproduce the immutable case 9 HoneyMaid false-pick diagnosis.""" +import gzip +import hashlib +import json +import pathlib +import zlib + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +C = W / "cases/layout_09" +SOURCE = pathlib.Path( + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_18/rollout" +) +TARGET = "/World/Assets/Tier2Items/honeymaid" +OREO = "/World/Assets/Tier2Items/oreo_gf" + + +def decode(value): + return value.decode() if isinstance(value, bytes) else str(value) + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def load_open_gzip(path): + raw = zlib.decompressobj(16 + zlib.MAX_WBITS).decompress(path.read_bytes()) + rows = [] + incomplete = 0 + for line in raw.splitlines(): + try: + rows.append(json.loads(line)) + except json.JSONDecodeError: + incomplete += 1 + return rows, incomplete + + +def load_closed_gzip(path): + with gzip.open(path, "rt") as stream: + return [json.loads(line) for line in stream] + + +def target_category(row): + other = next(actor for actor in row["actors"] if actor != TARGET) + if other.startswith("/World/Robot"): + collider = next(value for value in row["colliders"] if value.startswith("/World/Robot")) + if "gripper_r_inner_link4" in collider: + return "right_inner_link4" + if "gripper_r_outer_link4" in collider: + return "right_outer_link4" + return "robot_other" + if other == OREO: + return "oreo" + if "ShelvingUnit" in other: + return "source_shelf" + return other + + +def target_tick_categories(rows): + result = {} + for row in rows: + if TARGET not in row.get("actors", []): + continue + result.setdefault(int(row["tick"]), set()).add(target_category(row)) + return result + + +def range_for(categories, name): + ticks = sorted(tick for tick, values in categories.items() if name in values) + return { + "first_tick": ticks[0] if ticks else None, + "last_tick": ticks[-1] if ticks else None, + "distinct_control_ticks": len(ticks), + } + + +def main(): + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contacts_path = C / "rollout/contacts.jsonl.gz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + phases = np.array([decode(value) for value in checkpoint["phase"]]) + ticks = checkpoint["tick"].astype(int) + item2 = np.flatnonzero(checkpoint["item_index"] == 2) + target_index = checkpoint["target_paths"].tolist().index(TARGET) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_pose = checkpoint["target_pose_all"][:, target_index] + hand_pose = checkpoint["robot_link_pose"][:, hand_index] + current_rows, incomplete = load_open_gzip(contacts_path) + current_categories = target_tick_categories(current_rows) + last_complete_tick = max(current_categories) + current_window = range(last_complete_tick - 29, last_complete_tick + 1) + simultaneous = sorted( + tick + for tick, values in current_categories.items() + if {"right_inner_link4", "right_outer_link4"} <= values + ) + current_relative = [ + np.linalg.inv(matrix(hand_pose[index])) @ matrix(target_pose[index]) for index in item2 + ] + final_relative = current_relative[-1] + relative_translation_drift = np.array( + [np.linalg.norm(value[:3, 3] - final_relative[:3, 3]) for value in current_relative] + ) + relative_rotation_drift = np.array( + [Rotation.from_matrix(value[:3, :3].T @ final_relative[:3, :3]).magnitude() for value in current_relative] + ) + + robot_oreo = [ + row + for row in current_rows + if OREO in row.get("actors", []) and any(actor.startswith("/World/Robot") for actor in row.get("actors", [])) + ] + outer_oreo = [ + row + for row in robot_oreo + if any("gripper_r_outer_link4" in collider for collider in row.get("colliders", [])) + ] + + source_recording_path = SOURCE / "recording_60hz.npz" + source_contacts_path = SOURCE / "contacts.jsonl.gz" + source_recording = np.load(source_recording_path, allow_pickle=True) + source_phases = np.array([decode(value) for value in source_recording["phase"]]) + source_pick = np.flatnonzero(source_phases == "shelf_pick") + source_pick_ticks = source_recording["tick"][source_pick].astype(int) + source_last30 = set(source_pick_ticks[-30:].tolist()) + source_rows = load_closed_gzip(source_contacts_path) + source_categories = target_tick_categories(source_rows) + + def window_count(categories, name, window): + return sum(name in categories.get(tick, set()) for tick in window) + + result = { + "schema": "multi_item.case9_item2_false_pick_diagnosis.v1", + "read_only": True, + "decision": "PHYSICAL_PICK_FAILURE_NOT_CARRY_PLANNING_BOUNDARY", + "case": "layout_09", + "item_index": 2, + "target": TARGET, + "obstructing_unrequested_prop": OREO, + "frozen_status": json.loads((C / "STATUS.json").read_text()), + "inputs": { + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "open_contact_stream": str(contacts_path), + "open_contact_stream_sha256": hashlib.sha256(contacts_path.read_bytes()).hexdigest(), + "discarded_incomplete_tail_rows": incomplete, + "accepted_source_recording": str(source_recording_path), + "accepted_source_contacts": str(source_contacts_path), + }, + "current_native_evidence": { + "item2_phase_tick_range": [int(ticks[item2[0]]), int(ticks[item2[-1]])], + "target_initial_z_m": float(target_pose[item2[0], 2]), + "target_maximum_z_m": float(np.max(target_pose[item2, 2])), + "target_final_z_m": float(target_pose[item2[-1], 2]), + "height_above_item2_initial_at_final_m": float(target_pose[item2[-1], 2] - target_pose[item2[0], 2]), + "right_inner_target_contact": range_for(current_categories, "right_inner_link4"), + "right_outer_target_contact": range_for(current_categories, "right_outer_link4"), + "simultaneous_bilateral_target_contact": { + "first_tick": simultaneous[0] if simultaneous else None, + "last_tick": simultaneous[-1] if simultaneous else None, + "distinct_control_ticks": len(simultaneous), + }, + "source_shelf_target_contact": range_for(current_categories, "source_shelf"), + "oreo_target_contact": range_for(current_categories, "oreo"), + "final_30_complete_contact_ticks": { + "range": [current_window.start, current_window.stop - 1], + "right_inner_ticks": window_count(current_categories, "right_inner_link4", current_window), + "right_outer_ticks": window_count(current_categories, "right_outer_link4", current_window), + "simultaneous_bilateral_ticks": sum( + {"right_inner_link4", "right_outer_link4"} <= current_categories.get(tick, set()) + for tick in current_window + ), + "source_shelf_ticks": window_count(current_categories, "source_shelf", current_window), + "oreo_ticks": window_count(current_categories, "oreo", current_window), + }, + "right_outer_gripper_oreo_contact": { + "first_tick": min(int(row["tick"]) for row in outer_oreo), + "last_tick": max(int(row["tick"]) for row in outer_oreo), + "rows": len(outer_oreo), + "precedes_oreo_target_contact": min(int(row["tick"]) for row in outer_oreo) + < range_for(current_categories, "oreo")["first_tick"], + }, + "target_to_hand_nonrigidity_during_item2": { + "median_translation_drift_from_final_m": float(np.median(relative_translation_drift)), + "maximum_translation_drift_from_final_m": float(np.max(relative_translation_drift)), + "median_rotation_drift_from_final_rad": float(np.median(relative_rotation_drift)), + "maximum_rotation_drift_from_final_rad": float(np.max(relative_rotation_drift)), + }, + }, + "accepted_honeymaid_source_baseline": { + "source_case": "shelf_to_table50_20261001/layout_18", + "final_30_shelf_pick_tick_range": [min(source_last30), max(source_last30)], + "right_inner_ticks": window_count(source_categories, "right_inner_link4", source_last30), + "right_outer_ticks": window_count(source_categories, "right_outer_link4", source_last30), + "simultaneous_bilateral_ticks": sum( + {"right_inner_link4", "right_outer_link4"} <= source_categories.get(tick, set()) + for tick in source_last30 + ), + "source_shelf_ticks": window_count(source_categories, "source_shelf", source_last30), + "bilateral_continues_through_shelf_exit": True, + }, + "causal_sequence": [ + "Right outer gripper first contacts the unrequested Oreo at tick 21549.", + "Oreo first contacts HoneyMaid at tick 21601.", + "A one-sided HoneyMaid/right-inner contact begins at tick 21763; the later right-outer contact does not overlap it.", + "All HoneyMaid/gripper contact ends by tick 22239 while HoneyMaid remains in shelf and Oreo contact through the final complete callback tick 22901.", + "The height-only lift signal therefore came from obstructed object motion, not a retained grasp.", + ], + "repair_recommendation": { + "initial_scene": "Deactivate/remove the unrequested Oreo distractor before a fresh native retry; preserve every requested prop and physical setting.", + "prelaunch": "Screen every transferred pick approach/closure/lift path against all live non-target props plus robot/self/wrist geometry in the actual composed scene.", + "runtime_pick_gate": "Require sustained active-gripper contact and loss of source support in addition to retained lift; store the evidence window in ITEM_EVENTS/CHECKPOINT.", + "no_local_carry_repair": True, + "no_reset_or_active_case_write_performed": True, + }, + "limitations": [ + "The open native contact gzip ends with one incomplete JSON row; only complete rows are counted.", + "The failed capture remains authoritative evidence; this report does not alter or replay it.", + ], + } + output = W / "CASE09_ITEM02_FALSE_PICK_DIAGNOSIS.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"output": str(output), "decision": result["decision"], "current": result["current_native_evidence"]["final_30_complete_contact_ticks"], "source": result["accepted_honeymaid_source_baseline"]}, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py new file mode 100644 index 0000000000000000000000000000000000000000..3bb6d277d547c873b89331651153546a87f88741 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py @@ -0,0 +1,150 @@ +#!/usr/bin/env python3 +"""Read-only audit of multi-item pickup stations against their source shelf frames.""" +import glob +import json +import math +import pathlib +import sys + +import numpy as np +from pxr import Usd, UsdGeom +from scipy.spatial import ConvexHull +from shapely.geometry import Point, Polygon +from shapely.ops import nearest_points + +W = pathlib.Path(__file__).resolve().parent +ROOT = W.parents[1] +OLD = ROOT / "work/shelf_to_table50_20261001" +ACTIVE = (1, 3, 4, 6, 7, 8, 9) +sys.path.insert(0, str(W)) +from geometry_transfer import board_path, registration # noqa: E402 +from place_tray_layout import mesh_world_points # noqa: E402 + + +def matrix(stage, path): + value = UsdGeom.Xformable(stage.GetPrimAtPath(path)).ComputeLocalToWorldTransform(Usd.TimeCode.Default()) + return np.asarray(value, dtype=float).T + + +def polygon(stage, path): + points = mesh_world_points(stage, stage.GetPrimAtPath(path))[:, :2] + return Polygon(points[ConvexHull(points).vertices]).buffer(0) + + +def rigid_error(a, b): + delta = np.linalg.inv(a) @ b + return { + "translation_m": float(np.linalg.norm(delta[:3, 3])), + "yaw_rad": float(abs(math.atan2(delta[1, 0], delta[0, 0]))), + "max_abs_matrix": float(np.max(np.abs(a - b))), + } + + +def main(): + old_jobs = [] + for path in sorted((OLD / "cases").glob("layout_*/job.json")): + data = json.loads(path.read_text()) + old_jobs.append((path, data)) + summary = { + "schema": "multi_item.pick_base_registration_audit.v1", + "read_only": True, + "active_cases": list(ACTIVE), + "method": "Recompute each raw source->released shelf rigid registration; independently transfer every accepted old-chain initial_base sharing the exact pick_source; compare current target/base relative transforms. Measure pickup-base point clearance to the released CoffeeTable hull.", + "cases": [], + } + for case_id in ACTIVE: + case = W / "cases" / f"layout_{case_id:02d}" + job_path = case / "job.json" + job = json.loads(job_path.read_text()) + room = Usd.Stage.Open(job["layout"]) + composed = Usd.Stage.Open(job["scene"]) + table = polygon(room, "/World/Assets/CoffeeTable/Mesh") + shelf = polygon(room, board_path(room)) + row = { + "case": case_id, + "job": str(job_path), + "layout": job["layout"], + "source_layout_id": job.get("source_layout_id"), + "coffee_table_hull_xy": np.asarray(table.exterior.coords).tolist(), + "shelf_hull_xy": np.asarray(shelf.exterior.coords).tolist(), + "items": [], + } + for index, item in enumerate(job["items"]): + source_path = pathlib.Path(item["pick_source"]) + source = Usd.Stage.Open(str(source_path / "scene.usda")) + spec = json.loads((source_path / "episode.json").read_text()) + shelf_delta, shelf_reg = registration(source, room, board_path(source)) + source_base = matrix(source, "/World/Robot") + expected_base = shelf_delta @ source_base + current_base = np.asarray(item["pick_base"], dtype=float) + current_target = matrix(composed, item["target"]) + source_target = matrix(source, spec["target"]["prim_path"]) + expected_target = shelf_delta @ source_target + p = Point(current_base[:2, 3]) + closest = nearest_points(table, p)[0] + escape = current_base[:2, 3] - np.asarray(closest.coords[0]) + escape_norm = float(np.linalg.norm(escape)) + if escape_norm > 1e-12: + escape /= escape_norm + yaw = math.atan2(current_base[1, 0], current_base[0, 0]) + side_plus = np.array([-math.sin(yaw), math.cos(yaw)]) + exact_matches = [] + for prior_path, prior in old_jobs: + if prior.get("pick_source") != item["pick_source"]: + continue + prior_stage = Usd.Stage.Open(prior["layout"]) + accepted_delta, accepted_reg = registration(prior_stage, room, board_path(prior_stage)) + transferred = accepted_delta @ np.asarray(prior["initial_base"], dtype=float) + exact_matches.append({ + "prior_job": str(prior_path), + "prior_layout": prior["layout"], + "transferred_initial_base": transferred.tolist(), + "current_error": rigid_error(current_base, transferred), + "registration": accepted_reg, + }) + direct_error = rigid_error(current_base, expected_base) + target_error = rigid_error(current_target, expected_target) + rel_source = np.linalg.inv(source_base) @ source_target + rel_current = np.linalg.inv(current_base) @ current_target + relation_error = rigid_error(rel_current, rel_source) + row["items"].append({ + "item": index, + "product": item["product"], + "target": item["target"], + "pick_source": item["pick_source"], + "current_pick_base": current_base.tolist(), + "recomputed_pick_base": expected_base.tolist(), + "direct_source_registration_error": direct_error, + "target_source_registration_error": target_error, + "target_relative_to_base_error": relation_error, + "source_registration_correct": max(direct_error["max_abs_matrix"], target_error["max_abs_matrix"], relation_error["max_abs_matrix"]) < 1e-6, + "exact_accepted_chain_matches": exact_matches, + "coffee_table_point_clearance_m": float(table.distance(p)), + "coffee_table_nearest_xy": list(closest.coords[0]), + "coffee_table_escape_unit_xy": escape.tolist(), + "escape_dot_local_side_plus": float(escape @ side_plus), + "preferred_local_side_sign": "+" if float(escape @ side_plus) >= 0 else "-", + "shelf_point_clearance_m": float(shelf.distance(p)), + "shelf_registration": shelf_reg, + }) + row["all_source_registrations_correct"] = all(x["source_registration_correct"] for x in row["items"]) + (case / "PICK_BASE_REGISTRATION_DIAGNOSTIC.json").write_text(json.dumps(row, indent=2) + "\n") + summary["cases"].append(row) + (W / "PICK_BASE_REGISTRATION_AUDIT.json").write_text(json.dumps(summary, indent=2) + "\n") + concise = [] + for r in summary["cases"]: + items = [] + for x in r["items"]: + items.append({ + "item": x["item"], "product": x["product"], + "table_clearance_m": x["coffee_table_point_clearance_m"], + "side": x["preferred_local_side_sign"], + "direct_err": x["direct_source_registration_error"]["max_abs_matrix"], + "accepted_errs": [m["current_error"]["max_abs_matrix"] for m in x["exact_accepted_chain_matches"]], + }) + concise.append({"case": r["case"], "all_correct": r["all_source_registrations_correct"], "items": items}) + print(json.dumps({"report": str(W / "PICK_BASE_REGISTRATION_AUDIT.json"), "cases": concise}, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/geometry_transfer.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/geometry_transfer.py new file mode 100644 index 0000000000000000000000000000000000000000..0c02bfb9306e2705a148761d223642b94f21ee05 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/geometry_transfer.py @@ -0,0 +1,43 @@ +"""Rigid geometry registration; never replace released furniture or scale props.""" +import numpy as np +from pxr import Usd,UsdGeom +from shapely.geometry import Polygon +from scipy.spatial import ConvexHull +from place_tray_layout import mesh_world_points + +def board_path(stage): + return next(str(p.GetPath()) for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Assets/ShelvingUnit')) if p.IsA(UsdGeom.Mesh) and 'shelf_boards' in str(p.GetPath())) + +def registration(source,destination,path): + a=mesh_world_points(source,source.GetPrimAtPath(path));b=mesh_world_points(destination,destination.GetPrimAtPath(path)) + if a.shape!=b.shape:raise ValueError('Furniture mesh correspondence changed') + ca=a.mean(0);cb=b.mean(0);u,_,vt=np.linalg.svd((a[:,:2]-ca[:2]).T@(b[:,:2]-cb[:2]));rotation=vt.T@u.T + if np.linalg.det(rotation)<0:raise ValueError('Furniture registration reflected') + m=np.eye(4);m[:2,:2]=rotation;m[:3,3]=cb-m[:3,:3]@ca + return m,dict(source_centroid=ca.tolist(),released_centroid=cb.tolist(),source_extents=np.ptp(a,axis=0).tolist(),released_extents=np.ptp(b,axis=0).tolist(),matrix=m.tolist(),furniture_preserved=True) + +def fit_inventory(stage,objects,target,rng,get_matrix,set_matrix): + """Scene-first supported packing, preserving identities, scales and rotations.""" + boards=mesh_world_points(stage,stage.GetPrimAtPath(board_path(stage)));rows=[];footprints={};bylayer={} + for obj in objects: + path=obj['prim_path'];v=mesh_world_points(stage,stage.GetPrimAtPath(path));bottom=v[:,2].min();z=boards[:,2][np.argmin(abs(boards[:,2]-bottom))] + if abs(z-bottom)>.006:raise ValueError('Source item height not supported in released shelf') + layer=round(float(z),4);surface=boards[abs(boards[:,2]-z)<1e-4,:2];floor=Polygon(surface[ConvexHull(surface).vertices]).buffer(-.004) + poly=Polygon(v[ConvexHull(v[:,:2]).vertices,:2]);footprints[path]=(poly,floor,layer);bylayer.setdefault(layer,[]).append(path) + for layer,paths in bylayer.items(): + placed=[] + paths.sort(key=lambda p:p!=target) + for path in paths: + poly,floor,_=footprints[path];original=get_matrix(stage,path);chosen=None + for attempt in range(4000): + if attempt==0:shift=np.zeros(2) + elif path==target:break + else: + lo=np.array(floor.bounds[:2]);hi=np.array(floor.bounds[2:]);shift=rng.uniform(lo,hi)-np.array(poly.centroid.coords[0]) + from shapely.affinity import translate + proposed=translate(poly,*shift) + if floor.covers(proposed) and all(proposed.distance(p)>.012 for p in placed):chosen=(shift,proposed);break + if chosen is None:raise ValueError('Released shelf cannot support sampled inventory: '+path) + shift,proposed=chosen;updated=original.copy();updated[:2,3]+=shift;set_matrix(stage,path,updated);placed.append(proposed) + rows.append(dict(path=path,xy_shift=shift.tolist(),support_layer=layer,attempt=attempt)) + return dict(policy='scene_first_supported_inventory_no_scaling_v1',items=rows,target_pose_preserved=True) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/grasp_stability.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/grasp_stability.py new file mode 100644 index 0000000000000000000000000000000000000000..cae3f6f9bcdba8840ac201d4af1c174740814f22 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/grasp_stability.py @@ -0,0 +1,73 @@ +"""Measured held-object slip and high-frequency hand motion for every item cycle.""" +import hashlib +import json +import sys +from pathlib import Path + +import numpy as np +from scipy.ndimage import uniform_filter1d +from scipy.spatial.transform import Rotation + +from multi_validation import items, recording_contract + + +def _one(z, phases, item_index, target_pose_all, item, index): + carry = { + f"item_{index:02d}_shelf_exit_reverse", + f"item_{index:02d}_carry_raise", + f"item_{index:02d}_carry_compact", + f"item_{index:02d}_forward_navigation", + } + ids = np.flatnonzero((item_index == index) & np.isin(phases, list(carry))) + if len(ids) < 10: + return dict(item_index=index, target=item["target"], passed=False, reason="Missing item navigation samples") + path = "/World/Robot/gripper_" + item["hand"] + "_base_link" + paths = z["robot_link_paths"].tolist() + if path not in paths: + return dict(item_index=index, target=item["target"], passed=False, reason=f"Missing hand link {path}") + hp = z["robot_link_pose"][ids, paths.index(path)] + tp = target_pose_all[ids, index] + bp = z["base_pose"][ids] + relative = Rotation.from_quat(hp[:, 3:]).inv().apply(tp[:, :3] - hp[:, :3]) + slip = np.linalg.norm(relative - relative[0], axis=1) + hand_in_base = Rotation.from_quat(bp[:, 3:]).inv().apply(hp[:, :3] - bp[:, :3]) + residual = hand_in_base - uniform_filter1d(hand_in_base, size=7, axis=0, mode="nearest") + amplitude = np.linalg.norm(residual, axis=1) + relative_hand = Rotation.from_quat(bp[:, 3:]).inv() * Rotation.from_quat(hp[:, 3:]) + angles = (relative_hand[0].inv() * relative_hand).as_rotvec() + angular_residual = np.linalg.norm(angles - uniform_filter1d(angles, size=7, axis=0, mode="nearest"), axis=1) + bad = (amplitude > .005) | (angular_residual > np.deg2rad(3)) + run = longest = 0 + for value in bad: + run = run + 1 if value else 0 + longest = max(longest, run) + return dict( + item_index=index, target=item["target"], hand=item["hand"], + passed=bool(slip.max() <= .025 and longest < 6), native_hz=60, + navigation_samples=len(ids), first_source_control_tick=int(ids[0] + 1), + last_source_control_tick=int(ids[-1] + 1), + maximum_object_in_hand_translation_drift_m=float(slip.max()), + maximum_hand_highpass_residual_m=float(amplitude.max()), + maximum_hand_highpass_angular_residual_rad=float(angular_residual.max()), + angular_highpass_limit_rad=float(np.deg2rad(3)), + hand_highpass_p99_m=float(np.percentile(amplitude, 99)), + maximum_consecutive_highpass_exceedance_ticks=longest, + slip_limit_m=.025, hand_highpass_limit_m=.005, + sustained_threshold_ticks=6, filter_window_ticks=7) + + +def metrics(z, requested): + phases, item_index, _, target_pose_all = recording_contract(z, requested) + phases = np.asarray(phases) + rows = [_one(z, phases, item_index, target_pose_all, item, i) for i, item in enumerate(requested)] + return dict(passed=all(row["passed"] for row in rows), items=rows, + semantics="Measured hand pose relative to moving base and each active target pose relative to its assigned hand; all item carries use the unchanged single-item thresholds.") + + +if __name__ == "__main__": + case = Path(sys.argv[1]); out = case / "rollout"; path = out / "recording_60hz.npz" + job = json.loads((case / "job.json").read_text()) + report = metrics(np.load(path, allow_pickle=False), items(job)) + report["recording_sha256"] = hashlib.sha256(path.read_bytes()).hexdigest() + (out / "GRASP_STABILITY_AUDIT.json").write_text(json.dumps(report, indent=2) + "\n") + sys.exit(0 if report["passed"] else 1) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/launch.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/launch.py new file mode 100644 index 0000000000000000000000000000000000000000..727c3e0a0179c694c662fc62728c02efcacab992 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/launch.py @@ -0,0 +1,63 @@ +"""Launch one isolated continuous episode without disturbing preserved old attempts.""" +import fcntl,hashlib,json,os,subprocess,sys,time +from pathlib import Path +W=Path(__file__).resolve().parent;R=W.parents[1] +OLD=R/'work/shelf_to_table_multi10_20261005' +C=R/'work/throughput_12h_20260912' +layout,gpu=map(int,sys.argv[1:]);assert gpu in range(8) +case=W/'cases'/f'layout_{layout:02d}';owner=f'multi10-stable-layout{layout}-pid{os.getpid()}' +container=f'ziche_shelf_chain50_gpu{gpu}' +(W/'leases').mkdir(exist_ok=True) +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) +def read(p):return json.loads(p.read_text()) +def frozen_owned(pid): + try: + proc=Path('/proc')/str(pid);state=next(x for x in (proc/'status').read_text().splitlines() if x.startswith('State:')) + cmd=(proc/'cmdline').read_bytes().replace(b'\0',b' ').decode() + return 'T (stopped)' in state and str(OLD) in cmd or 'T (stopped)' in state and pid==875607 and 'run_precision_return_diagnostic_v2.py' in cmd + except (FileNotFoundError,StopIteration):return False +lock=(C/f'locks/gpu{gpu}.lock').open('a+');reservation=C/f'reservations/gpu{gpu}.json' +lease=W/f'leases/gpu{gpu}.json';shared_claim=False +while True: + fcntl.flock(lock,fcntl.LOCK_EX) + live=read(reservation) + uuid=subprocess.check_output(['nvidia-smi','-i',str(gpu),'--query-gpu=uuid','--format=csv,noheader'],text=True).strip() + apps=subprocess.check_output(['nvidia-smi','--query-compute-apps=gpu_uuid,pid','--format=csv,noheader'],text=True) + pids=[int(line.split(',')[1]) for line in apps.splitlines() if line.split(',')[0].strip()==uuid] + free=int(subprocess.check_output(['nvidia-smi','-i',str(gpu),'--query-gpu=memory.free','--format=csv,noheader,nounits'],text=True).strip()) + preserved_reservation=bool(live.get('reserved') and str(live.get('scope','')).startswith(str(OLD)+'/')) + own_busy=lease.exists() and read(lease).get('active',False) + if not own_busy and (not live.get('reserved') or preserved_reservation) and all(frozen_owned(pid) for pid in pids) and free>=16000: + if subprocess.check_output(['docker','inspect','--format','{{.State.Running}}',container],text=True).strip()!='true':subprocess.run(['docker','start',container],check=True,timeout=60) + visible=subprocess.check_output(['docker','exec',container,'nvidia-smi','--query-gpu=uuid','--format=csv,noheader'],text=True).strip();assert visible==uuid + if not preserved_reservation: + write(reservation,dict(reserved=True,physical_gpu=gpu,container=container,owner=owner,pid=os.getpid(),scope=str(case),started_unix=time.time()));shared_claim=True + write(lease,dict(active=True,physical_gpu=gpu,owner=owner,pid=os.getpid(),case=str(case),preserved_stopped_pids=pids,preserved_global_reservation=live if preserved_reservation else None,free_mib_at_start=free,started_unix=time.time())) + fcntl.flock(lock,fcntl.LOCK_UN);break + fcntl.flock(lock,fcntl.LOCK_UN) + write(case/'STATUS.json',dict(status='WAIT_GPU',phase='gpu_reservation',gpu=gpu,updated=time.time(),current_pids=pids,free_mib=free)) + time.sleep(15) +try: + if (case/'rollout').exists():raise RuntimeError('Existing attempt is preserved; fresh launch may not overwrite a rollout.') + (case/'repairs').mkdir(exist_ok=True) + snapshot=case/'code_snapshot';snapshot.mkdir(exist_ok=False) + for p in W.glob('*.py'):(snapshot/p.name).write_bytes(p.read_bytes()) + write(case/'CODE_HASHES.json',{p.name:hashlib.sha256(p.read_bytes()).hexdigest() for p in snapshot.glob('*.py')}) + subprocess.run([sys.executable,'-m','py_compile',*[str(p) for p in snapshot.glob('*.py')]],check=True) + cmd=['docker','exec','--user','0:0','-e','CHAIN_PROJECT_ROOT='+str(R),'-e','CHAIN_RENDER=1','-e','OMP_NUM_THREADS=2','-e','OPENBLAS_NUM_THREADS=1','-e','MKL_NUM_THREADS=1',container,'/isaac-sim/python.sh',str(snapshot/'run_episode.py'),str(case)] + write(case/'COMMAND.json',cmd);write(case/'STATUS.json',dict(status='INITIALIZING_PHYSICS',phase='startup',gpu=gpu,updated=time.time())) + with (case/'simulator.log').open('w') as stream:result=subprocess.run(cmd,stdout=stream,stderr=subprocess.STDOUT) + status=read(case/'STATUS.json') + if result.returncode or status.get('status') not in ['FAILED','PHYSICS_COMPLETE_UNVERIFIED','PLANNING_BLOCKED']: + write(case/'STATUS.json',dict(status='FAILED',phase='simulator_exit',error=f'Exit {result.returncode}; inspect simulator.log',gpu=gpu,updated=time.time())) +except Exception as error: + write(case/'STATUS.json',dict(status='FAILED',phase='launcher',error=repr(error),gpu=gpu,updated=time.time()));raise +finally: + subprocess.run(['docker','exec','--user','0:0',container,'/bin/chown','-R',f'{os.getuid()}:{os.getgid()}',str(case)],check=False) + fcntl.flock(lock,fcntl.LOCK_EX) + live=read(reservation) + if shared_claim and live.get('owner')==owner:write(reservation,dict(reserved=False,physical_gpu=gpu,container=container,owner=None,pid=None,previous_owner=owner,released_unix=time.time())) + owned=read(lease) + if owned.get('owner')==owner:owned.update(active=False,released_unix=time.time());write(lease,owned) + fcntl.flock(lock,fcntl.LOCK_UN) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/motion_limits.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/motion_limits.py new file mode 100644 index 0000000000000000000000000000000000000000..b59d93b1743935eb9afd69fb28ad70eb241a2e72 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/motion_limits.py @@ -0,0 +1,4 @@ +"""Reference command envelope; does not change authored drive or joint parameters.""" +import numpy as np +LOWER=np.array([-3.139847,-2.089159,-3.099705,-1.480039,-3.099705,-1.740093,-3.099705,-3.139847,-1.480039,-3.099705,-1.480039,-3.099705,-1.740093,-3.099705,0,0,-np.pi/2,-.349066,0,0]) +UPPER=np.array([3.139847,1.480039,3.099705,1.480039,3.099705,1.740093,3.099705,3.139847,2.089159,3.099705,1.480039,3.099705,1.740093,3.099705,.55,np.pi/2,np.pi/2,.523599,np.pi/4,np.pi/4]) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_motion.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_motion.py new file mode 100644 index 0000000000000000000000000000000000000000..f68d248ca26a527b8ace9614bcc494dca99fc78e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_motion.py @@ -0,0 +1,168 @@ +"""Collision-screened empty-hand return motion for continuous multi-item runs.""" +import math,time +import numpy as np +from scipy.spatial.transform import Rotation as Rot + +from carry_transition import body_route,compact_postures +from navigation import angle_delta + + +class EmptyClearance: + """The carry full-body checker without an attached-object surrogate.""" + def __init__(self,stage,robot,names,prop_poses,deadline_s=900): + from pxr import Usd,UsdGeom,UsdPhysics + from collision_scene import Body,collider_mesh,matrix,rigid_ancestor,contact + from native_planner import build + + self.deadline=time.monotonic()+deadline_s + self.robot=robot;self.names=names;self.contact=contact + self.self_check=build(stage);self.cache=UsdGeom.XformCache() + self.environment=[];self.results={};self.posture_cache={};self.last=None + for prim in Usd.PrimRange(stage.GetPseudoRoot(),Usd.TraverseInstanceProxies()): + path=str(prim.GetPath()) + if path.startswith('/World/Robot/') or not prim.HasAPI(UsdPhysics.CollisionAPI):continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False:continue + mesh,_,_=collider_mesh(prim);world=matrix(self.cache.GetLocalToWorldTransform(prim));owner=rigid_ancestor(prim) + if owner and str(owner.GetPath()) in prop_poses: + authored=matrix(self.cache.GetLocalToWorldTransform(owner));authored[:3,:3]/=np.linalg.norm(authored[:3,:3],axis=0) + world=prop_poses[str(owner.GetPath())]@np.linalg.inv(authored)@world + mesh.apply_transform(world) + # Match carry preflight: the real floor is checked by the released + # floor polygon while raised furniture remains full 3-D geometry. + if mesh.bounds[1,2]<.08:continue + self.environment.append(Body(path,mesh)) + self.low=np.array([b.lo for b in self.environment]);self.high=np.array([b.hi for b in self.environment]) + + def check(self,q,base): + if time.monotonic()>self.deadline:raise RuntimeError('Empty-hand geometry preflight exceeded its budget') + q=np.asarray(q);base=np.asarray(base);key=(q.tobytes(),base.tobytes()) + if key in self.results: + okay,self.last=self.results[key];return okay + okay=self.check_uncached(q,base);self.results[key]=(okay,self.last);return okay + + def check_uncached(self,q,base): + key=q.tobytes() + if key not in self.posture_cache: + local=self.robot.fk(self.names,q,np.eye(4));okay,detail=self.self_check(local,self.robot.root) + self.posture_cache[key]=(local,okay,detail) + local,okay,detail=self.posture_cache[key] + if not okay:self.last=dict(kind='self_or_wrist',detail=detail);return False + fk={name:base@transform for name,transform in local.items()} + for body in self.self_check.bodies:body.update(fk[body.name.replace('/World/Robot',self.robot.root,1)]) + for body in self.self_check.bodies: + indices=np.flatnonzero(np.all(self.high>=body.lo,axis=1)&np.all(self.low<=body.hi,axis=1)) + for index in indices: + other=self.environment[index] + if self.contact(body,other,containment=True) is not None: + self.last=dict(kind='environment',robot=body.name,obstacle=other.name);return False + self.last=None;return True + + def segment(self,q0,q1,b0,b1): + y0=Rot.from_matrix(b0[:3,:3]).as_euler('xyz')[2];y1=Rot.from_matrix(b1[:3,:3]).as_euler('xyz')[2] + dy=angle_delta(y1,y0) + steps=max(1,math.ceil(np.linalg.norm(b1[:3,3]-b0[:3,3])/.025),math.ceil(abs(dy)/math.radians(3)),math.ceil(np.max(abs(q1-q0))/.02)) + fixed=np.array_equal(q0,q1) + for u in np.linspace(0,1,steps+1): + b=b0.copy();b[:3,3]=(1-u)*b0[:3,3]+u*b1[:3,3];b[:3,:3]=Rot.from_euler('z',y0+u*dy).as_matrix() + if not self.check(q0 if fixed else q0*(1-u)+q1*u,b):return False + return True + + +def _behind(base,distance): + result=np.asarray(base,dtype=float).copy();yaw=Rot.from_matrix(result[:3,:3]).as_euler('xyz')[2] + result[:2,3]-=distance*np.array([math.cos(yaw),math.sin(yaw)]) + return result + + +def _lateral_transfers(next_pick_base,job): + """Yield shelf transfer poses that can approach around nearby furniture.""" + yaw=Rot.from_matrix(next_pick_base[:3,:3]).as_euler('xyz')[2] + heading=np.array([math.cos(yaw),math.sin(yaw)]) + lateral=np.array([-heading[1],heading[0]]) + offsets=job.get('return_lateral_transfer_offsets',[ + [0.,0.],[0.,-.10],[.25,.10],[-.25,.10], + [.35,.35],[-.35,.35],[.50,.35],[-.50,.35], + [.35,.55],[-.35,.55],[.55,.55],[-.55,.55], + [.40,.75],[-.40,.75],[.65,.75],[-.65,.75], + [.35,-.10],[-.35,-.10],[.50,0.],[-.50,0.], + ]) + for side,back in offsets: + result=next_pick_base.copy() + result[:2,3]=next_pick_base[:2,3]-float(back)*heading+float(side)*lateral + yield result,dict(side_m=float(side),back_m=float(back)) + + +def plan_return(stage,robot,names,q,base,prop_poses,next_pick_base,next_pick_q,release,job): + """Plan table retreat, raised transit, bridge, and exact shelf approach. + + Every segment uses EmptyClearance. The returned primitives carry a + ``bridge_before`` marker on the final shelf approach; execution must stop + at that boundary and move from the compact posture to ``next_pick_q``. + """ + from shapely.geometry import Polygon,LineString,Point + from shapely.ops import unary_union + + started=time.monotonic();q=np.asarray(q,dtype=float);base=np.asarray(base,dtype=float) + next_pick_base=np.asarray(next_pick_base,dtype=float);next_pick_q=np.asarray(next_pick_q,dtype=float) + checker=EmptyClearance(stage,robot,names,prop_poses,deadline_s=float(job.get('return_plan_budget_s',900))) + floor=unary_union([Polygon(f).buffer(0) for f in release['floors']]).buffer(-.34) + high=q.copy();high[names.index('idx01_body_joint1')]=.55 + failures=[] + for retreat_distance in job.get('return_exit_candidates',[.45,.60,.80,.30,.20,.10,.05]): + exit_base=_behind(base,retreat_distance) + if not floor.covers(LineString([base[:2,3],exit_base[:2,3]])):continue + if not checker.segment(q,q,base,exit_base): + failures.append(dict(stage='table_retreat',distance=retreat_distance,detail=checker.last));continue + if not checker.segment(q,high,exit_base,exit_base): + failures.append(dict(stage='raise',distance=retreat_distance,detail=checker.last));continue + for compact,posture in compact_postures(robot,names,high,exit_base): + if not checker.segment(high,compact,exit_base,exit_base): + failures.append(dict(stage='compact',distance=retreat_distance,posture=posture,detail=checker.last));continue + for standoff_distance in job.get('shelf_standoff_candidates',[.40,.30,.50,.65,.80,1.0]): + standoff=_behind(next_pick_base,standoff_distance) + if not floor.covers(Point(standoff[:2,3])):continue + # These endpoint gates do not depend on the room route. Check + # them first so an impossible pickup posture/approach does not + # consume a full lattice-search budget. + if not checker.segment(compact,next_pick_q,standoff,standoff): + failures.append(dict(stage='pickup_posture_bridge',distance=retreat_distance,standoff=standoff_distance,detail=checker.last));continue + if not checker.segment(next_pick_q,next_pick_q,standoff,next_pick_base): + failures.append(dict(stage='pickup_base_approach',distance=retreat_distance,standoff=standoff_distance,detail=checker.last));continue + route,detail=body_route(checker,compact,exit_base,standoff,release['floors'],budget=float(job.get('return_route_budget_s',120))) + if route is None: + failures.append(dict(stage='room_route',distance=retreat_distance,standoff=standoff_distance,detail=detail));continue + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2] + approach_yaw=Rot.from_matrix(next_pick_base[:3,:3]).as_euler('xyz')[2] + primitives=[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1,return_stage='table_retreat')] + primitives += [dict(p,return_stage='room_navigation') for p in route] + primitives.append(dict(kind='drive',goal=[*next_pick_base[:2,3],approach_yaw],direction=1,return_stage='shelf_approach',bridge_before=True)) + report=dict(policy='empty_hand_full_body_return_v1',table_retreat_m=retreat_distance,shelf_standoff_m=standoff_distance,standoff_base=standoff.tolist(),posture=posture,route_search=detail,failures=failures,planning_seconds=time.monotonic()-started,all_live_props_checked=True,no_attached_object=True) + return compact,primitives,report + # A coffee table can block every collinear shelf standoff even + # though the exact pickup station itself is valid. In that case, + # route to a lateral transfer pose, bridge there to the next pickup + # posture, and plan a second fully screened route to the exact base. + lateral_budget=float(job.get('return_lateral_route_budget_s',60)) + for transfer,offset in _lateral_transfers(next_pick_base,job): + if not floor.covers(Point(transfer[:2,3])):continue + if not checker.check(compact,transfer): + failures.append(dict(stage='lateral_transfer_compact',distance=retreat_distance,offset=offset,detail=checker.last));continue + if not checker.check(next_pick_q,transfer): + failures.append(dict(stage='lateral_transfer_pick_posture',distance=retreat_distance,offset=offset,detail=checker.last));continue + if not checker.segment(compact,next_pick_q,transfer,transfer): + failures.append(dict(stage='lateral_transfer_bridge',distance=retreat_distance,offset=offset,detail=checker.last));continue + route,route_detail=body_route(checker,compact,exit_base,transfer,release['floors'],budget=lateral_budget) + if route is None: + failures.append(dict(stage='lateral_transfer_route',distance=retreat_distance,offset=offset,detail=route_detail));continue + approach,approach_detail=body_route(checker,next_pick_q,transfer,next_pick_base,release['floors'],budget=lateral_budget) + if approach is None: + failures.append(dict(stage='lateral_pickup_route',distance=retreat_distance,offset=offset,detail=approach_detail));continue + if not approach:raise RuntimeError('Lateral pickup route unexpectedly returned no primitives') + approach=[dict(p) for p in approach];approach[0]['bridge_before']=True + yaw=Rot.from_matrix(base[:3,:3]).as_euler('xyz')[2] + primitives=[dict(kind='drive',goal=[*exit_base[:2,3],yaw],direction=-1,return_stage='table_retreat')] + primitives += [dict(p,return_stage='room_navigation') for p in route] + primitives += [dict(p,return_stage='shelf_approach') for p in approach] + report=dict(policy='empty_hand_full_body_lateral_return_v2',table_retreat_m=retreat_distance,lateral_transfer=offset,transfer_base=transfer.tolist(),posture=posture,route_search=route_detail,pickup_route_search=approach_detail,failures=failures,planning_seconds=time.monotonic()-started,all_live_props_checked=True,no_attached_object=True,exact_pick_base_retained=True) + return compact,primitives,report + raise RuntimeError('No collision-screened empty-hand return route: '+str(failures[-8:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..8e26e6957723fc581c9cfeb7fec463e97a03249a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/multi_validation.py @@ -0,0 +1,301 @@ +"""Shared, strict helpers for the uninterrupted multi-item episode contract.""" +from __future__ import annotations + +import gzip +import json +import re +from pathlib import Path + +import numpy as np + + +ITEM_PHASE = re.compile(r"^item_(\d\d)_(.+)$") +CORE_PHASES = ( + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "complete", +) +OPTIONAL_PHASES = {"carry_planning", "carry_raise", "carry_compact", "place_planning", "empty_return"} + + +def items(job): + result = job.get("items") + if not isinstance(result, list) or len(result) not in (3, 4): + raise ValueError("job.items must contain exactly three or four requested items") + required = {"target", "hand", "product", "pick_source", "pick_base", "controls_file", "destination_xyz"} + for i, row in enumerate(result): + missing = sorted(required - set(row)) + if missing: + raise ValueError(f"job.items[{i}] missing {missing}") + if row["hand"] not in ("l", "r"): + raise ValueError(f"job.items[{i}].hand is invalid") + targets = [row["target"] for row in result] + if len(set(targets)) != len(targets): + raise ValueError("Every requested target must be distinct") + if int(job.get("initial_tray_items", -1)) != 0: + raise ValueError("The multi-item task requires an initially empty tray") + return result + + +def controls_path(case, item): + path = Path(item["controls_file"]) + if not path.is_absolute(): + path = Path(case) / path + return path.resolve() + + +def controls(case, item): + path = controls_path(case, item) + data = np.load(path, allow_pickle=False) + missing = [key for key in ("pick", "place_initial", "target_local") if key not in data] + if missing: + raise ValueError(f"{path} missing controls arrays {missing}") + return data + + +def decoded(values): + return [x.decode() if isinstance(x, bytes) else str(x) for x in values.tolist()] + + +def recording_contract(z, requested): + n = len(z["q"]) + required = {"phase", "item_index", "active_target_path", "target_paths", "target_pose_all"} + missing = sorted(required - set(z.files)) + if missing: + raise ValueError(f"recording_60hz.npz missing multi-item fields {missing}") + paths = decoded(z["target_paths"]) + expected = [row["target"] for row in requested] + if paths != expected: + raise ValueError(f"target_paths are not in requested order: {paths!r}") + pose = np.asarray(z["target_pose_all"]) + if pose.shape != (n, len(requested), 7) or not np.isfinite(pose).all(): + raise ValueError(f"target_pose_all has invalid shape/value {pose.shape}") + item_index = np.asarray(z["item_index"], dtype=np.int64) + active = decoded(z["active_target_path"]) + if item_index.shape != (n,) or len(active) != n: + raise ValueError("item_index/active_target_path must have one value per control tick") + if np.any((item_index < -1) | (item_index >= len(requested))): + raise ValueError("item_index contains an out-of-range value") + phases = decoded(z["phase"]) + for tick, (index, path, phase) in enumerate(zip(item_index, active, phases)): + match = ITEM_PHASE.match(phase) + if phase == "initial_upper_shelf_posture": + authentic = (index == -1 and path == "") or (index == 0 and path == expected[0]) + if not authentic or any(ITEM_PHASE.match(x) for x in phases[:tick]): + raise ValueError(f"tick {tick} has invalid or non-prefix initial encoding") + continue + if index == -1: + raise ValueError(f"inactive tick {tick} occurs outside the initial posture: {phase}") + if path != expected[index]: + raise ValueError(f"tick {tick} active target does not match item_index") + if not match or int(match.group(1)) != index: + raise ValueError(f"tick {tick} phase is not prefixed for active item: {phase}") + return phases, item_index, active, pose + + +def compressed(values): + return list(dict.fromkeys(values)) + + +def item_phase_indices(phases, item_index, index, suffix=None): + mask = item_index == index + if suffix is not None: + mask &= np.asarray([p == f"item_{index:02d}_{suffix}" for p in phases]) + return np.flatnonzero(mask) + + +def validate_phase_order(phases, item_index, count): + details = [] + matches = [ITEM_PHASE.match(phase) for phase in phases] + first = np.flatnonzero([match is not None for match in matches]) + if not len(first): + raise ValueError("No active item ticks were recorded") + if any(p != "initial_upper_shelf_posture" for p in phases[: first[0]]): + raise ValueError("Only initial_upper_shelf_posture may precede item 0") + seen_items = compressed([int(match.group(1)) for match in matches if match]) + if seen_items != list(range(count)): + raise ValueError(f"item cycles are not continuous and ordered: {seen_items}") + for index in range(count): + indices = np.flatnonzero([(match is not None and int(match.group(1)) == index and item_index[tick] == index) for tick, match in enumerate(matches)]) + suffixes = [] + for tick in indices: + match = ITEM_PHASE.match(phases[tick]) + suffixes.append(match.group(2)) + unique = compressed(suffixes) + unknown = [name for name in unique if name not in set(CORE_PHASES) | OPTIONAL_PHASES] + if unknown: + raise ValueError(f"item {index} has unknown phases {unknown}") + positions = [] + for name in CORE_PHASES: + if name not in unique: + raise ValueError(f"item {index} is missing required phase {name}") + positions.append(unique.index(name)) + if positions != sorted(positions): + raise ValueError(f"item {index} core phases are out of order: {unique}") + has_return = "empty_return" in unique + if index < count - 1 and (not has_return or not (unique.index("settle") < unique.index("empty_return") < unique.index("complete"))): + raise ValueError(f"item {index} must return empty-handed to the next source before completion") + if index == count - 1 and has_return: + raise ValueError("The final item must complete at the table without an extra return") + if indices[-1] - indices[0] + 1 != len(indices): + raise ValueError(f"item {index} cycle is not contiguous") + details.append(dict(item_index=index, phases=unique, first_tick=int(indices[0] + 1), last_tick=int(indices[-1] + 1))) + return details + + +def audit_ranges(z, requested, minimum_shards=4, maximum_shards=16): + """Create target-homogeneous ranges; split long ranges without crossing item cycles.""" + _, item_index, _, _ = recording_contract(z, requested) + active = item_index.copy() + active[active < 0] = 0 + starts = np.r_[0, np.flatnonzero(active[1:] != active[:-1]) + 1] + ends = np.r_[starts[1:], len(active)] + ranges = [[int(a), int(b), int(active[a])] for a, b in zip(starts, ends)] + while len(ranges) < minimum_shards: + eligible = [(b - a, i) for i, (a, b, _) in enumerate(ranges) if b - a >= 2] + if not eligible: + break + _, i = max(eligible) + a, b, item = ranges[i] + middle = (a + b) // 2 + ranges[i : i + 1] = [[a, middle, item], [middle, b, item]] + if not (minimum_shards <= len(ranges) <= maximum_shards): + raise ValueError(f"Could not form {minimum_shards}..{maximum_shards} homogeneous audit shards") + covered = [tick for a, b, _ in ranges for tick in range(a, b)] + if covered != list(range(len(active))): + raise ValueError("Audit ranges do not cover every control tick exactly once") + return ranges + + +def load_contact_rows(path): + opener = gzip.open if str(path).endswith(".gz") else open + with opener(path, "rt") as stream: + return [json.loads(line) for line in stream if line.strip()] + + +def contact_capture_audit(out, requested, control_ticks, item_index=None, active_target=None, phases=None): + receipt_path = Path(out) / "CONTACT_CAPTURE.json" + contacts_path = Path(out) / "contacts.jsonl.gz" + if not receipt_path.exists() or not contacts_path.exists(): + return dict(passed=False, reason="Missing CONTACT_CAPTURE.json or contacts.jsonl.gz") + receipt = json.loads(receipt_path.read_text()) + expected = [row["target"] for row in requested] + rows = load_contact_rows(contacts_path) + captured = set() + invalid = [] + identity_mismatch = [] + for row_number, row in enumerate(rows, 1): + actors = list(map(str, row.get("actors", []))) + for target in expected: + if any(a == target or a.startswith(target + "/") or a.startswith(target + "#") for a in actors): + captured.add(target) + tick = int(row.get("tick", 0)) + if not 1 <= tick <= control_ticks: + invalid.append(row_number) + elif item_index is not None and active_target is not None: + if (int(row.get("item_index", -999)) != int(item_index[tick-1]) + or str(row.get("active_target_path", "")) != str(active_target[tick-1]) + or (phases is not None and str(row.get("phase", "")) != str(phases[tick-1]))): + identity_mismatch.append(row_number) + passed = ( + receipt.get("requested_targets") == expected + and receipt.get("filter_semantics") == "robot_or_any_requested_target" + and receipt.get("all_physics_ticks") is True + and int(receipt.get("dropped_rows", -1)) == 0 + and int(receipt.get("control_ticks", -1)) == control_ticks + and int(receipt.get("callback_rows", -1)) == len(rows) + and captured == set(expected) + and not invalid + and not identity_mismatch + ) + return dict(passed=passed, receipt=receipt, contact_rows=len(rows), targets_with_recorded_contacts=sorted(captured), invalid_tick_rows=invalid, active_item_identity_mismatch_rows=identity_mismatch) + + +def grasp_retention_audit(contact_rows, phases, item_index, requested): + """Reject height-only pickups without a retained, unsupported pinch. + + Contact callbacks can repeat within one 60 Hz control tick, so this gate + counts distinct control ticks. It mirrors the future producer gate while + remaining usable for already-running frozen snapshots that lack PICK_GATE + receipts. + """ + phases = np.asarray(phases) + item_index = np.asarray(item_index, dtype=np.int64) + details = [] + passed = True + + def touches(path, values): + return any(value == path or value.startswith(path + "/") or value.startswith(path + "#") for value in values) + + for index, item in enumerate(requested): + target = str(item["target"]) + hand = str(item["hand"]) + pick = item_phase_indices(phases, item_index, index, "shelf_pick") + if not len(pick): + details.append(dict(item_index=index, target=target, passed=False, reason="missing shelf_pick phase")) + passed = False + continue + end_tick = int(pick[-1] + 1) + window_start = max(int(pick[0] + 1), end_tick - 29) + tail_start = max(window_start, end_tick - 2) + environment_start = max(int(pick[0] + 1), end_tick - 14) + prefix = f"/World/Robot/gripper_{hand}" + inner_path = prefix + "_inner_link4" + outer_path = prefix + "_outer_link4" + inner = set() + outer = set() + environment = set() + for row in contact_rows: + tick = int(row.get("tick", 0)) + if tick < min(window_start, environment_start) or tick > end_tick: + continue + values = list(map(str, row.get("actors", []))) + list(map(str, row.get("colliders", []))) + if not touches(target, values): + continue + if tick >= window_start: + if touches(inner_path, values): + inner.add(tick) + if touches(outer_path, values): + outer.add(tick) + if tick >= environment_start: + if any(not (value == target or value.startswith(target + "/") or value.startswith(target + "#") + or value == "/World/Robot" or value.startswith("/World/Robot/")) for value in values): + environment.add(tick) + bilateral = sorted(inner & outer) + minimum = max(15, int(item.get("pick_grasp_contact_min_bilateral_ticks", 15))) + tail = [tick for tick in bilateral if tick >= tail_start] + item_passed = len(bilateral) >= minimum and bool(tail) and not environment + passed &= item_passed + details.append(dict( + item_index=index, + target=target, + active_hand=hand, + gripper_prefix=prefix, + shelf_pick_tick_range=[int(pick[0] + 1), end_tick], + window_control_ticks=30, + window_start_tick=window_start, + window_end_tick=end_tick, + inner_contact_ticks=sorted(inner), + outer_contact_ticks=sorted(outer), + simultaneous_bilateral_contact_ticks=bilateral, + simultaneous_bilateral_contact_tick_count=len(bilateral), + minimum_simultaneous_bilateral_ticks=minimum, + final_tail_control_ticks=3, + final_tail_bilateral_ticks=tail, + environment_clear_control_ticks=15, + environment_contact_ticks=sorted(environment), + passed=item_passed, + )) + return dict( + schema="ziche.multi_item.grasp_retention_audit.v1", + passed=bool(passed), + semantics="distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + items=details, + ) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/native_planner.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/native_planner.py new file mode 100644 index 0000000000000000000000000000000000000000..6818134a1b771bfa03af1b8ade2c40150004fca1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/native_planner.py @@ -0,0 +1,33 @@ +"""Planning filter using unchanged native self-collision geometry and exclusions.""" +import numpy as np +import sys,os +from pathlib import Path +project=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(Path(__file__).resolve().parents[2]))) +sys.path.insert(0,str(project/'work/shelf_training_visible360_20260916')) +from pxr import Usd,UsdGeom,UsdPhysics +import trimesh +from collision_scene import Body,collider_mesh,matrix,broad_overlap,contact,traversal +from robot_collision_profile import collision_disabled_joint_neighbors,audit_full_robot_collision_profile + +def build(stage): + cache=UsdGeom.XformCache();profile=audit_full_robot_collision_profile(stage);filtered={tuple(sorted(p)) for p in profile['filtered_body_pairs']};filtered.update(collision_disabled_joint_neighbors(stage));grouped={} + for path in profile['collision_enabled_paths']: + p=stage.GetPrimAtPath(path);owner=p + while owner and not owner.HasAPI(UsdPhysics.RigidBodyAPI):owner=owner.GetParent() + if not owner:raise ValueError(path) + mesh,_,_=collider_mesh(p);mesh.apply_transform(np.linalg.inv(matrix(cache.GetLocalToWorldTransform(owner)))@matrix(cache.GetLocalToWorldTransform(p)));grouped.setdefault(str(owner.GetPath()),[]).append(mesh) + from wrist_upright import camera_mount + mounts={h:camera_mount(stage,h) for h in ['l','r']} + bodies=[Body(p,trimesh.util.concatenate(ms),metadata={'link':p}) for p,ms in grouped.items()] + def check(fk,root): + for hand,mount in mounts.items(): + rotation=fk[root+'/gripper_'+hand+'_base_link'][:3,:3] + if (rotation@mount[:3,3])[2]<.010 or (rotation@mount[:3,1])[2]<.25:return False,dict(reason='wrist_not_upright',hand=hand) + for body in bodies:body.update(fk[body.name.replace('/World/Robot',root,1)]) + for i,a in enumerate(bodies): + for b in bodies[i+1:]: + if tuple(sorted((a.name,b.name))) in filtered or not broad_overlap(a,b):continue + if contact(a,b,containment=True) is not None:return False,dict(a=a.name,b=b.name) + return True,None + check.bodies=bodies + return check diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/navigation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/navigation.py new file mode 100644 index 0000000000000000000000000000000000000000..974c30a4a7d77370753c3a95ee86d9f96ecff76a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/navigation.py @@ -0,0 +1,132 @@ +"""Planar A* with collision-checked shortcutting; nonholonomic stop-turn-drive execution.""" +import heapq,math +import numpy as np + +def clear_segment(a,b,obstacles,radius=.30): + a=np.asarray(a);b=np.asarray(b);delta=b-a + for lo,hi in obstacles: + lo=np.asarray(lo)-radius;hi=np.asarray(hi)+radius;t0,t1=0.,1. + for k in range(2): + if abs(delta[k])<1e-12: + if a[k]hi[k]:t0,t1=1.,0.;break + else: + x,y=sorted(((lo[k]-a[k])/delta[k],(hi[k]-a[k])/delta[k]));t0=max(t0,x);t1=min(t1,y) + if t0<=t1:return False + return True + +def plan(start,goal,obstacles,radius=.30,resolution=.05): + start=np.asarray(start);goal=np.asarray(goal) + if clear_segment(start,goal,obstacles,radius):return [start.tolist(),goal.tolist()] + origin=np.minimum(start,goal)-3.;maximum=np.maximum(start,goal)+3.;shape=np.ceil((maximum-origin)/resolution).astype(int) + def point(n):return origin+np.asarray(n)*resolution + def cell(p):return tuple(np.rint((p-origin)/resolution).astype(int)) + s,g=cell(start),cell(goal) + if not clear_segment(start,point(s),obstacles,radius) or not clear_segment(point(g),goal,obstacles,radius):raise ValueError('Endpoint inside inflated obstacle') + queue=[(0.,s)];cost={s:0.};parent={};done=set() + while queue: + _,n=heapq.heappop(queue) + if n in done:continue + done.add(n) + if n==g:break + for dx,dy in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(1,-1),(-1,1),(-1,-1)]: + m=(n[0]+dx,n[1]+dy) + if any(m[k]<0 or m[k]>shape[k] for k in range(2)):continue + v=cost[n]+math.hypot(dx,dy)*resolution + if v>=cost.get(m,float('inf')):continue + if not clear_segment(point(n),point(m),obstacles,radius):continue + cost[m]=v;parent[m]=n;heapq.heappush(queue,(v+np.linalg.norm(point(m)-goal),m)) + if g not in done:raise ValueError('No clearance-safe planar path') + nodes=[g] + while nodes[-1]!=s:nodes.append(parent[nodes[-1]]) + route=[start.tolist()]+[point(n).tolist() for n in reversed(nodes)]+[goal.tolist()] + simple=[route[0]];i=0 + while ii+1 and not clear_segment(route[i],route[j],obstacles,radius):j-=1 + simple.append(route[j]);i=j + return simple + +def angle_delta(target,current):return math.atan2(math.sin(target-current),math.cos(target-current)) + +def motion_primitives(route, initial_yaw, final_yaw): + """Choose forward/reverse per straight leg to minimize total stationary turning.""" + points=[np.asarray(x,dtype=float) for x in route] + legs=[(a,b) for a,b in zip(points,points[1:]) if np.linalg.norm(b-a)>1e-6] + if not legs:return [dict(kind='turn',goal=[*points[-1],float(final_yaw)])] + headings=[math.atan2(*(b-a)[::-1]) for a,b in legs] + states=[(0.,initial_yaw,[])] + for heading in headings: + next_states=[] + for sign in (1,-1): + yaw=angle_delta(heading+(math.pi if sign<0 else 0),0) + best=min(states,key=lambda x:x[0]+abs(angle_delta(yaw,x[1]))) + next_states.append((best[0]+abs(angle_delta(yaw,best[1])),yaw,best[2]+[(yaw,sign)])) + states=next_states + best=min(states,key=lambda x:x[0]+abs(angle_delta(final_yaw,x[1]))) + primitives=[] + for (a,b),(yaw,sign) in zip(legs,best[2]): + primitives.extend([dict(kind='turn',goal=[*a,float(yaw)]),dict(kind='drive',goal=[*b,float(yaw)],direction=sign)]) + primitives.append(dict(kind='turn',goal=[*points[-1],float(final_yaw)])) + return primitives + +class PrimitiveController: + """Mutually exclusive stationary yaw and body-axis translation, bounded acceleration.""" + def __init__(self,primitive):self.primitive=primitive;self.speed=0.;self.done=False + def step(self,current,dt=1/60): + goal=np.asarray(self.primitive['goal']);yaw=float(current[2]);heading=np.array([math.cos(yaw),math.sin(yaw)]) + if self.primitive['kind']=='turn': + error=angle_delta(goal[2],yaw);desired=math.copysign(min(.25,max(.02,1.5*abs(error))),error) if abs(error)>.0015 else 0. + self.speed+=float(np.clip(desired-self.speed,-.3*dt,.3*dt));self.done=abs(error)<.003 and abs(self.speed)<.001 + return np.array([0.,0.,self.speed]) + error=goal[:2]-np.asarray(current[:2]);along=float(error@heading);lateral=float(error@np.array([-heading[1],heading[0]])) + if abs(lateral)>.015:raise RuntimeError(f'Straight drive lateral tracking error {lateral:.4f} m; replan instead of strafing') + if abs(angle_delta(goal[2],yaw))>.01:raise RuntimeError('Straight drive heading drift; stop and replan') + desired=math.copysign(min(.18,max(.008,min(1.5*abs(along),.8*math.sqrt(2*.12*abs(along))))),along) if abs(along)>.0015 else 0. + self.speed+=float(np.clip(desired-self.speed,-.12*dt,.12*dt));self.done=abs(along)<.003 and abs(self.speed)<.001 + return np.r_[heading*self.speed,0.] + +def command(current,goal,previous,dt=1/60): + """Stationary manipulation hold only. Never correct XY with a lateral command.""" + if np.linalg.norm(np.asarray(goal[:2])-current[:2])>.02:raise RuntimeError('Base drifted during stationary manipulation; navigation must be replanned') + if abs(angle_delta(goal[2],current[2]))>.02:raise RuntimeError('Base heading drifted during stationary manipulation') + return np.zeros(3) + + +def plan_release_polygons(start,goal,shapes,floors,radius=.34,resolution=.05): + """Use released per-mesh polygons and room floor, not a whole-group AABB.""" + from shapely.geometry import Polygon,LineString,Point + from shapely.ops import unary_union + from shapely.prepared import prep + blocked=unary_union([Polygon(s).buffer(0) for s in shapes]).buffer(radius) + free=unary_union([Polygon(f).buffer(0) for f in floors]).buffer(-radius).difference(blocked) + check=prep(free) + def clear(a,b):return check.covers(LineString([a,b])) if np.linalg.norm(np.asarray(a)-b)>1e-10 else check.covers(Point(a)) + start=np.asarray(start);goal=np.asarray(goal) + if not clear(start,start) or not clear(goal,goal):raise ValueError('Endpoint outside released collision-free floor') + if clear(start,goal):return [start.tolist(),goal.tolist()] + origin=np.array(free.bounds[:2]);shape=np.ceil((np.array(free.bounds[2:])-origin)/resolution).astype(int) + def point(n):return origin+np.asarray(n)*resolution + def cell(p):return tuple(np.rint((p-origin)/resolution).astype(int)) + source,target=cell(start),cell(goal) + if not clear(start,point(source)) or not clear(point(target),goal):raise ValueError('Endpoint grid connector blocked') + queue=[(0.,source)];cost={source:0.};parent={};done=set() + while queue: + _,n=heapq.heappop(queue) + if n in done:continue + done.add(n) + if n==target:break + for dx,dy in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(1,-1),(-1,1),(-1,-1)]: + m=(n[0]+dx,n[1]+dy) + if any(m[k]<0 or m[k]>shape[k] for k in range(2)):continue + value=cost[n]+math.hypot(dx,dy)*resolution + if value>=cost.get(m,float('inf')) or not clear(point(n),point(m)):continue + cost[m]=value;parent[m]=n;heapq.heappush(queue,(value+np.linalg.norm(point(m)-goal),m)) + if target not in done:raise ValueError('No route in released free-floor polygons') + nodes=[target] + while nodes[-1]!=source:nodes.append(parent[nodes[-1]]) + route=[start.tolist()]+[point(n).tolist() for n in reversed(nodes)]+[goal.tolist()];simple=[route[0]];i=0 + while ii+1 and not clear(route[i],route[j]):j-=1 + simple.append(route[j]);i=j + return simple diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py new file mode 100644 index 0000000000000000000000000000000000000000..16e80f9d57784e3aa5cd5a3b5593dfe191614a5b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +"""Check one staged multi-item episode with the official LeRobot reader.""" +import argparse +import hashlib +import json +from datetime import datetime, timezone +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq +import torch +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +CAMERAS = { + "observation.images.top_head": (3, 800, 1280), + "observation.images.hand_left": (3, 480, 848), + "observation.images.hand_right": (3, 480, 848), +} + + +def sha(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + parser.add_argument("--dataset", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + args = parser.parse_args() + info = json.loads((args.dataset / "meta/info.json").read_text()) + expected = int(info["total_frames"]) + parquet_path = args.dataset / "data/chunk-000/episode_000000.parquet" + table = pq.read_table(parquet_path) + dataset = LeRobotDataset(f"local/shelf_to_table_multi10_stable_layout_{args.layout:02d}", + root=args.dataset, video_backend="pyav") + indices = sorted(set((0, expected // 2, expected - 1))) + samples, failures = [], [] + for index in indices: + item = dataset[index] + action_expected = np.asarray(table["action"][index].as_py(), dtype=np.float32) + state_expected = np.asarray(table["observation.state"][index].as_py(), dtype=np.float32) + action_actual = item["action"].detach().cpu().numpy() + state_actual = item["observation.state"].detach().cpu().numpy() + scalars = { + "frame_index": int(item["frame_index"]) == int(table["frame_index"][index].as_py()), + "episode_index": int(item["episode_index"]) == 0, + "source_control_tick": int(item["source_control_tick"]) == int(table["source_control_tick"][index].as_py()), + "item_index": int(item["item_index"]) == int(table["item_index"][index].as_py()), + "phase_index": int(item["phase_index"]) == int(table["phase_index"][index].as_py()), + "timestamp": abs(float(item["timestamp"]) - float(table["timestamp"][index].as_py())) <= 1e-6, + "simulator_time_s": abs(float(item["simulator_time_s"]) - float(table["simulator_time_s"][index].as_py())) <= 2e-6, + } + images = {} + for key, shape in CAMERAS.items(): + value = item[key] + passed = (tuple(value.shape) == shape and bool(torch.isfinite(value).all()) + and float(value.min()) >= 0.0 and float(value.max()) <= 1.0) + images[key] = {"passed": passed, "shape": list(value.shape), + "minimum": float(value.min()), "maximum": float(value.max()), + "mean": float(value.mean()), "standard_deviation": float(value.std())} + passed = (np.array_equal(action_actual, action_expected) and np.array_equal(state_actual, state_expected) + and all(scalars.values()) and all(row["passed"] for row in images.values()) + and bool(item["task"])) + row = {"index": index, "passed": passed, "action_shape": list(action_actual.shape), + "state_shape": list(state_actual.shape), "scalar_alignment": scalars, + "task": item["task"], "images": images} + samples.append(row) + if not passed: + failures.append(row) + passed = (len(dataset) == expected == len(table) and dataset.fps == 20 and not failures + and samples[0]["action_shape"] == [22] and samples[0]["state_shape"] == [23]) + report = {"schema": "ziche.multi10.official_lerobot_reader_qa.v1", + "created_utc": datetime.now(timezone.utc).isoformat(), "layout_id": args.layout, + "passed": passed, "dataset": str(args.dataset), + "reader": "lerobot LeRobotDataset(video_backend='pyav')", + "dataset_length": len(dataset), "parquet_rows": len(table), + "metadata_frames": expected, "fps": dataset.fps, "sample_indices": indices, + "samples": samples, "failures": failures, "parquet_sha256": sha(parquet_path), + "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes."} + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(report, indent=2) + "\n") + print(json.dumps({"output": str(args.output), "passed": passed}, indent=2)) + raise SystemExit(0 if passed else 1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/parallel_world_audit.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/parallel_world_audit.py new file mode 100644 index 0000000000000000000000000000000000000000..727d57ad220f91d4ea9c9e6049b06ff6b51524c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/parallel_world_audit.py @@ -0,0 +1,57 @@ +"""Disjoint control-tick shards; every interval retains its original next tick.""" +import sys,os,time,json,subprocess,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent;case=Path(sys.argv[1]);out=case/'rollout' +from task_collision_scope import POLICY +from multi_validation import audit_ranges,items +shard_count=int(os.environ.get('CHAIN_WORLD_AUDIT_SHARDS','4'));assert 4<=shard_count<=16 +job=json.loads((case/'job.json').read_text());requested=items(job) +start=time.monotonic();z=np.load(out/'recording_60hz.npz',allow_pickle=False);n=len(z['q']);ranges=audit_ranges(z,requested,shard_count,16);shard_count=len(ranges);processes=[];logs=[] +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) +try: + for i,(a,b,item_index) in enumerate(ranges): + for name in [f'WORLD_COLLISION_AUDIT.part_{i}.json',f'WORLD_AUDIT_PROGRESS.part_{i}.json']: + p=out/name + if p.exists():p.rename(out/(name+'.previous_'+str(time.time_ns()))) + env=dict(os.environ,CHAIN_AUDIT_SHARD=str(i),CHAIN_AUDIT_START=str(a),CHAIN_AUDIT_END=str(b),CHAIN_AUDIT_ITEM=str(item_index),OPENBLAS_NUM_THREADS='1',OMP_NUM_THREADS='1') + log=(out/f'world_shard_{i}.log').open('w');logs.append(log);processes.append(subprocess.Popen([sys.executable,str(W/'audit_geometry.py'),str(case),'world'],env=env,stdout=log,stderr=subprocess.STDOUT)) + while any(p.poll() is None for p in processes): + if time.monotonic()-start>1050:raise TimeoutError('World audit exceeded 17.5 minutes; review required, never auto-pass') + checked=0 + for i,(a,b,item_index) in enumerate(ranges): + p=out/f'WORLD_COLLISION_AUDIT.part_{i}.json';progress=out/f'WORLD_AUDIT_PROGRESS.part_{i}.json' + if p.exists(): + part=json.loads(p.read_text());checked+=len(part['checked_frame_indices']) + if part['geometry_status']=='REJECT' and part['hard_failures']: + write(out/'WORLD_COLLISION_AUDIT.json',dict(schema='shelf_multi10.parallel_task_collision_summary.v2',geometry_status='REJECT',collision_scope=POLICY,requested_targets=[x['target'] for x in requested],all_scene_pairs_checked=False,complete_trajectory_checked=False,early_rejection=True,hard_failures=part['hard_failures'],unresolved_review=part['unresolved_review'],elapsed_seconds=time.monotonic()-start,source_shard=i,source_item_index=item_index)) + print('Early rejected by physical collision witness in shard',i,flush=True);sys.exit(0) + elif progress.exists():checked+=max(0,min(int(b-a),json.loads(progress.read_text())['frame']-int(a)+1)) + write(out/'WORLD_AUDIT_PROGRESS.json',dict(frame=checked,total=n,updated=time.time(),parallel_shards=shard_count,elapsed_seconds=time.monotonic()-start)) + time.sleep(2) + results=[] + for i,p in enumerate(processes): + if p.returncode:raise RuntimeError(f'Collision shard {i} failed; see world_shard_{i}.log') + results.append(json.loads((out/f'WORLD_COLLISION_AUDIT.part_{i}.json').read_text())) + failures=[];review=[];contacts=[];covered=[] + for i,r in enumerate(results): + a,b,item_index=ranges[i] + indices=r['checked_frame_indices'];assert len(set(indices))==len(indices) + assert all(int(a)<=x=len(yaw_options):theta+=np.deg2rad(rng.uniform(-12,12)) + points=vertices@Rot.from_euler('z',theta).as_matrix().T + footprint=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]+xy) + gap=min((footprint.distance(poly) for poly in all_obstacles),default=None) + if not floor.buffer(-.008).covers(footprint) or (gap is not None and gap<=.012):continue + candidates.append((xy,np.rad2deg(math.atan2(math.sin(theta-yaw),math.cos(theta-yaw))),gap)) + candidates.sort(key=lambda c:abs(c[1])*.001+np.linalg.norm(c[0]-center)) + if not candidates:raise RuntimeError('Reserved tray slot has no supported free placement after live-object clearance checks') + else: + candidates=destination_candidates(vertices,yaw,floor,all_obstacles,job['seed'],job['destination_xyz'][:2],0,count=160) + candidates.sort(key=lambda c:np.linalg.norm(c[0]-base[:2,3])) + failures=[] + fast=Arm(robot,names,q0,base,link,active) + def ik(q,g): + prev=q[active].copy() + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=100) + qq=q.copy();qq[active]=fit.x;f=fast.forward(fit.x)[0] + error=[np.linalg.norm(f[:3,3]-g[:3,3]),Rot.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude()] + return qq,error + for index,(xy,dyaw,gap) in enumerate(candidates): + goal=np.eye(4);goal[:3,:3]=Rot.from_euler('z',yaw+np.deg2rad(dyaw)).as_matrix();goal[:2,3]=xy + goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min() + end,err=ik(q0,goal@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='landing',error=err));continue + for clearance in [0.,.06,.12,.18]: + hover=goal.copy();hover[2,3]=max(goal[2,3]+clearance,object_pose[2,3]);near=goal.copy();near[2,3]+=.025 + segments=[(object_pose,near,8),(near,goal,4)] if clearance==0 else [(object_pose,hover,5),(hover,near,4),(near,goal,4)];q=q0.copy();planned=[];failed=False + for start,stop,secs in segments: + rots=Slerp([0,1],Rot.from_matrix([start[:3,:3],stop[:3,:3]])) + for t in np.linspace(0,1,secs*20): + u=10*t**3-15*t**4+6*t**5;world=np.eye(4);world[:3,:3]=rots(u).as_matrix();world[:3,3]=start[:3,3]*(1-u)+stop[:3,3]*u + q,err=ik(q,world@invheld) + if err[0]>.002 or err[1]>.02: + failures.append(dict(candidate=index,stage='path',frame=len(planned),error=err));failed=True;break + if pose_check is not None: + okay,detail=pose_check(robot.fk(names,q,base),robot.root) + if not okay: + failures.append(dict(candidate=index,stage='self_collision',frame=len(planned),detail=detail));failed=True;break + if world_check is not None and not world_check.check(q,base): + failures.append(dict(candidate=index,stage='world_collision',frame=len(planned),detail=world_check.last));failed=True;break + planned.append(q.copy()) + if failed:break + if failed:continue + retreat_goal=goal@invheld;retreat_goal[2,3]+=.15;retreat,error=ik(q,retreat_goal) + if error[0]>.002 or error[1]>.02: + failures.append(dict(candidate=index,stage='retreat',error=error));continue + if pose_check is not None: + valid=True + for t in np.linspace(0,1,61): + okay,detail=pose_check(robot.fk(names,q*(1-t)+retreat*t,base),robot.root) + if not okay:valid=False;break + if not valid: + failures.append(dict(candidate=index,stage='retreat_self_collision',detail=detail));continue + release_report=None + if release_sweep is not None: + release_ok,release_report=release_sweep.check(q,retreat,base,goal) + if not release_ok: + failures.append(dict(candidate=index,stage='open_gripper_release_or_retreat_world',detail=release_report));continue + elif job.get('require_release_sweep',False): + raise ValueError('Placement requires an open-gripper release sweep checker') + return np.array(planned),retreat,dict(candidate=index,goal=goal.tolist(),held=held.tolist(),prior_failures=failures,clutter_clearance=gap,policy='reserved_multi_item_slots_live_obstacles_v2_release_sweep',slot=slot,reserved_future_slots=len(reserved),hover_clearance_m=clearance,candidate_budget=int(job.get('placement_candidate_budget',800)) if slot else 160,release_sweep=release_report) + raise RuntimeError('All supported tray candidates unreachable: '+str(failures[:3]+failures[-3:])) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_multi.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_multi.py new file mode 100644 index 0000000000000000000000000000000000000000..abeb8466de5cff5a67266842abd9d9163e868c48 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_multi.py @@ -0,0 +1,201 @@ +"""Prepare one isolated multi-item shelf/tray case from accepted replay sources.""" +import sys,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation as Rot +from scipy.spatial import ConvexHull +from pxr import Usd,UsdGeom,UsdPhysics,UsdUtils,Sdf,Gf + +W=Path(__file__).resolve().parent; R=W.parents[1] +OLD=R/'work/shelf_to_table50_20261001' +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop'),str(OLD)] +from shapely.geometry import Polygon +from shapely import affinity +from shapely.ops import unary_union +from place_tray_layout import scene_geometry,mesh_world_points +from geometry_transfer import registration,board_path + +def dump(p,d): p.write_text(json.dumps(d,indent=2)+'\n') +def matrix(stage,path): return np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(stage.GetPrimAtPath(path))).T +def set_matrix(stage,path,m): + p=stage.GetPrimAtPath(path); pm=np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(p.GetParent())).T + local=np.linalg.inv(pm)@m; x=UsdGeom.Xformable(p); x.ClearXformOpOrder(); x.AddTransformOp().Set(Gf.Matrix4d(local.T.tolist())) +def robot_matrix(spec): + m=np.eye(4); m[:3,:3]=Rot.from_quat(np.asarray(spec['robot']['base_wxyz'])[[1,2,3,0]]).as_matrix(); m[:3,3]=spec['robot']['base_xyz_m']; return m +def control_payload(source,names): + targets=[]; drive={} + with (source/'runtime_control_readback.jsonl').open() as stream: + for line in stream: + row=json.loads(line); by={r['joint']:r for r in row['rows']}; targets.append([by[n]['live_position_target_rad_or_m'] for n in names]) + if not drive: drive={n:by[n]['live_stage_drive_attributes'] for n in names} + q=np.asarray(targets); q[:,18:20]=np.clip(q[:,18:20],0,np.pi/4); return q,drive +def bounds(stage,path): + pts=mesh_world_points(stage,stage.GetPrimAtPath(path)); return pts.min(0),pts.max(0) +def intersects(a,b,pad=.012): + return all(a[0][k]-pad < b[1][k] and b[0][k]-pad < a[1][k] for k in range(3)) +DRINKS={'starbucks','coke_c3','sprite_c1','gatorade_m','gatorade_t','good2grow','grapefruit_can','cayman_jacked'} +def assign_slots(items,tray_polygon,place_xy): + """Search reserved, non-overlapping upright placements back-to-front.""" + pts=np.asarray(tray_polygon); floor=Polygon(pts).buffer(-.008); center=np.asarray(floor.centroid.coords[0]); cov=np.cov((pts-center).T); vals,vecs=np.linalg.eigh(cov); u=vecs[:,np.argmax(vals)]; v=np.array([-u[1],u[0]]) + if np.dot(np.asarray(place_xy)-center,v)<0: v=-v + u=np.array([v[1],-v[0]]) + for item in items: + local=np.load(item['controls_file'])['target_local'][:,:2]; item['_poly']=Polygon(local[ConvexHull(local).vertices]) + base_yaw=float(math.atan2(u[1],u[0])); grid_u=[-.11,-.075,-.04,0,.04,.075,.11]; grid_v=[-.06,-.03,0,.03,.06] + def candidates(item): + rows=[] + for vv in grid_v: + for uu in grid_u: + xy=center+uu*u+vv*v + yaws=[item['accepted_landing_yaw_rad'],item['accepted_landing_yaw_rad']+math.pi] if 'accepted_landing_yaw_rad' in item else [base_yaw,base_yaw+math.pi/2] + for yaw in yaws: + p=affinity.translate(affinity.rotate(item['_poly'],yaw*180/math.pi,origin=(0,0)),xy[0],xy[1]) + if floor.covers(p): rows.append((vv,abs(uu),uu,xy,yaw,p)) + return sorted(rows,key=lambda x:(x[0],x[1])) + chosen=[] + def search(i,last_v): + if i==len(items): return True + for vv,_,uu,xy,yaw,p in candidates(items[i]): + if vv+1e-8 str: + h = hashlib.sha256() + with path.open("rb") as f: + for block in iter(lambda: f.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def main() -> None: + records = [] + for case_id in range(1, 11): + src = OLD / "cases" / f"layout_{case_id:02d}" + dst = NEW / "cases" / f"layout_{case_id:02d}" + if dst.exists() and any(dst.iterdir()): + raise RuntimeError(f"refusing to overwrite nonempty {dst}") + dst.mkdir(parents=True, exist_ok=True) + + copied = [] + for name in INPUT_NAMES: + shutil.copy2(src / name, dst / name) + copied.append(name) + for p in sorted(src.glob("controls*.npz")): + shutil.copy2(p, dst / p.name) + copied.append(p.name) + + job = json.loads((src / "job.json").read_text()) + if case_id == 4: + # The first three completed and settled in one physical prefix; + # item 3 Pringles failed to lift. Keep it as a shelf distractor. + job["items"] = job["items"][:3] + job["tray_slots"] = job["tray_slots"][:3] + old_s, new_s = str(OLD), str(NEW) + job = json.loads(json.dumps(job).replace(old_s, new_s)) + job["status"] = "PREPARING" + job["attempt_index"] = 1 + (dst / "job.json").write_text(json.dumps(job, indent=2) + "\n") + + # The physical layer sublayers the case-local authored scene/profile. + physical = (dst / "scene_physical.usda").read_text().replace(old_s, new_s) + (dst / "scene_physical.usda").write_text(physical) + + status = { + "status": "PREPARING", + "phase": "fresh_initial_inputs", + "item_index": None, + "completed_objects": [], + "control_ticks": 0, + "source_case": str(src), + "runtime_state_reused": False, + } + (dst / "STATUS.json").write_text(json.dumps(status, indent=2) + "\n") + copied += ["job.json", "STATUS.json"] + records.append({ + "case_id": case_id, + "source_layout_id": job["source_layout_id"], + "item_count": len(job["items"]), + "products": [x["product"] for x in job["items"]], + "files": {name: sha(dst / name) for name in sorted(copied)}, + }) + + combos_path = NEW / "COMBINATIONS.json" + combos = json.loads(combos_path.read_text()) + for case in combos["cases"]: + if case["case_id"] == 4: + case["products"] = [p for p in case["products"] if p["product"] != "pring_bbq"] + combos["stable_retry_changes"] = { + "layout_03": {"inactive_nonrequested_prims": [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles", + ]}, + "layout_04": {"item_count": 3, "removed_requested_item": "pring_bbq", + "reason": "preserve three physically successful items; fourth pickup did not lift"}, + "layout_09": {"inactive_nonrequested_prims": ["/World/Assets/Tier2Items/oreo_gf"]}, + } + combos_path.write_text(json.dumps(combos, indent=2) + "\n") + manifest = { + "schema": "shelf_to_table_multi10.stable_input_manifest.v1", + "old_root_read_only": str(OLD), + "new_root": str(NEW), + "copy_policy": "initial inputs only; no rollout/checkpoint/live held transform reused", + "counts": {"cases": 10, "triples": 7, "quads": 3, "items": 33}, + "cases": records, + } + (NEW / "PREPARED_INPUT_MANIFEST.json").write_text(json.dumps(manifest, indent=2) + "\n") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_visual_qa.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_visual_qa.py new file mode 100644 index 0000000000000000000000000000000000000000..52d4e8c646a17dcbf5b9619f47bc10629aeef344 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/prepare_visual_qa.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +"""Create read-only all-view startup and full-phase evidence panels.""" +import hashlib +import json +import sys +from pathlib import Path + +import av +import numpy as np +from PIL import Image, ImageDraw + +W = Path(__file__).resolve().parent +CAMERAS = ("top_head", "hand_left", "hand_right") + + +def sha(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def selected_frames(path, indices): + wanted = set(indices) + result = {} + with av.open(str(path)) as container: + for index, frame in enumerate(container.decode(video=0)): + if index in wanted: + result[index] = frame.to_image().convert("RGB") + if len(result) == len(wanted): + break + if set(result) != wanted: + raise RuntimeError(f"{path}: missing selected frames {sorted(wanted - set(result))}") + return result + + +def panel(images, frames, labels, path, title): + cell_w, cell_h, label_h = 256, 160, 38 + canvas = Image.new("RGB", (cell_w * len(frames), 28 + len(CAMERAS) * (cell_h + label_h)), "black") + draw = ImageDraw.Draw(canvas) + draw.text((5, 5), title, fill="white") + for row, camera in enumerate(CAMERAS): + for column, (frame, label) in enumerate(zip(frames, labels)): + image = images[camera][frame].copy() + image.thumbnail((cell_w, cell_h)) + x = column * cell_w + (cell_w - image.width) // 2 + y0 = 28 + row * (cell_h + label_h) + canvas.paste(image, (x, y0 + label_h)) + draw.text((column * cell_w + 3, y0 + 2), f"{camera} f{frame}\n{label[:28]}", fill="white") + canvas.save(path, quality=92) + + +def main(): + case = Path(sys.argv[1]).resolve() + out = case / "rollout" + job = json.loads((case / "job.json").read_text()) + dataset = W / "staged_datasets" / f"layout_{int(job['layout_id']):02d}" + recording = np.load(out / "recording_60hz.npz", allow_pickle=False) + sample_rows = np.arange(2, len(recording["q"]), 3) + sampled_phases = recording["phase"][sample_rows].astype(str) + phase_names = list(dict.fromkeys(sampled_phases.tolist())) + phase_frames = [] + for phase in phase_names: + rows = np.flatnonzero(sampled_phases == phase) + phase_frames.append(int(rows[len(rows) // 2])) + first = list(range(min(10, len(sample_rows)))) + needed = sorted(set(first + phase_frames)) + evidence = W / "qa" / f"layout_{int(job['layout_id']):02d}" / "visual_evidence" + evidence.mkdir(parents=True, exist_ok=True) + decode = json.loads((out / "VIDEO_DECODE_AUDIT.json").read_text()) + images = {} + videos = {} + for camera in CAMERAS: + video = dataset / "videos/chunk-000" / f"observation.images.{camera}" / "episode_000000.mp4" + digest = sha(video) + if digest != decode["videos"][camera]["sha256"]: + raise RuntimeError(f"{camera} video differs from fully decoded native evidence") + images[camera] = selected_frames(video, needed) + videos[camera] = {"path": str(video), "sha256": digest} + panels = [] + startup = evidence / "FIRST_0P5S_ALL_VIEWS.jpg" + panel(images, first, [f"startup {i}" for i in first], startup, + "Retained first 0.5 s: all native views") + panels.append({"kind": "startup", "path": str(startup), "sha256": sha(startup), + "frame_indices": first}) + for page, begin in enumerate(range(0, len(phase_frames), 12)): + frames = phase_frames[begin:begin + 12] + labels = phase_names[begin:begin + 12] + path = evidence / f"FULL_PHASE_ALL_VIEWS_{page + 1:02d}.jpg" + panel(images, frames, labels, path, f"Full continuous episode phase midpoints page {page + 1}") + panels.append({"kind": "phase", "path": str(path), "sha256": sha(path), + "frame_indices": frames, "phase_names": labels}) + receipt = { + "schema": "ziche.multi10_visual_panels.v1", "layout_id": int(job["layout_id"]), + "accepted": False, "case": str(case), "dataset": str(dataset), + "recording_sha256": sha(out / "recording_60hz.npz"), "videos": videos, + "phase_names": phase_names, "phase_midpoint_frames": phase_frames, "panels": panels, + "scope": "first retained 0.5 seconds and one midpoint from every ordered phase in all three views", + "requires": "independent human review and official LeRobot reader QA", + } + path = evidence / "PANELS.json" + path.write_text(json.dumps(receipt, indent=2) + "\n") + print(path) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/preroll_stability.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/preroll_stability.py new file mode 100644 index 0000000000000000000000000000000000000000..bdc11d2f74ce3271ddbbe2e7e4534807229dffa3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/preroll_stability.py @@ -0,0 +1,73 @@ +"""Geometry-based startup stability metrics shared by preroll runners/audits.""" +import re +import numpy as np +from pxr import Usd,UsdGeom +from scipy.spatial.transform import Rotation + +PASSIVE_RE=re.compile(r'/gripper_[lr]_(?:inner|outer)_link[234]$') +CAMERAS=[('/World/Robot/head_link2','/World/Robot/head_link2/Head_Camera',1280,800), + ('/World/Robot/gripper_l_base_link','/World/Robot/gripper_l_base_link/Left_Camera',848,480), + ('/World/Robot/gripper_r_base_link','/World/Robot/gripper_r_base_link/Right_Camera',848,480)] + +def _Mpose(p): + m=np.eye(4);m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m + +def build_projection_model(stage,link_paths): + cache=UsdGeom.XformCache() + def mw(prim):return np.asarray(cache.GetLocalToWorldTransform(prim),float).T + cameras=[] + for link_path,cam_path,w,h in CAMERAS: + cam=UsdGeom.Camera(stage.GetPrimAtPath(cam_path));cprim=stage.GetPrimAtPath(cam_path) + cameras.append(dict(link_index=link_paths.index(link_path),path=cam_path,width=w,height=h, + relative=np.linalg.inv(mw(stage.GetPrimAtPath(link_path)))@mw(cprim),focal=float(cam.GetFocalLengthAttr().Get()), + horizontal_aperture=float(cam.GetHorizontalApertureAttr().Get()),vertical_aperture=float(cam.GetVerticalApertureAttr().Get()))) + bodies=[] + for i,path in enumerate(link_paths): + if not PASSIVE_RE.search(path):continue + body=stage.GetPrimAtPath(path);bm=mw(body);chunks=[];mesh_paths=[] + for prim in Usd.PrimRange(body): + if not prim.IsA(UsdGeom.Mesh):continue + pts=np.asarray(UsdGeom.Mesh(prim).GetPointsAttr().Get(),float) + if not len(pts):continue + world=(np.c_[pts,np.ones(len(pts))]@mw(prim).T)[:,:3] + chunks.append((np.c_[world,np.ones(len(world))]@np.linalg.inv(bm).T)[:,:3]);mesh_paths.append(str(prim.GetPath())) + local=np.unique(np.round(np.concatenate(chunks),9),axis=0) if chunks else np.empty((0,3)) + bodies.append(dict(index=i,path=path,local_vertices=local,mesh_paths=mesh_paths, + empty_geometry_exclusion=not len(local),descendant_mesh_count=len(mesh_paths))) + driven=[i for i,p in enumerate(link_paths) if not PASSIVE_RE.search(p)] + return dict(cameras=cameras,bodies=bodies,driven_indices=driven) + +def _project(world,cm,c): + loc=(np.c_[world,np.ones(len(world))]@np.linalg.inv(cm).T)[:,:3];depth=-loc[:,2] + uv=np.c_[c['width']/2+(loc[:,0]/depth)*(c['focal']/c['horizontal_aperture'])*c['width'], + c['height']/2-(loc[:,1]/depth)*(c['focal']/c['vertical_aperture'])*c['height']] + valid=(depth>.001)&(uv[:,0]>=0)&(uv[:,0]=0)&(uv[:,1]=2 + if np.any(seen): + span=np.nanmax(masked[:,seen],axis=0)-np.nanmin(masked[:,seen],axis=0) + # The diagonal of each vertex's UV bounding box is a rigorous upper bound + # on every pairwise Euclidean displacement in the window. + mx=float(np.linalg.norm(span,axis=1).max()) + else:mx=0. + overall=max(overall,mx);cams.append(dict(camera=c['path'],max_projected_motion_px_upper_bound=mx, + vertices_visible_at_least_twice=int(seen.sum()))) + records.append(dict(path=b['path'],status='MEASURED',descendant_mesh_count=b['descendant_mesh_count'], + mesh_paths=b['mesh_paths'],unique_mesh_vertex_count=len(local),cameras=cams, + max_projected_motion_px_upper_bound=max(x['max_projected_motion_px_upper_bound'] for x in cams))) + return dict(status='PASSED' if overall= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name in allowed_release_links: + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_arrival_release.v7", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py new file mode 100644 index 0000000000000000000000000000000000000000..1864ef7f799748666a8519fea1c548fb06bb7246 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py @@ -0,0 +1,299 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 2's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_02/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # First try an exact rigid compensation for the measured navigation + # residual: keep the chassis at its current live arrival and apply the + # same SE(2) residual to the source-grounded object goal/slot. This + # preserves the accepted base-to-hand/object relation without asking the + # base controller to repeat an already demonstrated 1.37 mm miss. + nominal = candidates[0] + _, _, _, _, _, _, nominal_goal, nominal_base, nominal_transfer = nominal + residual = live_base @ np.linalg.inv(nominal_base) + compensated_goal = residual @ nominal_goal + compensated_base = live_base.copy() + compensated_transfer = compensated_goal @ np.linalg.inv(accepted_goal) + compensated_yaw = float(math.atan2(compensated_goal[1, 0], compensated_goal[0, 0])) + compensated_x, compensated_y = map(float, compensated_goal[:2, 3]) + # The exact residual-shifted footprint is only about 0.2 mm short of the + # 12 mm Coke clearance. Search a bounded +/-6 mm posture correction while + # holding the base exactly at the measured arrival. `solve` below must + # still find and screen the resulting arm adjustment. + fixed_base_candidates = [] + rotation = Rotation.from_euler("z", compensated_yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for dx in np.arange(-0.006, 0.0061, 0.001): + for dy in np.arange(-0.006, 0.0061, 0.001): + x, y = compensated_x + float(dx), compensated_y + float(dy) + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = compensated_goal.copy() + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + transfer = goal @ np.linalg.inv(accepted_goal) + score = -1.0 + float(np.hypot(dx, dy)) + fixed_base_candidates.append((score, x, y, compensated_yaw, footprint, + gaps, goal, compensated_base.copy(), transfer)) + fixed_base_candidates.sort(key=lambda entry: entry[0]) + candidates = fixed_base_candidates + candidates + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:1]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + # Explicit post-release screen. The placed target is stationary at the + # solved goal while the gripper opens and the hand follows retreat. + from collision_scene import Body, broad_overlap, contact + import trimesh + landed = Body(item["target"], trimesh.convex.convex_hull(vertices)) + landed.update(np.asarray(report["goal"], dtype=float)) + release_environment = checker.environment + [landed] + release_low = np.asarray([b.lo for b in release_environment]) + release_high = np.asarray([b.hi for b in release_environment]) + release_failure = None + allowed_release_contacts = [] + allowed_release_links = { + f"/World/Robot/gripper_{item['hand']}_inner_link4", + f"/World/Robot/gripper_{item['hand']}_outer_link4", + } + def release_check(qq, phase, sample_index, fraction): + nonlocal release_failure + fk = robot.fk(names, qq, base) + okay, detail = pose_check(fk, robot.root) + if not okay: + release_failure = {"kind": "self_or_wrist", "detail": detail}; return False + for body in checker.self_check.bodies: + body.update(fk[body.name.replace('/World/Robot', robot.root, 1)]) + indices = np.flatnonzero(np.all(release_high >= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name in allowed_release_links: + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_arrival_release.v7", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_FIXED_ONE_TMP.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..e008dd529557876d2588ffa3e939c8fdc764ff92 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 2's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_02/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case2_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT02_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_last_slot.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_last_slot.py new file mode 100644 index 0000000000000000000000000000000000000000..1790ceaddd70b92ae78ec1b4ea2922356980c9f9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case2_last_slot.py @@ -0,0 +1,146 @@ +#!/usr/bin/env python3 +"""Offline full-body search for case 2's final Skittles tray slot.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_02" + + +def pose_matrix(xyz, wxyz): + result = np.eye(4) + result[:3, 3] = xyz + result[:3, :3] = Rotation.from_quat(np.asarray(wxyz)[[1, 2, 3, 0]]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "PREPARED": + raise RuntimeError(f"case2 is no longer PREPARED: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][3] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][3] + data = np.load(item["controls_file"]) + source = pathlib.Path(item["pick_source"]) + recording = np.load(source / "recording_20hz.npz") + names = recording["robot_dof_names"].tolist() + ids = [names.index(name) for name in data["names"]] + target_index = recording["rigid_body_paths"].tolist().index(item["target"]) + hand_path = "/World/Robot/gripper_" + item["hand"] + "_base_link" + hand_index = recording["robot_link_paths"].tolist().index(hand_path) + held = np.linalg.inv(pose_matrix(recording["robot_link_xyz_m"][-1, hand_index], recording["robot_link_wxyz"][-1, hand_index])) @ pose_matrix(recording["prop_xyz_m"][-1, target_index], recording["prop_wxyz"][-1, target_index]) + q = recording["robot_joint_position_rad_or_m"][-1].copy() + q[ids] = data["place_initial"] + q[ids[-2:]] = data["pick"][-1, -2:] + + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + obstacles = [Polygon(prior["placement_slot"]["footprint_xy"]) for prior in job["items"][:3]] + vertices = data["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + accepted_yaw = float(exact["accepted_yaw_rad"]) + minx, miny, maxx, maxy = floor.bounds + geometry = [] + # Include exact accepted orientation and nearby rotations; every candidate + # rigidly rotates/translates the accepted goal/base pair together. + yaw_offsets = [0, math.pi, math.radians(-15), math.radians(15), math.radians(-30), math.radians(30)] + for yaw_offset in yaw_offsets: + yaw = accepted_yaw + yaw_offset + rotated = vertices @ Rotation.from_euler("z", yaw).as_matrix().T + local_hull = Polygon(rotated[ConvexHull(rotated[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local_hull.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(other) for other in obstacles] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = Rotation.from_euler("z", yaw).as_matrix() + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ goal[:3, :3].T)[:, 2].min() + transform = goal @ np.linalg.inv(accepted_goal) + base = transform @ accepted_base + station_shift = float(np.linalg.norm(base[:2, 3] - np.asarray(item["place_base"])[:2, 3])) + goal_shift = float(np.linalg.norm(goal[:2, 3] - accepted_goal[:2, 3])) + geometry.append((station_shift + 0.15 * goal_shift + 0.02 * abs(yaw_offset), x, y, yaw, footprint, gaps, goal, base, transform)) + geometry.sort(key=lambda candidate: candidate[0]) + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + selfcheck = build(stage) + attempts = [] + accepted = None + for rank, candidate in enumerate(geometry[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transform = candidate + object_pose = robot.fk(names, q, base)[robot.root + hand_path.removeprefix("/World/Robot")] @ held + checker = Clearance(stage, robot, names, item["hand"], item["target"], vertices, held, {}) + if not checker.check(q, base): + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "station_clearance", "detail": checker.last}) + continue + slot = { + "xy": [float(x), float(y)], + "yaw_rad": float(yaw), + "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), + "tolerance_m": 0.001, + } + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": []} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, q, base, object_pose, vertices, item_job, obstacles, selfcheck, world_check=checker) + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "accepted_pair_transform": transform.tolist(), + "geometry": {"tray_inset_m": 0.008, "future_obstacle_gaps_m": [float(g) for g in gaps], "inside": True}, + "full_body_station_clearance": True, + "plan_frames": int(len(plan)), + "retreat_q": retreat.tolist(), + "placement_report": report, + "elapsed_s": time.monotonic() - began, + } + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "passed", "frames": len(plan)}) + break + except Exception as exc: + attempts.append({"rank": rank, "xy": [x, y], "yaw_rad": yaw, "stage": "solve", "error": str(exc), "elapsed_s": time.monotonic() - began}) + result = { + "schema": "multi_item.case2_last_slot_repair.v2", + "read_only": True, + "case_status_at_probe": status, + "method": "Rigidly transform the accepted-chain goal and robot station together; preserve the source held transform and place_initial; require tray geometry, stationary full-body/world clearance, and placement.solve full path/world checks.", + "evidence": {"job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "pick_recording": str(source / "recording_20hz.npz")}, + "candidate_count_geometry": len(geometry), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "LAST_SLOT_REPAIR_PROPOSAL_V2.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "candidate_count": len(geometry), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "geometry", "full_body_station_clearance", "plan_frames", "elapsed_s")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..d7bcb4fa1120790b9a0d86ded6172ba9f6f571c0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 3's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_03" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case3 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_03/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case3_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT03_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..61e450de1472cc5023d95c91edb0a273a555e3ac --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 3's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_03" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus both future reservations. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future_items = job["items"][2:] + futures = [Polygon(entry["placement_slot"]["footprint_xy"]) for entry in future_items] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(future) for future in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [entry["placement_slot"]["footprint_xy"] for entry in future_items]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(value) for value in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case3_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE3_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py new file mode 100644 index 0000000000000000000000000000000000000000..16835e1dabdf7dbd9375269696285954ab62a078 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py @@ -0,0 +1,313 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis and abort-retreat qualification for case 3 item 2.""" +import gzip +import json +import math +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +SRC = R / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000556" +OLD = R / "work/shelf_to_table50_20261001/cases/layout_44" +TARGET = "/World/Assets/ShelfItems/gatorade_t" +CAYMAN = "/World/Assets/ShelfItems/cayman_jacked" +BOARD_TOKEN = "shelf_boards_0/Object_4/Object_0" + +sys.path[:0] = [ + str(W), + str(R / "tools/family3"), + str(R / "work/family3_repair/collision/python_deps"), + str(R / "code/family3_repair/real2sim/teleop"), +] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from shapely.geometry import LineString, Polygon # noqa: E402 +from shapely.ops import unary_union # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + + +def matrix(pose): + out = np.eye(4) + out[:3, 3] = pose[:3] + out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return out + + +def yaw(mat): + return float(Rotation.from_matrix(mat[:3, :3]).as_euler("xyz")[2]) + + +def angle_error(a, b): + return float(Rotation.from_matrix(a[:3, :3].T @ b[:3, :3]).magnitude()) + + +def parse_contacts(path, first_tick, last_tick): + result = { + "target_board": [], + "target_gripper": [], + "target_cayman": [], + "target_other": [], + "cayman_gripper": [], + } + try: + with gzip.open(path, "rt") as stream: + while True: + try: + line = stream.readline() + except EOFError: + break # Frozen native process has not written the gzip footer. + if not line: + break + row = json.loads(line) + tick = int(row["tick"]) + if tick < first_tick or tick > last_tick: + continue + actors = row.get("actors", []) + if TARGET in actors: + other = actors[1] if actors[0] == TARGET else actors[0] + if BOARD_TOKEN in other: + key = "target_board" + elif "/World/Robot/gripper_r" in other: + key = "target_gripper" + elif other == CAYMAN: + key = "target_cayman" + else: + key = "target_other" + result[key].append((tick, other, row)) + if CAYMAN in actors: + other = actors[1] if actors[0] == CAYMAN else actors[0] + if "/World/Robot/gripper_r" in other: + result["cayman_gripper"].append((tick, other, row)) + except EOFError: + pass + + summary = {} + for key, rows in result.items(): + ticks = sorted({entry[0] for entry in rows}) + impulse = sum(float(np.linalg.norm(entry[2].get("impulse_sum", [0, 0, 0]))) for entry in rows) + summary[key] = { + "row_count": len(rows), + "contact_tick_count": len(ticks), + "first_tick": ticks[0] if ticks else None, + "last_tick": ticks[-1] if ticks else None, + "minimum_separation_m": min((float(entry[2]["min_separation_m"]) for entry in rows), default=None), + "sum_impulse_norm": impulse, + "other_paths": sorted({entry[1] for entry in rows}), + } + return summary + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case3 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + accepted = np.load(OLD / "rollout/recording_60hz.npz", allow_pickle=True) + controls = np.load(item["controls_file"]) + + phase_ids = np.flatnonzero((checkpoint["item_index"] == 2) & (checkpoint["phase"] == "item_02_shelf_pick")) + first_tick = int(checkpoint["tick"][phase_ids[0]]) + last_tick = int(checkpoint["tick"][phase_ids[-1]]) + samples = phase_ids[2::3] + names = checkpoint["dof_names"].tolist() + q = checkpoint["q"][-1].astype(float) + base = matrix(checkpoint["base_pose"][-1]) + target_index = checkpoint["target_paths"].tolist().index(TARGET) + target_poses = checkpoint["target_pose_all"][phase_ids, target_index] + target = matrix(checkpoint["target_pose_all"][-1, target_index]) + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + hand = matrix(checkpoint["robot_link_pose"][-1, hand_index]) + held = np.linalg.inv(hand) @ target + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1]) + } + + contacts = parse_contacts(C / "rollout/contacts.jsonl.gz", first_tick, last_tick) + motion = np.linalg.norm(target_poses[:, :3] - target_poses[0, :3], axis=1) + rotation = ( + Rotation.from_quat(target_poses[0, 3:]).inv() * Rotation.from_quat(target_poses[:, 3:]) + ).magnitude() + first_motion = int(np.flatnonzero(motion > 0.001)[0]) + first_rotation = int(np.flatnonzero(rotation > 0.05)[0]) + final_stability_translation = float(np.max(np.linalg.norm(target_poses[-120:, :3] - target_poses[-1, :3], axis=1))) + final_stability_rotation = float( + np.max((Rotation.from_quat(target_poses[-1, 3:]).inv() * Rotation.from_quat(target_poses[-120:, 3:])).magnitude()) + ) + + desired_base = np.asarray(item["pick_base"], dtype=float) + actual_start_base = matrix(checkpoint["base_pose"][phase_ids[0]]) + source_names = source["robot_dof_names"].tolist() + reorder = [names.index(name) for name in source_names] + q_error = checkpoint["q"][samples][:, reorder] - source["robot_joint_position_rad_or_m"] + arm_ids = [source_names.index(f"idx6{k}_arm_r_joint{k}") for k in range(1, 8)] + gripper_ids = [i for i, name in enumerate(source_names) if "gripper_r" in name] + + source_target_index = source["rigid_body_paths"].tolist().index(TARGET) + source_hand_index = source["robot_link_paths"].tolist().index(hand_path) + source_hand_target_distance = float( + np.linalg.norm( + source["robot_link_xyz_m"][-1, source_hand_index] + - source["prop_xyz_m"][-1, source_target_index] + ) + ) + accepted_pick = np.flatnonzero(accepted["phase"] == "shelf_pick") + accepted_hand_index = accepted["robot_link_paths"].tolist().index(hand_path) + accepted_hand_target_distance = float( + np.linalg.norm( + accepted["robot_link_pose"][accepted_pick[-1], accepted_hand_index, :3] + - accepted["target_pose"][accepted_pick[-1], :3] + ) + ) + source_contact = json.loads((SRC / "runtime_contact_readback.json").read_text()) + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + carried_checker = Clearance( + stage, robot, names, item["hand"], TARGET, controls["target_local"], held, prop_poses + ) + carried_checker.deadline = time.monotonic() + 900 + carried_start_clear = bool(carried_checker.check(q, base)) + carried_start_detail = carried_checker.last + + empty_checker = EmptyClearance(stage, robot, names, prop_poses, deadline_s=900) + empty_start_clear = bool(empty_checker.check(q, base)) + empty_start_detail = empty_checker.last + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / "03.json" + release = json.loads(release_path.read_text()) + floor = unary_union([Polygon(points).buffer(0) for points in release["floors"]]).buffer(-0.34) + heading = np.array([math.cos(yaw(base)), math.sin(yaw(base))]) + retreat_checks = [] + for distance in (0.05, 0.10, 0.15, 0.25, 0.35): + endpoint = base.copy() + endpoint[:2, 3] -= distance * heading + floor_clear = bool(floor.covers(LineString([base[:2, 3], endpoint[:2, 3]]))) + geometry_clear = bool(empty_checker.segment(q, q, base, endpoint)) if floor_clear else False + retreat_checks.append({ + "distance_m": distance, + "endpoint_base": endpoint.tolist(), + "floor_corridor_clear": floor_clear, + "robot_world_segment_clear": geometry_clear, + "detail": None if geometry_clear else empty_checker.last, + }) + + current_paths = checkpoint["rigid_body_paths"].tolist() + cayman_i = current_paths.index(CAYMAN) + target_prop_i = current_paths.index(TARGET) + cayman_initial = checkpoint["prop_pose"][0, cayman_i] + target_initial = checkpoint["prop_pose"][0, target_prop_i] + cayman_final = checkpoint["prop_pose"][-1, cayman_i] + + result = { + "schema": "multi_item.case3_item2_carry_boundary.v1", + "read_only": True, + "status_at_probe": status, + "evidence": { + "checkpoint": str(checkpoint_path), + "contacts": str(C / "rollout/contacts.jsonl.gz"), + "source": str(SRC), + "accepted_chain": str(OLD), + "controls": item["controls_file"], + "release_floor": str(release_path), + }, + "pickup_phase": { + "tick_range": [first_tick, last_tick], + "ticks": int(len(phase_ids)), + "source_frames": int(len(source["frame_index"])), + "three_ticks_per_source_frame": bool(len(phase_ids) == 3 * len(source["frame_index"])), + "right_arm_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, arm_ids] ** 2))), + "right_arm_tracking_max_rad": float(np.max(np.abs(q_error[:, arm_ids]))), + "right_gripper_tracking_rms_rad": float(np.sqrt(np.mean(q_error[:, gripper_ids] ** 2))), + "right_gripper_tracking_max_rad": float(np.max(np.abs(q_error[:, gripper_ids]))), + }, + "base_alignment": { + "requested_xy": desired_base[:2, 3].tolist(), + "actual_xy": actual_start_base[:2, 3].tolist(), + "xy_error_m": float(np.linalg.norm(actual_start_base[:2, 3] - desired_base[:2, 3])), + "yaw_error_rad": float(math.atan2(math.sin(yaw(actual_start_base) - yaw(desired_base)), math.cos(yaw(actual_start_base) - yaw(desired_base)))), + }, + "measured_target_outcome": { + "initial_pose": target_poses[0].tolist(), + "frozen_pose": target_poses[-1].tolist(), + "translation_m": (target_poses[-1, :3] - target_poses[0, :3]).tolist(), + "rotation_rad": float(rotation[-1]), + "maximum_center_lift_m": float(np.max(target_poses[:, 2] - target_poses[0, 2])), + "first_translation_over_1mm": {"phase_offset_ticks": first_motion, "tick": int(checkpoint["tick"][phase_ids[first_motion]])}, + "first_rotation_over_0_05rad": {"phase_offset_ticks": first_rotation, "tick": int(checkpoint["tick"][phase_ids[first_rotation]])}, + "frozen_hand_target_center_distance_m": float(np.linalg.norm(hand[:3, 3] - target[:3, 3])), + "source_endpoint_hand_target_center_distance_m": source_hand_target_distance, + "accepted_layout44_endpoint_hand_target_center_distance_m": accepted_hand_target_distance, + "last_120_ticks_translation_range_m": final_stability_translation, + "last_120_ticks_rotation_range_rad": final_stability_rotation, + }, + "physical_contact_timeline": contacts, + "source_contact_evidence": { + "pads": source_contact["pads"], + "source_target_contact_count": source_contact["target_contact_count"], + "current_target_gripper_contact_rows": contacts["target_gripper"]["row_count"], + }, + "distractor_causality": { + "cayman_absent_from_episode556_source": bool(CAYMAN not in source["rigid_body_paths"].tolist()), + "initial_target_cayman_center_distance_m": float(np.linalg.norm(target_initial[:3] - cayman_initial[:3])), + "cayman_translation_by_boundary_m": (cayman_final[:3] - cayman_initial[:3]).tolist(), + "sequence": "right gripper contacts Cayman Jack at tick 20017; Cayman Jack contacts Gatorade at tick 20041; Gatorade begins rotating at tick 20047 and translating >1 mm at tick 20057. The source episode contains no Cayman Jack.", + }, + "planner_collision_assessment": { + "carried_surrogate_clear_at_frozen_start": carried_start_clear, + "carried_surrogate_failure": carried_start_detail, + "empty_robot_clear_at_frozen_start": empty_start_clear, + "empty_robot_failure": empty_start_detail, + "classification": "real_physical_support_contact_not_convex_only", + "reason": "Physics records target/shelf-board contact on every pickup tick through tick 21250. The carry surrogate fails at its initial state because it incorrectly treats the ungrasped, shelf-supported bottle as attached to the hand.", + }, + "continuation_qualification": { + "carry_continuation": None, + "qualified": False, + "reason": "There is no live grasp to preserve. The bottle is tipped 1.581 rad, displaced, resting on the shelf, and 0.474 m from the gripper base. A carry continuation would spoof attachment of an ungrasped target.", + "safe_abort_retreat_only": { + "qualified": bool(empty_start_clear and all(entry["floor_corridor_clear"] and entry["robot_world_segment_clear"] for entry in retreat_checks)), + "motion": "Hold all 34 joint targets (including all gripper commands) fixed and execute one physical reverse drive primitive from the measured base. No target attachment, pose write, reset, or arm command.", + "tested_distances": retreat_checks, + "recommended_distance_m": 0.15, + "semantics": "This only withdraws the empty robot safely and must end the attempt as a physical pickup failure; it does not complete item 2.", + }, + }, + "recommendation": { + "action": "Do not apply a carry repair. End this attempt as a real pickup failure and perform a fresh physical retry from the released scene/prefix policy.", + "scene_prevention": "Use CASE3_FRESH_RETRY_INPUTS.json. Full four-source qualification shows that strict all-world clearance requires removing the three nonrequested blockers Cayman Jack, Oreo, and Skittles from a newly prepared scene; Cayman-only removal is insufficient.", + "pickup_gate": "Require bilateral target/gripper contact and bounded target-to-hand transform at the endpoint. Center lift alone is insufficient because tipping on the shelf produced a false >25 mm lift.", + "safe_state_option": "If the native process must be parked before termination, the qualified 0.15 m constant-posture physical reverse is safe-abort motion only.", + }, + "native_motion_executed": False, + "scene_or_job_modified": False, + } + out = C / "CASE3_ITEM02_CARRY_BOUNDARY_DIAGNOSTIC.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({ + "out": str(out), + "carry_continuation_qualified": result["continuation_qualification"]["qualified"], + "safe_abort_retreat_qualified": result["continuation_qualification"]["safe_abort_retreat_only"]["qualified"], + "contact_timeline": contacts, + "planner_collision": result["planner_collision_assessment"], + "recommendation": result["recommendation"], + }, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..239a690d8ac96b94da435886957077fde9fcffa0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 4's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_04" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case4 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_04/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case4_item1_fresh_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT04_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..a768edbf209de66516ed5f027c5e3f375c246b6b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Read-only full-path Honey Maid place repair probe from case 4's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_04" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case4 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][2:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:300]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][2:]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank":rank,"stage":"actual_compact_to_place_bridge","detail":checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_gaps_m": [float(x) for x in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case4_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE4_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py new file mode 100644 index 0000000000000000000000000000000000000000..e828420f634346f50903f91fa9df70ac6113c495 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [2.9377098028668382] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in [-1.378553647218034]: + for y in [-0.16699245336876373]: + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_DIRECT_OLD_SLOT_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..0654a6c28ddce7acc8b21fe6b5795c9be6ed03ad --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..18e1bac3878737d9e78405875017b16e8352796a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: (np.linalg.norm(np.asarray(entry[1:3])-np.asarray([-1.378553647218034,-0.16699245336876373])), entry[0])) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM01_TARGETED_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py new file mode 100644 index 0000000000000000000000000000000000000000..bf46cd53cf57bf8b307f451dcd23fdf56df4193b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py @@ -0,0 +1,209 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 5 item 2 frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + +C = W / "cases/layout_05" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case5 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed items 0 and 1, plus future reservations. + obstacles = [] + for completed_index in range(2): + completed_pose = matrix(checkpoint["target_pose_all"][-1, completed_index]) + completed_local = np.load(job["items"][completed_index]["controls_file"])["target_local"] + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles.append(Polygon(completed_world[ConvexHull(completed_world).vertices])) + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(3, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # Recheck the prepared source-grounded slot that passed the case-level + # offline solve, now against the actual two supported objects and live + # held transform. + prepared_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_05/SLOT_REACHABILITY_PROPOSAL.json" + prepared = json.loads(prepared_path.read_text())["items"][2]["report"] + ps = prepared["slot"] + px, py, pyaw = float(ps["xy"][0]), float(ps["xy"][1]), float(ps["yaw_rad"]) + prot = Rotation.from_euler("z", pyaw).as_matrix() + ppts = vertices @ prot.T + plocal = Polygon(ppts[ConvexHull(ppts[:, :2]).vertices, :2]) + pfoot = Polygon(np.asarray(plocal.exterior.coords)[:-1] + [px, py]) + pgaps = [pfoot.distance(o) for o in obstacles] + [pfoot.distance(f) for f in futures] + pgoal = np.asarray(prepared["goal"], dtype=float) + pbase = np.asarray(item["place_base"], dtype=float) + pbase[2, 3] = live_base[2, 3] + ptransfer = pgoal @ np.linalg.inv(accepted_goal) + if not floor.covers(pfoot) or (pgaps and min(pgaps) <= 0.012): + raise RuntimeError(f"prepared item2 footprint no longer valid: {pgaps}") + candidates = [(-1.0, px, py, pyaw, pfoot, pgaps, pgoal, pbase, ptransfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(3, len(job["items"]))]} + began = time.monotonic() + try: + release_checker = ReleaseSweep(stage, robot, names, item["hand"], item["target"], + vertices, prop_poses, item["place_source"], + pose_check=pose_check, deadline_s=900) + item_job["require_release_sweep"] = True + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, + item_job, obstacles, pose_check, + world_check=checker, release_sweep=release_checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(g) for g in gaps[:2]], "future_item_gaps_m": [float(g) for g in gaps[2:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_sweep": report["release_sweep"], + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case5_item2_release_sweep.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT05_ITEM02_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..b73c4550633896415531b1eebf95630d2947a5f7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 6's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_06" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case6 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case6_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT06_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py new file mode 100644 index 0000000000000000000000000000000000000000..bfe70d23ad4a33d03e02a1d522f4a798fefeb575 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py @@ -0,0 +1,283 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 6 item 2 frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_06" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"case6 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][2] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed items 0 and 1, plus future reservations. + obstacles = [] + for completed_index in range(2): + completed_pose = matrix(checkpoint["target_pose_all"][-1, completed_index]) + completed_local = np.load(job["items"][completed_index]["controls_file"])["target_local"] + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles.append(Polygon(completed_world[ConvexHull(completed_world).vertices])) + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(3, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # The prior physical attempt reached this same item boundary and its + # source-grounded candidate passed the full place/world probe. Recheck + # that exact candidate first against the new live held transform and the + # two newly measured supported objects instead of spending minutes on + # weaker grid candidates. + old_safe_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_06/CASE6_ITEM02_SAFE_PLACE_PROPOSAL.json" + old_safe = json.loads(old_safe_path.read_text())["accepted"] + old_slot = old_safe["slot"] + old_x, old_y, old_yaw = float(old_slot["xy"][0]), float(old_slot["xy"][1]), float(old_slot["yaw_rad"]) + old_rotation = Rotation.from_euler("z", old_yaw).as_matrix() + old_points = vertices @ old_rotation.T + old_local = Polygon(old_points[ConvexHull(old_points[:, :2]).vertices, :2]) + old_footprint = Polygon(np.asarray(old_local.exterior.coords)[:-1] + [old_x, old_y]) + old_gaps = [old_footprint.distance(o) for o in obstacles] + [old_footprint.distance(f) for f in futures] + old_goal = np.asarray(old_safe["placement_report"]["goal"], dtype=float) + old_base = np.asarray(old_safe["place_base"], dtype=float) + old_base[2, 3] = live_base[2, 3] + old_transfer = old_goal @ np.linalg.inv(accepted_goal) + if floor.covers(old_footprint) and (not old_gaps or min(old_gaps) > 0.012): + candidates = [(-1.0, old_x, old_y, old_yaw, old_footprint, old_gaps, + old_goal, old_base, old_transfer)] + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(3, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + # Explicit post-release screen. The placed target is stationary at the + # solved goal while the gripper opens and the hand follows retreat. + from collision_scene import Body, broad_overlap, contact + import trimesh + landed = Body(item["target"], trimesh.convex.convex_hull(vertices)) + landed.update(np.asarray(report["goal"], dtype=float)) + release_environment = checker.environment + [landed] + release_low = np.asarray([b.lo for b in release_environment]) + release_high = np.asarray([b.hi for b in release_environment]) + release_failure = None + allowed_release_contacts = [] + assigned_gripper_prefix = f"/World/Robot/gripper_{item['hand']}_" + def release_check(qq, phase, sample_index, fraction): + nonlocal release_failure + fk = robot.fk(names, qq, base) + okay, detail = pose_check(fk, robot.root) + if not okay: + release_failure = {"kind": "self_or_wrist", "detail": detail}; return False + for body in checker.self_check.bodies: + body.update(fk[body.name.replace('/World/Robot', robot.root, 1)]) + indices = np.flatnonzero(np.all(release_high >= body.lo, axis=1) & np.all(release_low <= body.hi, axis=1)) + for ii in indices: + other = release_environment[ii] + if contact(body, other, containment=True) is not None: + # The release necessarily starts with the two assigned + # distal fingers touching the stationary placed target. + # Record that contact during opening only; every other + # robot/world pair remains forbidden. Separation and + # the complete retreat are required below. + if other is landed and body.name.startswith(assigned_gripper_prefix): + allowed_release_contacts.append({"phase": phase, "sample": sample_index, "fraction": float(fraction), "link": body.name}) + continue + release_failure = {"kind": "released_world", "robot": body.name, "obstacle": other.name}; return False + return True + landing_q = np.asarray(plan[-1], dtype=float) + opened_q = landing_q.copy() + grip_control = control_names.index(f"idx{4 if item['hand']=='l' else 8}1_gripper_{item['hand']}_outer_joint1") + opened_q[ids[grip_control]] = math.pi / 4 + retreat_open = np.asarray(retreat, dtype=float).copy(); retreat_open[ids[grip_control]] = math.pi / 4 + release_ok = True + release_samples = 0 + phases = (("opening", landing_q, opened_q, 121), ("retreat", opened_q, retreat_open, max(61, int(np.max(np.abs(retreat_open-opened_q))/.01)+1))) + contact_samples = {"opening": set(), "retreat": set()} + for phase, qa, qb, count in phases: + for sample_index, u in enumerate(np.linspace(0., 1., count)): + release_samples += 1 + if release_samples % 10 == 0: print(f"RELEASE_PROGRESS {release_samples} {phase} {sample_index}/{count}", flush=True) + before = len(allowed_release_contacts) + if not release_check(qa*(1-u)+qb*u, phase, sample_index, u): release_ok = False; break + if len(allowed_release_contacts) > before: + contact_samples[phase].add(sample_index) + if not release_ok: break + if release_ok: + # Assigned distal-finger contact is mechanically necessary while + # opening and can persist briefly as retreat begins. Require a + # clean final quarter of retreat and forbid re-contact after the + # first three consecutive clean retreat samples. + retreat_count = phases[1][3] + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late = sorted(i for i in contact_samples["retreat"] if i >= late_start) + if late: + release_ok = False + release_failure = {"kind": "assigned_finger_target_contact_persisted", "samples": late} + else: + clean_start = None + for i in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (i, i + 1, i + 2)): + clean_start = i + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if clean_start is None or recontacts: + release_ok = False + release_failure = {"kind": "assigned_finger_target_recontact", "clean_start": clean_start, "samples": recontacts} + if not release_ok: + attempts.append({"rank": rank, "stage": "open_gripper_release_or_retreat_world", "xy": [x,y], "yaw": yaw, "detail": release_failure}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(g) for g in gaps[:2]], "future_item_gaps_m": [float(g) for g in gaps[2:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "release_open_gripper_world_clearance": True, + "release_retreat_world_clearance": True, + "release_sweep_samples": release_samples, + "release_assigned_contact_samples": {k: sorted(v) for k, v in contact_samples.items()}, + "release_separated_final_retreat_quarter": True, + "release_no_recontact_after_three_clean_samples": True, + "released_target_pose": np.asarray(report["goal"], dtype=float).tolist(), + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case6_item2_arrival_release.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT06_ITEM02_ARRIVAL_RELEASE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..88885c1be4c38a314deff31ee490d1678c14cf7a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 7's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_07" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case7 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact_path = R / "work/shelf_to_table_multi10_20261005/cases/layout_07/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + futures = [Polygon(job["items"][k]["placement_slot"]["footprint_xy"]) for k in range(2, len(job["items"]))] + reserved = futures + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0])] + [footprint.distance(f) for f in futures] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][k]["placement_slot"]["footprint_xy"] for k in range(2, len(job["items"]))]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item_gaps_m": [float(g) for g in gaps[1:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case7_item1_live_place.v2", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "diagnostics/LAYOUT07_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..19dc537f85f0db3a3a388fb0028da569f12bcb53 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 8's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_08" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case8 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index("/World/Robot/gripper_r_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Navigation changes planar SE(2) only. Qualify at the actual + # grounded chassis height captured at this frozen boundary. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + if not checker.segment(live_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + "/gripper_r_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case8_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / "CASE8_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..189f4e706803bcd621c6c8c563e32cb20093c469 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python3 +"""Read-only full-path Chomps place repair probe from case 9's frozen state.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +C = W / "cases/layout_09" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 1: + raise RuntimeError(f"case9 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Actual completed item 0, plus the future item 2 reservation. + item0_pose = matrix(checkpoint["target_pose_all"][-1, 0]) + item0_local = np.load(job["items"][0]["controls_file"])["target_local"] + item0_world = (np.c_[item0_local, np.ones(len(item0_local))] @ item0_pose.T)[:, :2] + obstacles = [Polygon(item0_world[ConvexHull(item0_world).vertices])] + future = Polygon(job["items"][2]["placement_slot"]["footprint_xy"]) + reserved = [future] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(obstacles[0]), footprint.distance(future)] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + # Native navigation preserves the grounded root height. The + # historical source station carried an unrealizable 11 mm Z + # bias that must not enter FK, bridge, or placement checks. + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [job["items"][2]["placement_slot"]["footprint_xy"]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + # The native repair transitions from the carry planner's compact + # destination posture, not directly from the frozen live posture. + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "post_carry_destination_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_item0_gap_m": float(gaps[0]), "future_item2_gap_m": float(gaps[1]), "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "carry_bridge_and_place_descent_world_checks": True, + "release_retreat_offline_scope": "self_and_wrist_only; authoritative native all-target world audit required", + "base_z_normalized_to_live_checkpoint": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.case9_item1_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = W / "CASE09_ITEM01_LIVE_PLACE_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "carry_bridge_and_place_descent_world_checks", "release_retreat_offline_scope")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py new file mode 100644 index 0000000000000000000000000000000000000000..6e54295176cebaf6db13f880263bd2247d0aa44d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python3 +"""Read-only future Honeymaid carry/place prequalification for case 9.""" +import json, math, os, pathlib, sys, time +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W=pathlib.Path(__file__).resolve().parent;R=W.parents[1];C=W/'cases/layout_09' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from carry_transition import Clearance,plan as plan_carry +from native_planner import build +from placement import solve +from ik_solver import Arm + +def matrix_xyzw(p): + m=np.eye(4);m[:3,3]=p[:3];m[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return m + +def matrix_wxyz(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m + +def footprint(local,pose): + world=(np.c_[local,np.ones(len(local))]@pose.T)[:,:3] + return Polygon(world[ConvexHull(world[:,:2]).vertices,:2]) + +def main(): + status=json.loads((C/'STATUS.json').read_text());job=json.loads((C/'job.json').read_text());item=job['items'][2] + checkpoint_path=C/'rollout/checkpoint_60hz.npz';checkpoint=np.load(checkpoint_path,allow_pickle=True) + if int(checkpoint['item_index'][-1])!=2:raise RuntimeError('Pinned case9 checkpoint is not the live item2 carry boundary') + zbar_proposal_path=W/'CASE09_ITEM01_LIVE_PLACE_PROPOSAL.json';zbar_proposal=json.loads(zbar_proposal_path.read_text());zbar=zbar_proposal['accepted'] + exact=json.loads((C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json').read_text())['items'][2] + data=np.load(item['controls_file']);prior=np.load(exact['prior_controls']);names=checkpoint['dof_names'].tolist();control_names=data['names'].tolist();ids=[names.index(name) for name in control_names] + q_pick=checkpoint['q'][-1].astype(float).copy();q_place=q_pick.copy();q_place[ids]=prior['place_initial'] + grippers=[i for i,name in enumerate(names) if 'gripper_' in name];q_place[grippers]=q_pick[grippers] + hand_path=f"/World/Robot/gripper_{item['hand']}_base_link";hi=checkpoint['robot_link_paths'].tolist().index(hand_path);ti=checkpoint['target_paths'].tolist().index(item['target']) + held=np.linalg.inv(matrix_xyzw(checkpoint['robot_link_pose'][-1,hi]))@matrix_xyzw(checkpoint['target_pose_all'][-1,ti]) + live_base_z=float(checkpoint['base_pose'][-1,2]);pick_base=matrix_xyzw(checkpoint['base_pose'][-1]) + stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage) + predicted_post_pick=matrix_xyzw(checkpoint['target_pose_all'][-1,ti]) + # Preserve actual frozen prop poses, replacing only Zbar with its qualified (not yet final actual) landing. + prop_poses={str(path):matrix_xyzw(pose) for path,pose in zip(checkpoint['rigid_body_paths'],checkpoint['prop_pose'][-1])} + checkpoint_receipt=json.loads((C/'rollout/CHECKPOINT.json').read_text());zbar_is_actual=job['items'][1]['target'] in checkpoint_receipt.get('completed_objects',[]) + if zbar_is_actual: + zbar_goal=matrix_xyzw(checkpoint['target_pose_all'][-1,1]) + else: + zbar_goal=np.asarray(zbar['placement_report']['goal'],float);prop_poses[job['items'][1]['target']]=zbar_goal + gatorade_pose=matrix_xyzw(checkpoint['target_pose_all'][-1,0]);gatorade_local=np.load(job['items'][0]['controls_file'])['target_local'];gatorade_foot=footprint(gatorade_local,gatorade_pose) + zbar_local=np.load(job['items'][1]['controls_file'])['target_local'];zbar_foot=footprint(zbar_local,zbar_goal);obstacles=[gatorade_foot,zbar_foot] + vertices=data['target_local'];floor=Polygon(job['tray_polygon_xy']).buffer(-.008);accepted_goal=np.asarray(exact['transferred_accepted_goal'],float);accepted_base=np.asarray(exact['transferred_accepted_base'],float) + accepted_yaw=float(exact['accepted_yaw_rad']);job_yaw=float(item['placement_slot']['yaw_rad']);yaws=[] + for yaw in [accepted_yaw,accepted_yaw+math.pi,accepted_yaw+math.pi/2,accepted_yaw-math.pi/2,accepted_yaw+math.radians(15),accepted_yaw-math.radians(15),job_yaw,job_yaw+math.pi]: + yaw=float(math.atan2(math.sin(yaw),math.cos(yaw))) + if all(abs(math.atan2(math.sin(yaw-old),math.cos(yaw-old)))>1e-8 for old in yaws):yaws.append(yaw) + minx,miny,maxx,maxy=floor.bounds;candidates=[] + for yaw in yaws: + rot=Rotation.from_euler('z',yaw).as_matrix();points=vertices@rot.T;local=Polygon(points[ConvexHull(points[:,:2]).vertices,:2]) + for x in np.arange(minx,maxx+1e-9,.004): + for y in np.arange(miny,maxy+1e-9,.004): + foot=Polygon(np.asarray(local.exterior.coords)[:-1]+[x,y]);gaps=[foot.distance(o) for o in obstacles] + if not floor.covers(foot) or min(gaps)<=.012:continue + goal=np.eye(4);goal[:3,:3]=rot;goal[:2,3]=[x,y];goal[2,3]=job['tray_floor_z']+.002-(vertices@rot.T)[:,2].min() + transfer=goal@np.linalg.inv(accepted_goal);base=transfer@accepted_base;base[2,3]=live_base_z + score=float(np.linalg.norm(base[:2,3]-np.asarray(item['place_base'])[:2,3])+.12*np.linalg.norm(goal[:2,3]-np.asarray(item['placement_slot']['xy']))) + candidates.append((score,x,y,yaw,foot,gaps,goal,base,transfer)) + candidates.sort(key=lambda row:row[0]);attempts=[];accepted=None;place_only=None + source_layout_id=int(job.get('source_layout_id',job['layout_id']));release_path=pathlib.Path(job['layout']).parents[1]/'audits_release'/f'{source_layout_id:02d}.json';release=json.loads(release_path.read_text()) + checker=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,prop_poses);checker.deadline=time.monotonic()+1800 + arm_ids=[names.index(f"idx{6 if item['hand']=='r' else 2}{k}_arm_{item['hand']}_joint{k}") for k in range(1,8)] + joints={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')} + lo=np.array([joints[names[i]].GetAttribute('physics:lowerLimit').Get() for i in arm_ids])*np.pi/180+1e-4;hi=np.array([joints[names[i]].GetAttribute('physics:upperLimit').Get() for i in arm_ids])*np.pi/180-1e-4 + from motion_limits import LOWER,UPPER + offset=0 if item['hand']=='l' else 7;lo=np.maximum(lo,LOWER[offset:offset+7]+1e-4);hi=np.minimum(hi,UPPER[offset:offset+7]-1e-4) + for rank,candidate in enumerate(candidates[:80]): + _,x,y,yaw,foot,gaps,goal,base,transfer=candidate + # Correct the historical station's 11 mm root-height bias by solving only + # the active arm back to the rigidly transferred accepted object goal. + arm=Arm(robot,names,q_place,base,robot.root+hand_path.removeprefix('/World/Robot'),arm_ids);previous=q_place[arm_ids].copy();hand_goal=goal@np.linalg.inv(held) + fit=least_squares(lambda v:arm.evaluate(v,hand_goal,previous)[0],np.clip(previous,lo,hi),jac=lambda v:arm.evaluate(v,hand_goal,previous)[1],bounds=(lo,hi),max_nfev=100) + q_station=q_place.copy();q_station[arm_ids]=fit.x;actual_hand=arm.forward(fit.x)[0];endpoint_error=[float(np.linalg.norm(actual_hand[:3,3]-hand_goal[:3,3])),float(Rotation.from_matrix(hand_goal[:3,:3].T@actual_hand[:3,:3]).magnitude())] + if endpoint_error[0]>.002 or endpoint_error[1]>.02:attempts.append(dict(rank=rank,stage='normalized_station_endpoint',error=endpoint_error));continue + if not checker.check(q_station,base):attempts.append(dict(rank=rank,stage='destination_place_initial_clearance',detail=checker.last));continue + object_pose=robot.fk(names,q_station,base)[robot.root+hand_path.removeprefix('/World/Robot')]@held + slot=dict(xy=[float(x),float(y)],yaw_rad=float(yaw),footprint_xy=np.asarray(foot.exterior.coords)[:-1].tolist(),tolerance_m=.001) + item_job={**job,**item,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':[],'carry_policy':'precision_body_route_v2','carry_exit_candidates':[.25,.45,.15,.05]};item_job.pop('carry_route_seed',None) + began=time.monotonic() + try:plan,retreat,place_report=solve(robot,names,q_station,base,object_pose,vertices,item_job,obstacles,pose_check,world_check=checker) + except Exception as exc:attempts.append(dict(rank=rank,stage='placement',error=str(exc),elapsed_s=time.monotonic()-began));continue + place_only=dict(rank=rank,slot=slot,destination_xyz=[float(x),float(y),float(job['tray_floor_z'])],place_base=base.tolist(),place_initial20=q_station[ids].tolist(),source_place_initial20=prior['place_initial'].tolist(),normalized_station_endpoint_error=endpoint_error,held_live=held.tolist(),geometry=dict(tray_inset_m=.008,gap_to_actual_gatorade_m=float(gaps[0]),gap_to_actual_zbar_m=float(gaps[1]),inside=True),placement_plan_frames=len(plan),placement_report=place_report,retreat_q=retreat.tolist(),base_z_normalized_to_checkpoint=True,station_bridge_and_place_descent_world_checks=True,release_retreat_offline_scope='self_and_wrist_only; authoritative native all-target world audit required') + try:compact,primitives,carry_report=plan_carry(stage,robot,names,q_pick,pick_base,item['hand'],item['target'],vertices,predicted_post_pick,prop_poses,item_job,release) + except Exception as exc:attempts.append(dict(rank=rank,stage='live_source_carry',error=str(exc),elapsed_s=time.monotonic()-began));break + if not checker.segment(compact,q_station,base,base):attempts.append(dict(rank=rank,stage='post_carry_destination_bridge_clearance',detail=checker.last));continue + accepted=dict(rank=rank,slot=slot,destination_xyz=[float(x),float(y),float(job['tray_floor_z'])],place_base=base.tolist(),place_initial20=q_station[ids].tolist(),source_place_initial20=prior['place_initial'].tolist(),normalized_station_endpoint_error=endpoint_error,held_source=held.tolist(),predicted_post_pick_pose=predicted_post_pick.tolist(),pair_transform=transfer.tolist(),geometry=dict(tray_inset_m=.008,gap_to_actual_gatorade_m=float(gaps[0]),gap_to_zbar_m=float(gaps[1]),zbar_pose_source='actual supported checkpoint' if zbar_is_actual else 'qualified predicted landing',inside=True),placement_plan_frames=len(plan),placement_report=place_report,retreat_q=retreat.tolist(),reposition=dict(compact_q=compact.tolist(),primitives=primitives,report=carry_report),base_z_normalized_to_checkpoint=True,carry_bridge_and_place_descent_world_checks=True,release_retreat_offline_scope='self_and_wrist_only; authoritative native all-target world audit required') + attempts.append(dict(rank=rank,stage='passed',placement_frames=len(plan),reposition_primitives=len(primitives)));break + result=dict(schema='multi_item.case9_item2_live_place.v1',read_only=True,prediction_only=False,status_at_probe=status,pinned_checkpoint_tick=int(checkpoint['tick'][-1]),method='Actual live item2 held transform and full prop poses; exact accepted placement pair with grounded-base-normalized place posture; placement and standard carry evaluated separately.',evidence=dict(checkpoint=str(checkpoint_path),job=str(C/'job.json'),exact_source=str(C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json'),prior_controls=exact['prior_controls'],prior_placement=exact['prior_placement_plan'],zbar_qualified_proposal=str(zbar_proposal_path)),pose_evidence=dict(gatorade='actual checkpoint',zbar='actual supported checkpoint',honeymaid='actual live post-pick checkpoint'),geometry_candidates=len(candidates),accepted=accepted,place_only_qualified=place_only,attempts=attempts,native_recheck_required=['custom live shelf egress if standard carry remains blocked','live carry execution','all final validation gates']) + out=W/'CASE09_ITEM02_LIVE_PLACE_PROPOSAL.json';out.write_text(json.dumps(result,indent=2)+'\n');print(json.dumps(dict(out=str(out),geometry_candidates=len(candidates),accepted=accepted and {k:accepted[k] for k in ['rank','slot','destination_xyz','place_base','geometry','placement_plan_frames','base_z_normalized_to_checkpoint','carry_bridge_and_place_descent_world_checks','release_retreat_offline_scope']},place_only_qualified=place_only and {k:place_only[k] for k in ['rank','slot','destination_xyz','place_base','geometry','placement_plan_frames','base_z_normalized_to_checkpoint','station_bridge_and_place_descent_world_checks','release_retreat_offline_scope']},attempts=attempts),indent=2));raise SystemExit(0 if accepted or place_only else 2) +if __name__=='__main__':main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py new file mode 100644 index 0000000000000000000000000000000000000000..115071938d4f97e0caf45f2e34ea5b1abd1adf70 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py @@ -0,0 +1,546 @@ +#!/usr/bin/env python3 +"""Read-only diagnosis of case 9's frozen HoneyMaid shelf egress boundary.""" +import hashlib +import json +import math +import os +import pathlib +import sys +import time +import zlib + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_09" +sys.path[:0] = [ + str(W), + str(R / "tools/family3"), + str(R / "work/place_training_tray_20260918"), + str(R / "work/family3_repair/collision/python_deps"), + str(R / "code/family3_repair/real2sim/teleop"), +] +os.environ["SPATIALINDEX_C_LIBRARY"] = str( + R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so" +) + +from pxr import Usd, UsdGeom, UsdPhysics # noqa: E402 +from collision_scene import ( # noqa: E402 + Body, + ROBOT, + Robot, + burial, + collider_mesh, + contact, + matrix, + rigid_ancestor, +) +from carry_transition import Clearance # noqa: E402 +from ik_solver import Arm # noqa: E402 + + +def pose_matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def rigid_part(value): + value = np.asarray(value, dtype=float) + u, _, vt = np.linalg.svd(value[:3, :3]) + rotation = u @ vt + if np.linalg.det(rotation) < 0: + u[:, -1] *= -1 + rotation = u @ vt + result = np.eye(4) + result[:3, :3] = rotation + result[:3, 3] = value[:3, 3] + return result + + +def decode_native_contacts(path, target, neighbor): + decoder = zlib.decompressobj(16 + zlib.MAX_WBITS) + raw = decoder.decompress(path.read_bytes()) + rows = [] + incomplete_rows = 0 + for line in raw.splitlines(): + try: + row = json.loads(line) + except json.JSONDecodeError: + incomplete_rows += 1 + continue + if set(row.get("actors", [])) == {target, neighbor}: + rows.append(row) + ticks = sorted({int(row["tick"]) for row in rows}) + per_tick = [] + for tick in ticks: + selected = [row for row in rows if int(row["tick"]) == tick] + per_tick.append( + { + "tick": tick, + "rows": len(selected), + "unique_neighbor_colliders": sorted({row["colliders"][0] for row in selected}), + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in selected), + "maximum_impulse_norm": max(float(np.linalg.norm(row["impulse_sum"])) for row in selected), + } + ) + return { + "decoder": "partial gzip stream decoded without final trailer", + "complete_json_rows": len(raw.splitlines()) - incomplete_rows, + "discarded_incomplete_tail_rows": incomplete_rows, + "pair_rows": len(rows), + "first_tick": ticks[0] if ticks else None, + "last_complete_contact_tick": ticks[-1] if ticks else None, + "last_20_tick_summary": per_tick[-20:], + "minimum_reported_separation_m": min(float(row["min_separation_m"]) for row in rows), + "maximum_impulse_norm": max(float(np.linalg.norm(row["impulse_sum"])) for row in rows), + "native_pair_contact_present": bool(rows), + } + + +def target_native_body(stage, target_path, target_pose): + cache = UsdGeom.XformCache() + target_prim = stage.GetPrimAtPath(target_path) + colliders = [] + for prim in Usd.PrimRange(target_prim, Usd.TraverseInstanceProxies()): + if not prim.HasAPI(UsdPhysics.CollisionAPI): + continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False: + continue + mesh, method, approximation = collider_mesh(prim) + owner = rigid_ancestor(prim) + if owner is None or str(owner.GetPath()) != target_path: + continue + authored_owner = rigid_part(matrix(cache.GetLocalToWorldTransform(owner))) + authored_collider = matrix(cache.GetLocalToWorldTransform(prim)) + mesh.apply_transform(np.linalg.inv(authored_owner) @ authored_collider) + colliders.append( + Body( + str(prim.GetPath()) + "#native_target_collider", + mesh, + target_pose, + {"method": method, "approximation": approximation}, + ) + ) + if not colliders: + raise RuntimeError("No enabled target collider reconstructed") + return colliders + + +def pair_key(a, b): + return (a.name, b.name) + + +def main(): + status_path = C / "STATUS.json" + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + contact_path = C / "rollout/contacts.jsonl.gz" + status = json.loads(status_path.read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != 2: + raise RuntimeError(f"Frozen case 9 item 2 boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + target_path = item["target"] + neighbor_path = "/World/Assets/Tier2Items/oreo_gf" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + base = pose_matrix(checkpoint["base_pose"][-1]) + link_paths = checkpoint["robot_link_paths"].tolist() + target_paths = checkpoint["target_paths"].tolist() + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = link_paths.index(hand_path) + target_index = target_paths.index(target_path) + recorded_hand = pose_matrix(checkpoint["robot_link_pose"][-1, hand_index]) + recorded_target = pose_matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(recorded_hand) @ recorded_target + prop_poses = { + str(path): pose_matrix(value) + for path, value in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1]) + } + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + target_vertices = np.load(item["controls_file"])["target_local"] + checker = Clearance(stage, robot, names, item["hand"], target_path, target_vertices, held, prop_poses) + checker.deadline = time.monotonic() + 1800 + local_fk = robot.fk(names, q, np.eye(4)) + self_ok, self_detail = checker.self_check(local_fk, robot.root) + reconstructed_hand = base @ local_fk[robot.root + "/gripper_r_base_link"] + reconstructed_target = reconstructed_hand @ held + fk_error = { + "hand_translation_m": float(np.linalg.norm(reconstructed_hand[:3, 3] - recorded_hand[:3, 3])), + "hand_rotation_rad": float(Rotation.from_matrix(reconstructed_hand[:3, :3].T @ recorded_hand[:3, :3]).magnitude()), + "target_translation_m": float(np.linalg.norm(reconstructed_target[:3, 3] - recorded_target[:3, 3])), + "target_rotation_rad": float(Rotation.from_matrix(reconstructed_target[:3, :3].T @ recorded_target[:3, :3]).magnitude()), + } + native_targets = target_native_body(stage, target_path, recorded_target) + neighbor_environment = [body for body in checker.environment if body.name.startswith(neighbor_path + "/")] + if not neighbor_environment: + raise RuntimeError("No reconstructed Oreo collider bodies") + + yaw = float(Rotation.from_matrix(base[:3, :3]).as_euler("xyz")[2]) + heading = np.array([math.cos(yaw), math.sin(yaw)]) + + def evaluate_state(candidate_q, candidate_base, label): + state_local_fk = robot.fk(names, candidate_q, np.eye(4)) + state_self_ok, state_self_detail = checker.self_check(state_local_fk, robot.root) + world_fk = {name: candidate_base @ value for name, value in state_local_fk.items()} + for body in checker.self_check.bodies: + body.update(world_fk[body.name.replace("/World/Robot", robot.root, 1)]) + candidate_target = world_fk[robot.root + "/gripper_r_base_link"] @ held + checker.target.update(candidate_target) + delta = candidate_target @ np.linalg.inv(recorded_target) + for body in native_targets: + body.update(delta @ body.authored_transform) + + collisions = [] + tested = checker.self_check.bodies + [checker.target] + for body in tested: + indices = np.flatnonzero( + np.all(checker.high >= body.lo, axis=1) & np.all(checker.low <= body.hi, axis=1) + ) + for index in indices: + other = checker.environment[index] + hit = contact(body, other, containment=True) + if hit is not None: + collisions.append({"a": body.name, "b": other.name, "contact": hit}) + native_pair_hits = [] + for target_body in native_targets: + for neighbor_body in neighbor_environment: + hit = contact(target_body, neighbor_body, containment=True) + if hit is not None: + native_pair_hits.append( + { + "target_collider": target_body.name, + "neighbor_collider": neighbor_body.name, + "contact": hit, + "burial": burial(target_body, neighbor_body, max_points=1024), + } + ) + return { + "label": label, + "base_xy": candidate_base[:2, 3].tolist(), + "target_xyz": candidate_target[:3, 3].tolist(), + "self_and_wrist_ok": bool(state_self_ok), + "self_and_wrist_detail": state_self_detail, + "planner_collision_pairs": collisions, + "planner_collision_pair_count": len(collisions), + "planner_target_neighbor_pairs": [ + row for row in collisions if row["a"] == target_path and row["b"].startswith(neighbor_path + "/") + ], + "native_shape_target_neighbor_pairs": native_pair_hits, + "native_shape_target_neighbor_pair_count": len(native_pair_hits), + } + + def evaluate_reverse(distance): + candidate_base = base.copy() + candidate_base[:2, 3] -= distance * heading + result = evaluate_state(q, candidate_base, f"reverse_{distance:.6f}m") + result["reverse_distance_m"] = float(distance) + return result + + # Dense first-centimeter samples isolate the first reverse behavior; later + # samples confirm that the same fixed-grasp base motion remains clear. + distances = [0.0, 0.00025, 0.0005, 0.001, 0.002, 0.003, 0.005, 0.0075, 0.01] + distances += [float(value) for value in np.arange(0.0125, 0.25001, 0.0025)] + samples = [evaluate_reverse(distance) for distance in distances] + initial_pairs = { + (row["a"], row["b"]) for row in samples[0]["planner_collision_pairs"] + } + for sample in samples: + pairs = {(row["a"], row["b"]) for row in sample["planner_collision_pairs"]} + sample["new_planner_pairs_relative_to_start"] = [list(pair) for pair in sorted(pairs - initial_pairs)] + sample["existing_planner_pairs_remaining"] = [list(pair) for pair in sorted(pairs & initial_pairs)] + first_planner_clear = next( + (sample["reverse_distance_m"] for sample in samples if not sample["planner_target_neighbor_pairs"]), None + ) + first_native_shape_clear = next( + (sample["reverse_distance_m"] for sample in samples if sample["native_shape_target_neighbor_pair_count"] == 0), None + ) + no_new_pairs = all(not sample["new_planner_pairs_relative_to_start"] for sample in samples) + all_after_planner_clear = bool( + first_planner_clear is not None + and all( + not sample["planner_target_neighbor_pairs"] + for sample in samples + if sample["reverse_distance_m"] >= first_planner_clear + ) + ) + all_after_native_clear = bool( + first_native_shape_clear is not None + and all( + sample["native_shape_target_neighbor_pair_count"] == 0 + for sample in samples + if sample["reverse_distance_m"] >= first_native_shape_clear + ) + ) + gripper_ids = [index for index, name in enumerate(names) if "gripper_" in name] + native_contacts = decode_native_contacts(contact_path, target_path, neighbor_path) + + # Search small continuous right-arm translations. A target-space move is + # acceptable only if every interpolated posture passes the original + # self/wrist gate, creates no new environment actor pair, and reaches a + # state accepted by the ordinary strict world checker. + arm_ids = [names.index(f"idx6{k}_arm_r_joint{k}") for k in range(1, 8)] + joints = {prim.GetName(): prim for prim in robot.stage.Traverse() if prim.GetAttribute("physics:lowerLimit")} + lower = np.array([joints[names[index]].GetAttribute("physics:lowerLimit").Get() for index in arm_ids]) * np.pi / 180 + 1e-4 + upper = np.array([joints[names[index]].GetAttribute("physics:upperLimit").Get() for index in arm_ids]) * np.pi / 180 - 1e-4 + from motion_limits import LOWER, UPPER + + lower = np.maximum(lower, LOWER[7:14] + 1e-4) + upper = np.minimum(upper, UPPER[7:14] - 1e-4) + arm = Arm(robot, names, q, base, robot.root + "/gripper_r_base_link", arm_ids) + current_hand = reconstructed_hand + + def actor_pair(row): + obstacle = row["b"] + if obstacle.startswith(neighbor_path + "/"): + obstacle = neighbor_path + elif obstacle.startswith("/World/Assets/ShelvingUnit/"): + obstacle = "/World/Assets/ShelvingUnit" + return row["a"], obstacle + + initial_actor_pairs = {actor_pair(row) for row in samples[0]["planner_collision_pairs"]} + arm_candidates = [] + direction_rows = [ + ("world_minus_x", np.array([-1.0, 0.0, 0.0])), + ("world_plus_x", np.array([1.0, 0.0, 0.0])), + ("world_plus_y", np.array([0.0, 1.0, 0.0])), + ("world_minus_y", np.array([0.0, -1.0, 0.0])), + ("world_plus_z", np.array([0.0, 0.0, 1.0])), + ("world_minus_x_plus_z", np.array([-1.0, 0.0, 1.0]) / math.sqrt(2.0)), + ("world_plus_x_plus_z", np.array([1.0, 0.0, 1.0]) / math.sqrt(2.0)), + ("world_plus_y_plus_z", np.array([0.0, 1.0, 1.0]) / math.sqrt(2.0)), + ] + for direction_name, direction in direction_rows: + for distance in (0.002, 0.005, 0.010, 0.015, 0.020, 0.030, 0.040): + goal = current_hand.copy() + goal[:3, 3] += direction * distance + previous = q[arm_ids].copy() + fit = least_squares( + lambda value: arm.evaluate(value, goal, previous)[0], + np.clip(previous, lower, upper), + jac=lambda value: arm.evaluate(value, goal, previous)[1], + bounds=(lower, upper), + max_nfev=120, + ) + endpoint_hand = arm.forward(fit.x)[0] + endpoint_error = { + "translation_m": float(np.linalg.norm(endpoint_hand[:3, 3] - goal[:3, 3])), + "rotation_rad": float(Rotation.from_matrix(endpoint_hand[:3, :3].T @ goal[:3, :3]).magnitude()), + } + row = { + "direction": direction_name, + "distance_m": distance, + "direction_world": direction.tolist(), + "endpoint_error": endpoint_error, + "fit_success": bool(fit.success), + } + if endpoint_error["translation_m"] > 0.001 or endpoint_error["rotation_rad"] > 0.01: + row["qualified"] = False + row["reason"] = "ik_endpoint_error" + arm_candidates.append(row) + continue + endpoint_q = q.copy() + endpoint_q[arm_ids] = fit.x + steps = max(2, int(math.ceil(float(np.max(np.abs(endpoint_q - q))) / 0.005))) + path = [] + prior_native_count = samples[0]["native_shape_target_neighbor_pair_count"] + monotonic_native_count = True + for index, u in enumerate(np.linspace(0.0, 1.0, steps + 1)): + state_q = q * (1.0 - u) + endpoint_q * u + state = evaluate_state(state_q, base, f"{direction_name}_{distance:.3f}_u{u:.6f}") + actor_pairs = {actor_pair(hit) for hit in state["planner_collision_pairs"]} + state["new_actor_pairs"] = [list(pair) for pair in sorted(actor_pairs - initial_actor_pairs)] + native_count = state["native_shape_target_neighbor_pair_count"] + if native_count > prior_native_count: + monotonic_native_count = False + prior_native_count = native_count + path.append(state) + endpoint = path[-1] + endpoint_q_strict_ok = checker.check(endpoint_q, base) + endpoint_q_strict_detail = None if endpoint_q_strict_ok else checker.last + row.update( + { + "endpoint_q": endpoint_q.tolist(), + "max_joint_delta_rad": float(np.max(np.abs(endpoint_q - q))), + "path_sample_count": len(path), + "all_self_and_wrist_ok": all(state["self_and_wrist_ok"] for state in path), + "no_new_actor_pairs": all(not state["new_actor_pairs"] for state in path), + "native_shape_neighbor_count_nonincreasing": monotonic_native_count, + "endpoint_native_shape_neighbor_pair_count": endpoint["native_shape_target_neighbor_pair_count"], + "endpoint_planner_target_neighbor_pair_count": len(endpoint["planner_target_neighbor_pairs"]), + "endpoint_planner_collision_pair_count": endpoint["planner_collision_pair_count"], + "endpoint_strict_world_ok": bool(endpoint_q_strict_ok), + "endpoint_strict_world_detail": endpoint_q_strict_detail, + "path": path, + } + ) + row["qualified"] = bool( + row["all_self_and_wrist_ok"] + and row["no_new_actor_pairs"] + and row["native_shape_neighbor_count_nonincreasing"] + and row["endpoint_native_shape_neighbor_pair_count"] == 0 + and row["endpoint_planner_target_neighbor_pair_count"] == 0 + and row["endpoint_strict_world_ok"] + ) + arm_candidates.append(row) + # The local adjustment is useful only if the unchanged raised posture can + # immediately enter the standard strictly collision-free reverse screen. + for row in arm_candidates: + if not row.get("qualified"): + continue + endpoint_q = np.asarray(row["endpoint_q"], dtype=float) + reverse_results = [] + for distance in (0.05, 0.10, 0.15, 0.25): + exit_base = base.copy() + exit_base[:2, 3] -= distance * heading + okay = checker.segment(endpoint_q, endpoint_q, base, exit_base) + reverse_results.append( + { + "distance_m": distance, + "strict_world_segment_ok": bool(okay), + "detail": None if okay else checker.last, + } + ) + row["ordinary_reverse_rechecks"] = reverse_results + row["qualified_with_ordinary_reverse"] = all(item["strict_world_segment_ok"] for item in reverse_results) + # The ordinary policy already uses a 0.55 m body height after shelf + # departure. Also test a staged escape: a short strict 5 cm reverse, + # raise there, then continue to 25 cm. This avoids dragging the held + # carton through Oreo at its original height. + if reverse_results[0]["strict_world_segment_ok"]: + base_005 = base.copy() + base_005[:2, 3] -= 0.05 * heading + base_025 = base.copy() + base_025[:2, 3] -= 0.25 * heading + high_q = endpoint_q.copy() + high_q[names.index("idx01_body_joint1")] = 0.55 + raise_ok = checker.segment(endpoint_q, high_q, base_005, base_005) + raise_detail = None if raise_ok else checker.last + continue_ok = bool(raise_ok and checker.segment(high_q, high_q, base_005, base_025)) + continue_detail = None if continue_ok else checker.last + row["staged_escape"] = { + "short_reverse_distance_m": 0.05, + "body_height_goal_m": 0.55, + "raise_at_short_reverse_strict_world_ok": bool(raise_ok), + "raise_detail": raise_detail, + "continue_reverse_to_m": 0.25, + "continued_reverse_strict_world_ok": continue_ok, + "continued_reverse_detail": continue_detail, + "high_q": high_q.tolist(), + "qualified": bool(raise_ok and continue_ok), + } + else: + row["staged_escape"] = {"qualified": False, "reason": "first_5cm_reverse_not_clear"} + qualified_arm = next( + ( + row + for row in arm_candidates + if row.get("qualified_with_ordinary_reverse") or row.get("staged_escape", {}).get("qualified") + ), + None, + ) + result = { + "schema": "multi_item.case9_item2_live_egress_diagnosis.v1", + "read_only": True, + "status_at_probe": status, + "pinned_checkpoint_tick": int(checkpoint["tick"][-1]), + "input_sha256": { + "checkpoint": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "partial_contact_stream": hashlib.sha256(contact_path.read_bytes()).hexdigest(), + "job": hashlib.sha256((C / "job.json").read_bytes()).hexdigest(), + }, + "native_contact_evidence": native_contacts, + "reconstruction": { + "fk_error": fk_error, + "self_and_wrist_gate_at_start": bool(self_ok), + "self_and_wrist_detail": self_detail, + "target_collision_representation": "both planner target_local convex hull and authored enabled target collider", + "environment_collision_representation": "authored enabled colliders at literal checkpoint prop poses", + "limitations": [ + "Offline FCL intersections do not reproduce PhysX contact offsets or dynamics.", + "The open native contact gzip ends at the last complete callback row before planning pause.", + ], + }, + "fixed_grasp_invariants": { + "held_target_to_hand_transform": held.tolist(), + "q_unchanged": True, + "gripper_positions_unchanged": q[gripper_ids].tolist(), + "base_z_unchanged_m": float(base[2, 3]), + "base_yaw_unchanged_rad": yaw, + "motion": "straight reverse along negative current heading", + }, + "screen": { + "sample_count": len(samples), + "maximum_reverse_distance_m": max(distances), + "first_planner_hull_neighbor_clear_m": first_planner_clear, + "first_authored_native_shape_neighbor_clear_m": first_native_shape_clear, + "planner_neighbor_stays_clear_after_first_clear": all_after_planner_clear, + "authored_neighbor_stays_clear_after_first_clear": all_after_native_clear, + "no_new_planner_collision_pairs": no_new_pairs, + "initial_planner_pairs": [list(pair) for pair in sorted(initial_pairs)], + "qualified_local_egress": bool( + self_ok + and first_planner_clear is not None + and first_native_shape_clear is not None + and all_after_planner_clear + and all_after_native_clear + and no_new_pairs + ), + "samples": samples, + }, + "local_arm_escape_search": { + "method": "right-hand Cartesian micro-translation with fixed orientation/base; bounded IK; linear joint interpolation at <=0.005 rad per sample", + "initial_allowed_actor_pairs": [list(pair) for pair in sorted(initial_actor_pairs)], + "candidate_count": len(arm_candidates), + "qualified": qualified_arm, + "candidate_summaries": [ + {key: value for key, value in row.items() if key not in ("path", "endpoint_q")} + for row in arm_candidates + ], + }, + "execution_requirement": { + "proposal_only": True, + "no_reset_or_pose_write_performed": True, + "required_native_behavior": "Execute a continuous low-speed reverse from the frozen state while preserving arm and gripper commands; permit only the already-recorded HoneyMaid/Oreo manifold at the first sample, require its impulses/separation to relax immediately, abort on any new contact, then use the ordinary full collision gate after the offline clear distance.", + "ordinary_carry_replan_required_after_egress": True, + }, + } + output = W / "CASE09_ITEM02_LIVE_EGRESS_DIAGNOSIS.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print( + json.dumps( + { + "output": str(output), + "checkpoint_tick": result["pinned_checkpoint_tick"], + "native_contact": { + key: native_contacts[key] + for key in ( + "pair_rows", + "first_tick", + "last_complete_contact_tick", + "minimum_reported_separation_m", + "maximum_impulse_norm", + ) + }, + "fk_error": fk_error, + "screen": {key: value for key, value in result["screen"].items() if key != "samples"}, + "qualified_arm": None if qualified_arm is None else { + key: value for key, value in qualified_arm.items() if key not in ("path", "endpoint_q") + }, + }, + indent=2, + ) + ) + raise SystemExit(0 if result["screen"]["qualified_local_egress"] or qualified_arm is not None else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_current_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_current_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..ed1e6ea39ab2277fb1362eb5eda206717eba49de --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_current_live_place.py @@ -0,0 +1,189 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe for a frozen M2 boundary. + +The accepted-source correspondence comes from the immutable M1 preparation +record. Every motion and collision check uses the current M2 checkpoint, +scene, live grasp transform, grounded base height, and all current props. +""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +OLD = W.parent / "shelf_to_table_multi10_20261005" +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact_path = OLD / f"cases/layout_{CASE_INDEX:02d}/EXACT_SOURCE_TRANSFER_PROPOSAL.json" + exact = json.loads(exact_path.read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX + 1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2, 3] = live_base[2, 3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + by_yaw = {yaw: [] for yaw in yaws} + for candidate in candidates: + by_yaw[candidate[3]].append(candidate) + candidates = [bucket[rank] for rank in range(max(map(len, by_yaw.values()), default=0)) for bucket in by_yaw.values() if rank < len(bucket)] + print("geometry candidates", len(candidates), flush=True) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:80]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + print("station", rank, x, y, yaw, flush=True) + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX + 1:]], "placement_candidate_budget": 20} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(v) for v in gaps[:ITEM_INDEX]], "future_gaps_m": [float(v) for v in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + "retreat_native_world_validation_required": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.current_exact_source_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "old_exact_source": str(exact_path), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_CURRENT_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py new file mode 100644 index 0000000000000000000000000000000000000000..750b4b9d596d8d7ccc22fe7397d7f1f78a25e25b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py @@ -0,0 +1,48 @@ +"""Probe transfer of the exact accepted chain landing for one case's first item.""" +import sys,os,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +from scipy.spatial import ConvexHull +W=Path(__file__).resolve().parent;R=W.parents[1];OLD=R/'work/shelf_to_table50_20261001' +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from geometry_transfer import registration +from shapely.geometry import Polygon +from shapely import affinity + +cid=int(sys.argv[1]);case=W/'cases'/f'layout_{cid:02d}';job=json.loads((case/'job.json').read_text());item=job['items'][0];prior_path=next(p for p in sorted((OLD/'cases').glob('layout_*/job.json')) if json.loads(p.read_text()).get('pick_source')==item['pick_source']);prior=json.loads(prior_path.read_text());oldstage=Usd.Stage.Open(prior['layout']);newstage=Usd.Stage.Open(job['layout']);delta,_=registration(oldstage,newstage,'/World/Assets/CoffeeTable/Mesh') +oldgoal=np.asarray(json.loads((prior_path.parent/'rollout/PLACEMENT_PLAN.json').read_text())['goal']);goal=delta@oldgoal;base=delta@np.asarray(prior['place_base']);base[2,3]=np.asarray(job['initial_base'])[2,3] +data=np.load(item['controls_file']);verts=data['target_local'];foot=Polygon((verts@goal[:3,:3].T)[ConvexHull((verts@goal[:3,:3].T)[:,:2]).vertices,:2]+goal[:2,3]);floor=Polygon(job['tray_polygon_xy']);future=[Polygon(x['placement_slot']['footprint_xy']) for x in job['items'][1:]];gaps=[foot.distance(x) for x in future] +stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];selfcheck=build(stage);pick=Path(item['pick_source']);z=np.load(pick/'recording_20hz.npz');names=z['robot_dof_names'].tolist();ids=[names.index(n) for n in data['names']] +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +ti=z['rigid_body_paths'].tolist().index(item['target']);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link');held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]);q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:];obj=robot.fk(names,q,base)[robot.root+'/gripper_'+item['hand']+'_base_link']@held +yaw=float(math.atan2(goal[1,0],goal[0,0]));first_slot={'xy':goal[:2,3].tolist(),'yaw_rad':yaw,'footprint_xy':np.asarray(foot.exterior.coords[:-1]).tolist(),'tolerance_m':.004};proposed=[first_slot];chosen=[foot] +# Repack future reservations around the proven first landing when the original packing overlaps it. +if any(g<=.012 for g in gaps): + pts=np.asarray(job['tray_polygon_xy']);center=np.asarray(floor.centroid.coords[0]);vals,vecs=np.linalg.eigh(np.cov((pts-center).T));u=vecs[:,np.argmax(vals)];v=np.array([-u[1],u[0]]);baseyaw=math.atan2(u[1],u[0]);inside=floor.buffer(-.008) + def search(i): + if i==len(job['items']):return True + it=job['items'][i];local=np.load(it['controls_file'])['target_local'][:,:2];poly=Polygon(local[ConvexHull(local).vertices]) + for vv in [-.07,-.045,-.02,.02,.045,.07]: + for uu in [-.12,-.08,-.04,0,.04,.08,.12]: + xy=center+uu*u+vv*v + for theta in [baseyaw,baseyaw+math.pi/2,baseyaw+math.pi,baseyaw-math.pi/2]: + p=affinity.translate(affinity.rotate(poly,theta*180/math.pi,origin=(0,0)),xy[0],xy[1]) + if not inside.covers(p) or any(p.distance(q)<=.012 for q in chosen):continue + chosen.append(p);proposed.append({'xy':xy.tolist(),'yaw_rad':theta,'footprint_xy':np.asarray(p.exterior.coords[:-1]).tolist(),'tolerance_m':.012}) + if search(i+1):return True + chosen.pop();proposed.pop() + return False + if not search(1):raise RuntimeError('Cannot repack future slots around exact accepted first landing') +ij={**job,**item,'place_base':base.tolist(),'destination_xyz':goal[:3,3].tolist(),'placement_slot':first_slot,'reserved_tray_footprints':[x['footprint_xy'] for x in proposed[1:]]} +result={'case':cid,'source_prior_job':str(prior_path),'base':base.tolist(),'goal':goal.tolist(),'slot':ij['placement_slot'],'proposed_slots':proposed,'floor_inset8_covers':floor.buffer(-.008).covers(foot),'future_gaps_before_repack':gaps,'future_gaps_after_repack':[chosen[a].distance(chosen[b]) for a in range(len(chosen)) for b in range(a+1,len(chosen))]} +try: + plan,retreat,report=solve(robot,names,q,base,obj,verts,ij,[],selfcheck);result.update(passed=True,frames=len(plan),report=report) +except Exception as exc:result.update(passed=False,error=str(exc)) +(case/'EXACT_CHAIN_LANDING_PROPOSAL.json').write_text(json.dumps(result,indent=2,default=lambda x:x.tolist())+'\n');print(json.dumps(result,default=lambda x:x.tolist())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place.py new file mode 100644 index 0000000000000000000000000000000000000000..f4d7dd930c84cc3e067b943aa36fd2ed3af5cb2f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + attempts = [] + accepted = None + for rank, candidate in enumerate(candidates[:300]): + _, x, y, yaw, footprint, gaps, goal, base, transfer = candidate + if not checker.check(exact_q, base): + attempts.append({"rank": rank, "stage": "destination_place_initial_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + object_pose = robot.fk(names, exact_q, base)[robot.root + f"/gripper_{item['hand']}_base_link"] @ held + slot = {"xy": [float(x), float(y)], "yaw_rad": float(yaw), "footprint_xy": np.asarray(footprint.exterior.coords)[:-1].tolist(), "tolerance_m": 0.001} + item_job = {**job, **item, "placement_slot": slot, "place_base": base.tolist(), "reserved_tray_footprints": [it["placement_slot"]["footprint_xy"] for it in job["items"][ITEM_INDEX+1:]]} + began = time.monotonic() + try: + plan, retreat, report = solve(robot, names, exact_q, base, object_pose, vertices, item_job, obstacles, pose_check, world_check=checker) + except Exception as exc: + attempts.append({"rank": rank, "stage": "placement", "xy": [x, y], "yaw": yaw, "error": str(exc), "elapsed_s": time.monotonic() - began}) + continue + # Validate the physical reposition policy used by repair_place_station. + source_layout_id = int(job.get("source_layout_id", job["layout_id"])) + release_path = pathlib.Path(job["layout"]).parents[1] / "audits_release" / f"{source_layout_id:02d}.json" + release = json.loads(release_path.read_text()) + carry_job = {**item_job, "carry_policy": "precision_body_route_v2", "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05]} + carry_job.pop("carry_route_seed", None) + try: + compact_q, primitives, carry_report = plan_carry(stage, robot, names, live_q, live_base, item["hand"], item["target"], vertices, live_target, prop_poses, carry_job, release) + except Exception as exc: + attempts.append({"rank": rank, "stage": "reposition_carry", "xy": [x, y], "yaw": yaw, "error": str(exc)}) + continue + if not checker.segment(compact_q, exact_q, base, base): + attempts.append({"rank": rank, "stage": "compact_to_exact_bridge_clearance", "xy": [x, y], "yaw": yaw, "detail": checker.last}) + continue + accepted = { + "rank": rank, + "slot": slot, + "destination_xyz": [float(x), float(y), float(job["tray_floor_z"])], + "place_base": base.tolist(), + "place_initial20": prior_controls["place_initial"].tolist(), + "exact_pair_transform": transfer.tolist(), + "geometry": {"tray_inset_m": 0.008, "actual_completed_gaps_m": [float(x) for x in gaps[:ITEM_INDEX]], "future_gaps_m": [float(x) for x in gaps[ITEM_INDEX:]], "inside": True}, + "placement_plan_frames": int(len(plan)), + "placement_report": report, + "retreat_q": retreat.tolist(), + "reposition": {"compact_q": compact_q.tolist(), "primitives": primitives, "report": carry_report}, + "compact_to_exact_bridge_clearance": True, + "full_world_checks": True, + } + attempts.append({"rank": rank, "stage": "passed", "xy": [x, y], "yaw": yaw, "placement_frames": len(plan), "reposition_primitives": len(primitives)}) + break + result = { + "schema": "multi_item.exact_source_live_place.v1", + "read_only": True, + "status_at_probe": status, + "evidence": {"checkpoint": str(checkpoint_path), "job": str(C / "job.json"), "exact_source": str(C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json"), "prior_controls": exact["prior_controls"], "prior_placement": exact["prior_placement_plan"]}, + "place_initial_difference_l2_rad": float(np.linalg.norm(controls["place_initial"] - prior_controls["place_initial"])), + "place_initial_difference_max_rad": float(np.max(np.abs(controls["place_initial"] - prior_controls["place_initial"]))), + "geometry_candidates": len(candidates), + "accepted": accepted, + "attempts": attempts, + "native_validation_required": True, + } + out = C / f"CASE{CASE_INDEX}_ITEM{ITEM_INDEX:02d}_LIVE_PLACE_PROPOSAL.json" + current = json.loads((C / "STATUS.json").read_text()) + if current.get("status") != status.get("status") or current.get("control_ticks") != status.get("control_ticks") or current.get("item_index") != ITEM_INDEX: + raise RuntimeError("Native boundary changed during read-only probe") + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"out": str(out), "geometry_candidates": len(candidates), "accepted": accepted and {k: accepted[k] for k in ("rank", "slot", "destination_xyz", "place_base", "place_initial20", "geometry", "placement_plan_frames", "full_world_checks")}, "attempts": attempts}, indent=2)) + if accepted is None: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place_fast.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place_fast.py new file mode 100644 index 0000000000000000000000000000000000000000..0b212f910bda3495c418f689fe06f244864b0cc1 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_live_place_fast.py @@ -0,0 +1,185 @@ +#!/usr/bin/env python3 +"""Read-only exact-source carried placement probe from a frozen native boundary.""" +import json +import math +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance, plan as plan_carry # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + +CASE_INDEX = int(sys.argv[1]) +ITEM_INDEX = int(sys.argv[2]) +C = W / f"cases/layout_{CASE_INDEX:02d}" + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + status = json.loads((C / "STATUS.json").read_text()) + if status.get("status") != "WAITING_FOR_PLANNING_REPAIR" or status.get("item_index") != ITEM_INDEX: + raise RuntimeError(f"native boundary changed: {status}") + job = json.loads((C / "job.json").read_text()) + item = job["items"][ITEM_INDEX] + exact = json.loads((C / "EXACT_SOURCE_TRANSFER_PROPOSAL.json").read_text())["items"][ITEM_INDEX] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + live_q = checkpoint["q"][-1].astype(float) + names = checkpoint["dof_names"].tolist() + live_base = matrix(checkpoint["base_pose"][-1]) + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][-1, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][-1, hand_index])) @ live_target + controls = np.load(item["controls_file"]) + prior_controls = np.load(exact["prior_controls"]) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + exact_q = live_q.copy() + exact_q[ids] = prior_controls["place_initial"] + # Preserve every physical gripper DOF at the frozen live grasp. + grippers = [i for i, name in enumerate(names) if "gripper_" in name] + exact_q[grippers] = live_q[grippers] + + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + prop_poses = {str(path): matrix(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][-1])} + checker = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + checker.deadline = time.monotonic() + 1800 + + # Use all measured completed targets and reserve every future item slot. + obstacles = [] + for prev in range(ITEM_INDEX): + prior_pose = matrix(checkpoint["target_pose_all"][-1, prev]) + prior_local = np.load(job["items"][prev]["controls_file"])["target_local"] + prior_world = (np.c_[prior_local, np.ones(len(prior_local))] @ prior_pose.T)[:, :2] + obstacles.append(Polygon(prior_world[ConvexHull(prior_world).vertices])) + reserved = [Polygon(it["placement_slot"]["footprint_xy"]) for it in job["items"][ITEM_INDEX+1:]] + floor = Polygon(job["tray_polygon_xy"]).buffer(-0.008) + vertices = controls["target_local"] + accepted_goal = np.asarray(exact["transferred_accepted_goal"], dtype=float) + accepted_base = np.asarray(exact["transferred_accepted_base"], dtype=float) + + candidates = [] + minx, miny, maxx, maxy = floor.bounds + yaws = [float(exact["accepted_yaw_rad"] + offset) for offset in (0, math.pi, math.pi / 2, -math.pi / 2, math.radians(15), math.radians(-15))] + for yaw in yaws: + rotation = Rotation.from_euler("z", yaw).as_matrix() + points = vertices @ rotation.T + local = Polygon(points[ConvexHull(points[:, :2]).vertices, :2]) + for x in np.arange(minx, maxx + 1e-9, 0.004): + for y in np.arange(miny, maxy + 1e-9, 0.004): + footprint = Polygon(np.asarray(local.exterior.coords)[:-1] + [x, y]) + gaps = [footprint.distance(o) for o in obstacles + reserved] + if not floor.covers(footprint) or min(gaps) <= 0.012: + continue + goal = np.eye(4) + goal[:3, :3] = rotation + goal[:2, 3] = [x, y] + goal[2, 3] = job["tray_floor_z"] + 0.002 - (vertices @ rotation.T)[:, 2].min() + transfer = goal @ np.linalg.inv(accepted_goal) + base = transfer @ accepted_base + base[2,3] = live_base[2,3] + score = float(np.linalg.norm(base[:2, 3] - live_base[:2, 3]) + 0.1 * np.linalg.norm(goal[:2, 3] - np.asarray(item["placement_slot"]["xy"]))) + candidates.append((score, x, y, yaw, footprint, gaps, goal, base, transfer)) + candidates.sort(key=lambda entry: entry[0]) + # Cover station orientations before spending time on nearby grid offsets. + by_yaw = {yaw: [] for yaw in yaws} + for candidate in candidates: by_yaw[candidate[3]].append(candidate) + candidates = [bucket[rank] for rank in range(max(map(len,by_yaw.values()),default=0)) for bucket in by_yaw.values() if rank 0.000002 else 0.0 + self.speed += float(np.clip(desired - self.speed, -0.3 * dt, 0.3 * dt)) + self.done = abs(error) < 0.000005 and abs(self.speed) < 0.000002 + return np.array([0.0, 0.0, self.speed]) + error = goal[:2] - np.asarray(current[:2]) + along = float(error @ heading) + lateral = float(error @ np.array([-heading[1], heading[0]])) + if abs(lateral) > 0.015: + raise RuntimeError(f"Straight drive lateral tracking error {lateral:.6f} m") + if abs(angle_delta(goal[2], yaw)) > 0.01: + raise RuntimeError("Straight drive heading drift") + desired = math.copysign(min(0.18, max(0.0001, min(1.5 * abs(along), 0.8 * math.sqrt(2 * 0.12 * abs(along))))), along) if abs(along) > 0.00001 else 0.0 + self.speed += float(np.clip(desired - self.speed, -0.12 * dt, 0.12 * dt)) + self.done = abs(along) < 0.00002 and abs(self.speed) < 0.000005 + return np.r_[heading * self.speed, 0.0] + + +def simulate(primitives, start, controller_class=PrecisionController, dt=1 / 60): + pose = np.asarray(start, dtype=float).copy() + rows = [] + for index, primitive in enumerate(primitives): + controller = controller_class(primitive) + for tick in range(90 * 60): + velocity = controller.step(pose, dt) + pose[:2] += velocity[:2] * dt + pose[2] += velocity[2] * dt + if controller.done: + break + else: + raise RuntimeError(f"primitive {index} timed out") + goal = np.asarray(primitive["goal"]) + rows.append({ + "primitive": index, + "kind": primitive["kind"], + "return_stage": primitive.get("return_stage"), + "ticks": tick + 1, + "seconds": (tick + 1) * dt, + "xy_error_m": float(np.linalg.norm(pose[:2] - goal[:2])), + "along_error_m": float((goal[:2] - pose[:2]) @ np.array([math.cos(pose[2]), math.sin(pose[2])])), + "yaw_error_rad": float(abs(angle_delta(goal[2], pose[2]))), + "terminal_speed": float(abs(controller.speed)), + }) + return pose, rows + + +def main(): + recording = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + reports = [] + for item_index in (0, 1): + plan_path = C / f"rollout/return_primitives.item_{item_index:02d}.json" + primitives = json.loads(plan_path.read_text()) + indices = np.flatnonzero((recording["item_index"] == item_index) & (recording["phase"] == f"item_{item_index:02d}_empty_return")) + pose7 = recording["base_pose"][indices[0]] + start = np.r_[pose7[:2], Rotation.from_quat(pose7[3:]).as_euler("xyz")[2]] + final, rows = simulate(primitives, start) + goal = np.asarray(primitives[-1]["goal"]) + reports.append({ + "item": item_index, + "plan": str(plan_path), + "observed_start": start.tolist(), + "simulated_final": final.tolist(), + "final_goal": goal.tolist(), + "final_xy_error_m": float(np.linalg.norm(final[:2] - goal[:2])), + "final_yaw_error_rad": float(abs(angle_delta(goal[2], final[2]))), + "total_seconds": float(sum(row["seconds"] for row in rows)), + "max_endpoint_xy_error_m": max(row["xy_error_m"] for row in rows), + "max_endpoint_yaw_error_rad": max(row["yaw_error_rad"] for row in rows), + "primitives": rows, + }) + # Stress the same final shelf approach with the case-1 observed heading + # residual. A precise preceding turn removes it before straight motion. + item1 = json.loads((C / "rollout/return_primitives.item_01.json").read_text()) + final_drive = item1[-1] + standoff = np.asarray(item1[-2]["goal"], dtype=float) + perturbed = standoff.copy() + perturbed[2] += 0.0008466414784971121 + sequence = [{"kind": "turn", "goal": standoff.tolist(), "return_stage": "precision_preapproach"}, final_drive] + stress_final, stress_rows = simulate(sequence, perturbed) + stress_goal = np.asarray(final_drive["goal"]) + result = { + "schema": "multi_item.precision_return_controller_probe.v1", + "read_only": True, + "controller": { + "turn_deadband_rad": 0.000002, + "turn_done_error_rad": 0.000005, + "turn_done_speed_rad_s": 0.000002, + "turn_min_speed_rad_s": 0.00002, + "drive_deadband_m": 0.00001, + "drive_done_error_m": 0.00002, + "drive_done_speed_m_s": 0.000005, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": True, + }, + "recorded_plan_exact_kinematics": reports, + "heading_residual_stress": { + "initial_yaw_error_rad": 0.0008466414784971121, + "final_xy_error_m": float(np.linalg.norm(stress_final[:2] - stress_goal[:2])), + "final_yaw_error_rad": float(abs(angle_delta(stress_goal[2], stress_final[2]))), + "seconds": float(sum(row["seconds"] for row in stress_rows)), + "primitives": stress_rows, + }, + "recommended_integration": "Use PrecisionController only for primitives carrying return_stage. Keep the same collision-screened plan and stop-turn-drive primitives. Require a final measured gate <=0.0005 m and <=0.0001 rad before starting source pickup; otherwise freeze at a planning boundary.", + "limits": "Exact-kinematic verification does not prove native wheel/contact tracking. Fresh native physics must confirm the measured terminal gate.", + } + result["passed"] = bool( + all(report["final_xy_error_m"] <= 0.0001 and report["final_yaw_error_rad"] <= 0.00001 and all(row["seconds"] < 90 for row in report["primitives"]) for report in reports) + and result["heading_residual_stress"]["final_xy_error_m"] <= 0.0001 + and result["heading_residual_stress"]["final_yaw_error_rad"] <= 0.00001 + ) + out = W / "PRECISION_RETURN_CONTROLLER_PROPOSAL.json" + out.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if not result["passed"]: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..6a761547d79fb4ba09080c4a017f8e933ae14dda --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +"""Read-only left-hand regression against layout10 item02.""" +import json +import os +import pathlib +import sys + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from native_planner import build # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + case = W / "cases/layout_10" + job = json.loads((case / "job.json").read_text()) + item = job["items"][2] + data = np.load(case / "rollout/checkpoint_60hz.npz", allow_pickle=True) + phase = data["phase"].astype(str) + release_rows = np.flatnonzero(phase == "item_02_place_release") + retreat_rows = np.flatnonzero(phase == "item_02_release_retreat") + if not len(release_rows) or not len(retreat_rows): + raise RuntimeError("layout10 release evidence is incomplete") + landing_row = int(release_rows[0] - 1) + retreat_row = int(retreat_rows[-1]) + names = data["dof_names"].tolist() + target_index = data["target_paths"].tolist().index(item["target"]) + target_pose = matrix(data["target_pose_all"][landing_row, target_index]) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(data["rigid_body_paths"], data["prop_pose"][landing_row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + controls = np.load(item["controls_file"]) + checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=build(stage), + deadline_s=1800, + ) + passed, report = checker.check( + data["q"][landing_row], + data["q"][retreat_row], + matrix(data["base_pose"][landing_row]), + target_pose, + ) + result = { + "schema": "ziche.release_sweep_left_regression.v1", + "passed": bool(passed), + "expected": "CLEAR", + "observed": report, + "historical_case": 10, + "item_index": 2, + "landing_tick": landing_row + 1, + "retreat_end_tick": retreat_row + 1, + "hand": "l", + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_LEFT_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if not passed: + raise SystemExit("release sweep rejected the left-hand clear example") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py new file mode 100644 index 0000000000000000000000000000000000000000..38375b702410a94fb647f9821d9b7201002596c8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +"""Read-only negative regression against layout10's known Coke strike.""" +import json +import os +import pathlib +import sys + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from native_planner import build # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + case = W / "cases/layout_10" + job = json.loads((case / "job.json").read_text()) + item = job["items"][1] + data = np.load(case / "rollout/checkpoint_60hz.npz", allow_pickle=True) + phase = data["phase"].astype(str) + release_rows = np.flatnonzero(phase == "item_01_place_release") + retreat_rows = np.flatnonzero(phase == "item_01_release_retreat") + if not len(release_rows) or not len(retreat_rows): + raise RuntimeError("layout10 release evidence is incomplete") + landing_row = int(release_rows[0] - 1) + retreat_row = int(retreat_rows[-1]) + names = data["dof_names"].tolist() + target_index = data["target_paths"].tolist().index(item["target"]) + target_pose = matrix(data["target_pose_all"][landing_row, target_index]) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(data["rigid_body_paths"], data["prop_pose"][landing_row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + controls = np.load(item["controls_file"]) + checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=build(stage), + deadline_s=1800, + ) + passed, report = checker.check( + data["q"][landing_row], + data["q"][retreat_row], + matrix(data["base_pose"][landing_row]), + target_pose, + ) + result = { + "schema": "ziche.release_sweep_negative_regression.v1", + "passed": not passed, + "expected": "BLOCKED", + "observed": report, + "historical_case": 10, + "item_index": 1, + "landing_tick": landing_row + 1, + "retreat_end_tick": retreat_row + 1, + "known_native_contact": "gripper_r_inner_link4 versus previously placed coke_c3", + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_NEGATIVE_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2)) + if passed: + raise SystemExit("release sweep failed to reject the known layout10 strike") + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..6936bf3e4c6836228a050d8d882d862417887ff8 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +"""Read-only regression of ReleaseSweep against the qualified layout02 repair.""" +import hashlib +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial import ConvexHull +from scipy.spatial.transform import Rotation +from shapely.geometry import Polygon + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 +from release_sweep import ReleaseSweep # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def sha(path): + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def main(): + case = W / "cases/layout_02" + proposal_path = W / "diagnostics/LAYOUT02_ITEM01_NOMINAL_STATION_FULL_PROPOSAL.json" + proposal = json.loads(proposal_path.read_text()) + accepted = proposal["accepted"] + job_path = case / "job.json" + job = json.loads(job_path.read_text()) + item = job["items"][1] + checkpoint_path = W / "diagnostics/release_sweep_case2_checkpoint_tick17975_plus.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + row = int(proposal["status_at_probe"]["control_ticks"]) - 1 + if row < 0 or row >= len(checkpoint["q"]): + raise RuntimeError("qualified boundary row is absent from the checkpoint") + names = checkpoint["dof_names"].tolist() + q = checkpoint["q"][row].astype(float) + controls = np.load(item["controls_file"]) + ids = [names.index(name) for name in controls["names"].tolist()] + q[ids] = np.asarray(accepted["place_initial20"], dtype=float) + # The qualifying probe preserves the measured passive gripper state. + q[[i for i, name in enumerate(names) if "gripper_" in name]] = checkpoint["q"][row, [i for i, name in enumerate(names) if "gripper_" in name]] + base = np.asarray(accepted["place_base"], dtype=float) + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][row]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + pose_check = build(stage) + hand_link = robot.root + f"/gripper_{item['hand']}_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(f"/World/Robot/gripper_{item['hand']}_base_link") + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + live_target = matrix(checkpoint["target_pose_all"][row, target_index]) + held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][row, hand_index])) @ live_target + object_pose = robot.fk(names, q, base)[hand_link] @ held + world_check = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, prop_poses) + world_check.deadline = time.monotonic() + 1800 + release_checker = ReleaseSweep( + stage, + robot, + names, + item["hand"], + item["target"], + controls["target_local"], + prop_poses, + item["place_source"], + pose_check=pose_check, + deadline_s=1800, + ) + completed_item = job["items"][0] + completed_local = np.load(completed_item["controls_file"])["target_local"] + completed_pose = matrix(checkpoint["target_pose_all"][row, 0]) + completed_world = (np.c_[completed_local, np.ones(len(completed_local))] @ completed_pose.T)[:, :2] + obstacles = [Polygon(completed_world[ConvexHull(completed_world).vertices])] + item_job = {**job, **item, "placement_slot": accepted["slot"], "place_base": base.tolist(), "require_release_sweep": True} + item_job["reserved_tray_footprints"] = [job["items"][2]["placement_slot"]["footprint_xy"]] + started = time.monotonic() + planned, retreat, placement_report = solve( + robot, + names, + q, + base, + object_pose, + controls["target_local"], + item_job, + obstacles, + pose_check, + world_check=world_check, + release_sweep=release_checker, + ) + report = placement_report["release_sweep"] + passed = report["status"] == "CLEAR" + result = { + "schema": "ziche.release_sweep_regression.v1", + "passed": bool(passed), + "case": 2, + "item_index": 1, + "qualified_boundary_tick": row + 1, + "source": { + "proposal": str(proposal_path), + "proposal_sha256": sha(proposal_path), + "job": str(job_path), + "job_sha256": sha(job_path), + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": sha(checkpoint_path), + "release_sweep_sha256": sha(W / "release_sweep.py"), + "placement_sha256": sha(W / "placement.py"), + }, + "elapsed_s": time.monotonic() - started, + "placement_plan_frames": int(len(planned)), + "placement_candidate": int(placement_report["candidate"]), + "placement_goal": placement_report["goal"], + "retreat_q": retreat.tolist(), + "report": report, + "no_simulation_or_pose_mutation": True, + } + output = W / "diagnostics/RELEASE_SWEEP_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps(result, indent=2), flush=True) + if not passed: + raise SystemExit(1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_slots.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_slots.py new file mode 100644 index 0000000000000000000000000000000000000000..270f339a7561d50098fcb7256cf0dd3b9eafb4ea --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_slots.py @@ -0,0 +1,32 @@ +"""Offline reachability proposal using actual accepted pickup grasps; not acceptance.""" +import sys,os,json,time +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from shapely.geometry import Polygon +case=W/'cases'/f'layout_{int(sys.argv[1]):02d}';job=json.loads((case/'job.json').read_text());stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[];selfcheck=build(stage) +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +result=[];obstacles=[] +for k,item in enumerate(job['items']): + data=np.load(item['controls_file']);source=Path(item['pick_source']);z=np.load(source/'recording_20hz.npz');names=z['robot_dof_names'].tolist();ids=[names.index(n) for n in data['names']] + ti=z['rigid_body_paths'].tolist().index(item['target']);hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link') + held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]) + q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:] + base=np.array(item['place_base']);obj=robot.fk(names,q,base)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + t=time.monotonic() + try: + plan,retreat,report=solve(robot,names,q,base,obj,data['target_local'],ij,obstacles,selfcheck) + row=dict(item=k,product=item['product'],passed=True,report=report) + except Exception as exc:row=dict(item=k,product=item['product'],passed=False,error=str(exc)) + row['elapsed']=time.monotonic()-t;result.append(row);print(json.dumps(row,default=lambda a:a.tolist()),flush=True) + obstacles.append(Polygon(item['placement_slot']['footprint_xy'])) + (case/'SLOT_REACHABILITY_PROPOSAL.json').write_text(json.dumps(dict(source='accepted_pickup_grasp_at_proposed_place_initial',native_validation_required=True,items=result),indent=2,default=lambda a:a.tolist())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_station_slots.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_station_slots.py new file mode 100644 index 0000000000000000000000000000000000000000..6adff0935f5310ece0aa392b329fc369a6b4b455 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_station_slots.py @@ -0,0 +1,69 @@ +"""Read-only station/slot reachability search using accepted held grasps.""" +import sys,os,json,time,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +from scipy.optimize import least_squares +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd +from collision_scene import Robot,ROBOT +from placement import solve +from native_planner import build +from geometry_transfer import registration +from shapely.geometry import Polygon +from ik_solver import Arm +from motion_limits import LOWER,UPPER + +case=W/'cases'/f'layout_{int(sys.argv[1]):02d}'; job=json.loads((case/'job.json').read_text()); stage=Usd.Stage.Open(job['scene']) +room=Usd.Stage.Open(job['layout']); robot=Robot(ROBOT); robot.bodies=[]; selfcheck=build(stage) +def matrix(xyz,wxyz): + m=np.eye(4);m[:3,3]=xyz;m[:3,:3]=Rotation.from_quat(np.asarray(wxyz)[[1,2,3,0]]).as_matrix();return m +def pose(spec): + m=np.eye(4);m[:3,3]=spec['robot']['base_xyz_m'];m[:3,:3]=Rotation.from_quat(np.asarray(spec['robot']['base_wxyz'])[[1,2,3,0]]).as_matrix();return m + +results=[]; obstacles=[] +for k,item in enumerate(job['items']): + data=np.load(item['controls_file']); pick=Path(item['pick_source']); z=np.load(pick/'recording_20hz.npz'); names=z['robot_dof_names'].tolist(); ids=[names.index(n) for n in data['names']] + ti=z['rigid_body_paths'].tolist().index(item['target']); hi=z['robot_link_paths'].tolist().index('/World/Robot/gripper_'+item['hand']+'_base_link') + held=np.linalg.inv(matrix(z['robot_link_xyz_m'][-1,hi],z['robot_link_wxyz'][-1,hi]))@matrix(z['prop_xyz_m'][-1,ti],z['prop_wxyz'][-1,ti]) + q=z['robot_joint_position_rad_or_m'][-1].copy();q[ids]=data['place_initial'];q[ids[-2:]]=data['pick'][-1,-2:] + place=Path(item['place_source']); ps=json.loads((place/'episode.json').read_text()); pstage=Usd.Stage.Open(str(place/'scene.usda')) + delta,_=registration(pstage,room,'/World/Assets/CoffeeTable/Mesh'); demonstrated=delta@np.r_[ps['destination_xy_m'],ps['tray']['floor_z_m'],1.] + base=np.asarray(item['place_base'],float); shift=np.asarray(item['placement_slot']['xy'])-demonstrated[:2]; nominal=base.copy() + if item.get('station_alignment_policy')!='registered_source_destination_to_reserved_slot_v1': nominal[:2,3]+=shift + # Analytical translation preserves the accepted hand/object/table relationship. Bounded offsets cover registration and slot tolerance. + offsets=[(0,0),(-.10,0),(-.06,0),(-.03,0),(.03,0),(.06,0),(.10,0),(0,.03),(0,-.03),(0,.06),(0,-.06)] + attempts=[]; accepted=None; started=time.monotonic(); stations=[] + # The aligned, floor-safe nominal station is the strongest source-derived proposal; test it before screening alternatives. + candidate=nominal.copy();candidate[2,3]=float(np.asarray(job['initial_base'])[2,3]);obj=robot.fk(names,q,candidate)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'place_base':candidate.tolist(),'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + try: + plan,retreat,report=solve(robot,names,q,candidate,obj,data['target_local'],ij,obstacles,selfcheck);accepted={'place_base':candidate.tolist(),'station_shift_xy':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':0,'endpoint_score':None,'report':report,'plan_frames':len(plan)};attempts.append({'passed':True,'shift':accepted['station_shift_xy'],'yaw_offset_deg':0,'direct_nominal':True}) + except Exception as exc: attempts.append({'passed':False,'shift':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':0,'direct_nominal':True,'error':str(exc)[:500]}) + link=robot.root+'/gripper_'+item['hand']+'_base_link'; active=[names.index(f'idx{2 if item["hand"]=="l" else 6}{a}_arm_{item["hand"]}_joint{a}') for a in range(1,8)] + jp={p.GetName():p for p in robot.stage.Traverse() if p.GetAttribute('physics:lowerLimit')}; lo=np.array([jp[names[i]].GetAttribute('physics:lowerLimit').Get() for i in active])*np.pi/180+1e-4; hi=np.array([jp[names[i]].GetAttribute('physics:upperLimit').Get() for i in active])*np.pi/180-1e-4; off=0 if item['hand']=='l' else 7;lo=np.maximum(lo,LOWER[off:off+7]+1e-4);hi=np.minimum(hi,UPPER[off:off+7]-1e-4) + vertices=data['target_local']; invheld=np.linalg.inv(held); slot=item['placement_slot']; thetas=[slot['yaw_rad'],slot['yaw_rad']+math.pi,slot['yaw_rad']+math.pi/2,slot['yaw_rad']-math.pi/2] + for yaw_deg in ([] if accepted else [0,-5,5,-10,10]): + for dx,dy in offsets: + candidate=nominal.copy();candidate[:2,3]+=np.array([dx,dy]);candidate[2,3]=float(np.asarray(job['initial_base'])[2,3]) + if yaw_deg:candidate[:3,:3]=Rotation.from_euler('z',math.radians(yaw_deg)).as_matrix()@candidate[:3,:3] + if math.hypot(dx,dy)>.15+1e-9:continue + fast=Arm(robot,names,q,candidate,link,active); best=1e9 + for theta in thetas: + goal=np.eye(4);goal[:3,:3]=Rotation.from_euler('z',theta).as_matrix();goal[:2,3]=slot['xy'];goal[2,3]=job['tray_floor_z']+.002-(vertices@goal[:3,:3].T)[:,2].min();g=goal@invheld;prev=q[active] + fit=least_squares(lambda x:fast.evaluate(x,g,prev)[0],np.clip(prev,lo,hi),jac=lambda x:fast.evaluate(x,g,prev)[1],bounds=(lo,hi),max_nfev=70); f=fast.forward(fit.x)[0];pe=np.linalg.norm(f[:3,3]-g[:3,3]);re=Rotation.from_matrix(g[:3,:3].T@f[:3,:3]).magnitude();best=min(best,pe+0.2*re) + stations.append((best,yaw_deg,dx,dy,candidate)) + for endpoint_score,yaw_deg,dx,dy,candidate in sorted(stations,key=lambda x:x[0])[:8]: + obj=robot.fk(names,q,candidate)[robot.root+'/gripper_'+item['hand']+'_base_link']@held + ij={**job,**item,'place_base':candidate.tolist(),'reserved_tray_footprints':[it['placement_slot']['footprint_xy'] for it in job['items'][k+1:]]} + try: + plan,retreat,report=solve(robot,names,q,candidate,obj,data['target_local'],ij,obstacles,selfcheck) + accepted={'place_base':candidate.tolist(),'station_shift_xy':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score,'report':report,'plan_frames':len(plan)}; attempts.append({'passed':True,'shift':accepted['station_shift_xy'],'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score});break + except Exception as exc: attempts.append({'passed':False,'shift':(candidate[:2,3]-base[:2,3]).tolist(),'yaw_offset_deg':yaw_deg,'endpoint_score':endpoint_score,'error':str(exc)[:500]}) + row={'item':k,'product':item['product'],'passed':accepted is not None,'source_destination_registered_xy':demonstrated[:2].tolist(),'slot_xy':item['placement_slot']['xy'],'analytic_shift_xy':shift.tolist(),'accepted':accepted,'attempts':attempts,'elapsed_s':time.monotonic()-started};results.append(row);print(json.dumps(row,default=lambda a:a.tolist()),flush=True) + obstacles.append(Polygon(item['placement_slot']['footprint_xy'])) + if os.environ.get('PROBE_FIRST_ONLY')=='1': break +out={'schema':'multi_item.station_slot_reachability.v1','case':int(sys.argv[1]),'read_only_job':True,'method':'accepted held transform plus source destination aligned station; bounded 0.15m translation and 10deg yaw search','all_passed':all(x['passed'] for x in results),'items':results,'native_validation_required':True} +(case/'STATION_SLOT_REACHABILITY_PROPOSAL.json').write_text(json.dumps(out,indent=2,default=lambda a:a.tolist())+'\n') diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py new file mode 100644 index 0000000000000000000000000000000000000000..bb3f44bed09b9ebfd3a619ee071ec3ba82cabf18 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +"""Read-only IK rebase of Zbar675 hand waypoints for the measured case-1 base.""" +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.optimize import least_squares +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") +from pxr import Usd # noqa: E402 +from collision_scene import Robot, ROBOT # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from geometry_transfer import board_path, registration # noqa: E402 +from ik_solver import Arm # noqa: E402 +from motion_limits import LOWER, UPPER # noqa: E402 + +C = W / "cases/layout_01" +SRC = R / "data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675" + + +def pose_matrix(pose, wxyz=False): + result = np.eye(4) + result[:3, 3] = pose[:3] + quat = np.asarray(pose[3:]) + if wxyz: + quat = quat[[1, 2, 3, 0]] + result[:3, :3] = Rotation.from_quat(quat).as_matrix() + return result + + +def main(): + job = json.loads((C / "job.json").read_text()) + item = job["items"][2] + controls = np.load(item["controls_file"]) + failed = np.load(C / "rollout/recording_60hz.npz", allow_pickle=True) + source = np.load(SRC / "recording_20hz.npz", allow_pickle=True) + full_state = np.load(C / "rollout/full_state.npz", allow_pickle=True) + names = source["robot_dof_names"].tolist() + action_names = controls["names"].tolist() + action_ids = [names.index(name) for name in action_names] + active = [names.index(f"idx2{i}_arm_l_joint{i}") for i in range(1, 8)] + hand_path = "/World/Robot/gripper_l_base_link" + source_hand_index = source["robot_link_paths"].tolist().index(hand_path) + target_index = source["rigid_body_paths"].tolist().index(item["target"]) + failed_pick = np.flatnonzero((failed["item_index"] == 2) & (failed["phase"] == "item_02_shelf_pick")) + actual_base = pose_matrix(failed["base_pose"][failed_pick[0]]) + desired_base = np.asarray(item["pick_base"], dtype=float) + + stage = Usd.Stage.Open(job["scene"]) + source_stage = Usd.Stage.Open(str(SRC / "scene.usda")) + room = Usd.Stage.Open(job["layout"]) + shelf_delta, shelf_reg = registration(source_stage, room, board_path(source_stage)) + robot = Robot(ROBOT) + robot.bodies = [] + joint_prims = {prim.GetName(): prim for prim in robot.stage.Traverse() if prim.GetAttribute("physics:lowerLimit")} + lo = np.array([joint_prims[names[i]].GetAttribute("physics:lowerLimit").Get() for i in active]) * np.pi / 180 + 1e-4 + hi = np.array([joint_prims[names[i]].GetAttribute("physics:upperLimit").Get() for i in active]) * np.pi / 180 - 1e-4 + lo = np.maximum(lo, LOWER[:7] + 1e-4) + hi = np.minimum(hi, UPPER[:7] - 1e-4) + + prop_poses = {} + for path, xyz, wxyz in zip(full_state["rigid_body_paths"], full_state["prop_xyz_m"][-1], full_state["prop_wxyz"][-1]): + prop_poses[str(path)] = pose_matrix(np.r_[xyz, wxyz], wxyz=True) + # Clearance builds the real released-room environment and excludes the task target. + initial_q = source["robot_joint_position_rad_or_m"][0].copy() + target_vertices = controls["target_local"] + checker = Clearance(stage, robot, names, "l", item["target"], target_vertices, np.eye(4), prop_poses) + checker.deadline = time.monotonic() + 1800 + + corrected = [] + action20 = [] + position_errors = [] + rotation_errors = [] + correction_norms = [] + world_failures = [] + previous = source["robot_joint_position_rad_or_m"][0, active].copy() + start_z = float(source["prop_xyz_m"][0, target_index, 2]) + for frame in range(len(source["robot_joint_position_rad_or_m"])): + q_source = source["robot_joint_position_rad_or_m"][frame].copy() + desired_hand = shelf_delta @ pose_matrix(np.r_[source["robot_link_xyz_m"][frame, source_hand_index], source["robot_link_wxyz"][frame, source_hand_index]], wxyz=True) + arm = Arm(robot, names, q_source, actual_base, robot.root + "/gripper_l_base_link", active) + fit = least_squares(lambda x: arm.evaluate(x, desired_hand, previous)[0], np.clip(previous, lo, hi), jac=lambda x: arm.evaluate(x, desired_hand, previous)[1], bounds=(lo, hi), max_nfev=80) + q = q_source.copy() + q[active] = fit.x + actual_hand = arm.forward(fit.x)[0] + pe = float(np.linalg.norm(actual_hand[:3, 3] - desired_hand[:3, 3])) + re = float(Rotation.from_matrix(desired_hand[:3, :3].T @ actual_hand[:3, :3]).magnitude()) + position_errors.append(pe) + rotation_errors.append(re) + correction_norms.append(float(np.linalg.norm(q[active] - q_source[active]))) + if pe > 0.0005 or re > 0.005: + raise RuntimeError(f"IK fidelity failed frame {frame}: {pe}, {re}") + + # Robot-only full-body/world check. The target is intentionally omitted + # from environment collision because finger contact is the task. + local = robot.fk(names, q, np.eye(4)) + okay, detail = checker.self_check(local, robot.root) + if not okay: + world_failures.append({"frame": frame, "kind": "self", "detail": detail}) + break + fk = {name: actual_base @ transform for name, transform in local.items()} + for body in checker.self_check.bodies: + body.update(fk[body.name.replace("/World/Robot", robot.root, 1)]) + collision = None + for body in checker.self_check.bodies: + indices = np.flatnonzero(np.all(checker.high >= body.lo, axis=1) & np.all(checker.low <= body.hi, axis=1)) + for environment_index in indices: + other = checker.environment[environment_index] + if checker.contact(body, other, containment=True) is not None: + collision = {"robot": body.name, "obstacle": other.name} + break + if collision: + break + if collision: + world_failures.append({"frame": frame, "kind": "environment", "detail": collision}) + break + + # Once lifted 5 mm, also screen the source-derived target path against + # the environment; shelf support contact before lift is expected. + target_world = shelf_delta @ pose_matrix(np.r_[source["prop_xyz_m"][frame, target_index], source["prop_wxyz"][frame, target_index]], wxyz=True) + if source["prop_xyz_m"][frame, target_index, 2] > start_z + 0.005: + checker.target.update(target_world) + indices = np.flatnonzero(np.all(checker.high >= checker.target.lo, axis=1) & np.all(checker.low <= checker.target.hi, axis=1)) + for environment_index in indices: + other = checker.environment[environment_index] + if checker.contact(checker.target, other, containment=True) is not None: + world_failures.append({"frame": frame, "kind": "target_environment", "detail": {"target": item["target"], "obstacle": other.name}}) + break + if world_failures: + break + corrected.append(q) + action = controls["pick"][frame].copy() + for joint_index, source_index in enumerate(active): + action[action_names.index(names[source_index])] = q[source_index] + action20.append(action) + previous = fit.x + + out_dir = C / "diagnostics" + out_dir.mkdir(exist_ok=True) + report = { + "schema": "multi_item.zbar675_measured_base_rebase.v1", + "read_only": True, + "source": str(SRC), + "failed_case": 1, + "desired_base": desired_base.tolist(), + "measured_base": actual_base.tolist(), + "shelf_registration": shelf_reg, + "frames_requested": int(len(source["robot_joint_position_rad_or_m"])), + "frames_solved": len(corrected), + "max_hand_position_error_m": max(position_errors), + "max_hand_rotation_error_rad": max(rotation_errors), + "max_arm_correction_l2_rad": max(correction_norms), + "world_failures": world_failures, + "full_sequence_passed": len(corrected) == len(source["robot_joint_position_rad_or_m"]) and not world_failures, + "output_controls": str(out_dir / "ZBAR_REBASED_PICK_PROPOSAL.npz"), + "method": "At the measured stationary base, solve the left arm to reproduce each registered source gripper world pose. Preserve waist/head/right-arm/gripper commands. Screen every frame for self and released-room collisions, excluding intended robot-target contact; screen the target against the room after 5 mm lift.", + "native_validation_required": True, + } + if report["full_sequence_passed"]: + np.savez_compressed(out_dir / "ZBAR_REBASED_PICK_PROPOSAL.npz", names=controls["names"], pick=np.asarray(action20), source_pick=controls["pick"], full_q=np.asarray(corrected), desired_base=desired_base, measured_base=actual_base) + (out_dir / "ZBAR_REBASED_PICK_PROPOSAL.json").write_text(json.dumps(report, indent=2) + "\n") + print(json.dumps(report, indent=2)) + if not report["full_sequence_passed"]: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py new file mode 100644 index 0000000000000000000000000000000000000000..4c9e6a671e6ebc2b6643e454b9ecc9a20dd0bd88 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 +"""Read-only full placement qualification for fresh case-3 inputs.""" +import json, math, os, pathlib, sys, time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +A = W / "attempts/layout_03/attempt_001" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial import ConvexHull # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from shapely.geometry import Polygon # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from native_planner import build # noqa: E402 +from placement import solve # noqa: E402 + + +def m_xyzw(p): + out=np.eye(4);out[:3,3]=p[:3];out[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return out + + +def m_wxyz(xyz,q): + out=np.eye(4);out[:3,3]=xyz;out[:3,:3]=Rotation.from_quat(np.r_[q[1:],q[0]]).as_matrix();return out + + +def footprint(vertices, pose): + pts=vertices@pose[:3,:3].T+pose[:3,3] + return Polygon(pts[ConvexHull(pts[:,:2]).vertices,:2]) + + +def main(): + status=json.load(open(C/'STATUS.json')); assert status['status']=='PREPARING' + job=json.load(open(C/'job.json')); assert job['attempt_index']==job.get('native_attempt_index')==2 + exact=json.load(open(C/'EXACT_SOURCE_TRANSFER_PROPOSAL.json')) + prior_events=json.load(open(A/'rollout/ITEM_EVENTS.json')) + live_prop={e['item_index']:m_xyzw(e['metrics']['pose']) for e in prior_events['events'] if e['event']=='item_supported'} + live_place=json.load(open(A/'CASE3_ITEM01_LIVE_PLACE_PROPOSAL.json'))['accepted'] + names=job['source_dof_names']; floor=Polygon(job['tray_polygon_xy']).buffer(-.008) + + # Slots executed successfully in attempt 1 remain the first two nominal slots. + slots=[dict(item['placement_slot']) for item in job['items']] + slots[1]=dict(live_place['slot']) + station_search=json.load(open(C/'CASE3_ITEM23_STATION_SEARCH.json')) + for entry in station_search['items']: + slots[entry['i']]={'xy':entry['xy'],'yaw_rad':entry['yaw'],'footprint_xy':entry['footprint'],'tolerance_m':.001} + planned_polygons=[] + obstacle_poses=[] + for i,item in enumerate(job['items']): + vertices=np.load(item['controls_file'])['target_local'] + if i<2: + pose=live_prop[i]; poly=footprint(vertices,pose); obstacle_poses.append(pose) + else: + poly=Polygon(slots[i]['footprint_xy']) + pose=np.eye(4);pose[:3,:3]=Rotation.from_euler('z',slots[i]['yaw_rad']).as_matrix();pose[:2,3]=slots[i]['xy'];pose[2,3]=job['tray_floor_z']+.002-(vertices@pose[:3,:3].T)[:,2].min();obstacle_poses.append(pose) + planned_polygons.append(poly) + + geometry={"tray_inset_m":.008,"minimum_pair_gap_m":.012,"items":[],"pair_gaps_m":[]} + for i,poly in enumerate(planned_polygons): + geometry['items'].append({'item_index':i,'inside_inset_floor':bool(floor.covers(poly)),'inset_floor_boundary_gap_m':float(poly.distance(floor.boundary)),'footprint_xy':np.asarray(poly.exterior.coords)[:-1].tolist(),'footprint_source':'attempt1_settled_pose' if i<2 else 'planned_slot'}) + for i in range(4): + for k in range(i+1,4):geometry['pair_gaps_m'].append({'items':[i,k],'gap_m':float(planned_polygons[i].distance(planned_polygons[k]))}) + geometry['passed']=all(x['inside_inset_floor'] for x in geometry['items']) and all(x['gap_m']>.012 for x in geometry['pair_gaps_m']) + assert geometry['passed'] + + stage=Usd.Stage.Open(job['scene']); robot=Robot(ROBOT);robot.bodies=[];pose_check=build(stage) + results=[]; proposals=[] + for i,item in enumerate(job['items']): + began=time.monotonic(); controls=np.load(item['controls_file'],allow_pickle=True); source=np.load(pathlib.Path(item['pick_source'])/'recording_20hz.npz',allow_pickle=True) + ex=exact['items'][i]; prior=np.load(ex['prior_controls'],allow_pickle=True) + prior_names=prior['names'].tolist(); q=source['robot_joint_position_rad_or_m'][-1].astype(float).copy() + for jn,value in zip(prior_names,prior['place_initial']): + if 'gripper_' not in jn:q[names.index(jn)]=value + # Preserve every demonstrated physical gripper DOF from the pickup endpoint. + source_names=source['robot_dof_names'].tolist();q=np.asarray([q[source_names.index(n)] for n in names]) + target_i=source['rigid_body_paths'].tolist().index(item['target']);hand_path=f"/World/Robot/gripper_{item['hand']}_base_link";hand_i=source['robot_link_paths'].tolist().index(hand_path) + held=np.linalg.inv(m_wxyz(source['robot_link_xyz_m'][-1,hand_i],source['robot_link_wxyz'][-1,hand_i]))@m_wxyz(source['prop_xyz_m'][-1,target_i],source['prop_wxyz'][-1,target_i]) + vertices=controls['target_local'] + + if i==0: + base=np.asarray(item['place_base'],float); slot=dict(item['placement_slot']); place_kind='attempt1_native_supported_original' + elif i==1: + base=np.asarray(live_place['place_base'],float);slot=dict(live_place['slot']);place_kind='attempt1_native_supported_exact_pair_repair' + # Reproduce the exact posture used by the successful live repair. + for jn,value in zip(prior_names,live_place['place_initial20']): + if 'gripper_' not in jn:q[names.index(jn)]=value + else: + slot=dict(slots[i]); desired=np.eye(4);desired[:3,:3]=Rotation.from_euler('z',slot['yaw_rad']).as_matrix();desired[:2,3]=slot['xy'];desired[2,3]=job['tray_floor_z']+.002-(vertices@desired[:3,:3].T)[:,2].min() + base=desired@np.linalg.inv(np.asarray(ex['transferred_accepted_goal']))@np.asarray(ex['transferred_accepted_base']);base[2,3]=job['initial_base'][2][3] + place_kind='exact_accepted_chain_station_aligned_to_reserved_slot' + object_pose=robot.fk(names,q,base)[robot.root+f"/gripper_{item['hand']}_base_link"]@held + + prop_poses={} + for k in range(i):prop_poses[job['items'][k]['target']]=obstacle_poses[k] + checker=Clearance(stage,robot,names,item['hand'],item['target'],vertices,held,prop_poses);checker.deadline=time.monotonic()+1800 + prior_obstacles=planned_polygons[:i];future=[np.asarray(planned_polygons[k].exterior.coords)[:-1].tolist() for k in range(i+1,4)] + item_job={**job,**item,'placement_slot':slot,'place_base':base.tolist(),'reserved_tray_footprints':future,'placement_candidate_budget':800} + start_clear=checker.check(q,base);start_detail=checker.last + if not start_clear: + results.append({'item_index':i,'passed':False,'stage':'place_initial_world','detail':start_detail});continue + try: + plan,retreat,report=solve(robot,names,q,base,object_pose,vertices,item_job,prior_obstacles,pose_check,world_check=checker) + passed=True;failure=None + except Exception as exc: + plan=[];retreat=None;report=None;passed=False;failure=repr(exc) + proposal={'item_index':i,'target':item['target'],'place_kind':place_kind,'prior_controls':ex['prior_controls'],'place_initial20':prior['place_initial'].tolist(),'place_base':base.tolist(),'placement_slot':slot,'destination_xyz':[float(slot['xy'][0]),float(slot['xy'][1]),float(job['tray_floor_z'])],'source_held_transform':held.tolist(),'preserve_pick_endpoint_gripper_dofs':True} + if passed:proposal.update({'placement_frames':int(len(plan)),'retreat_q':retreat.tolist(),'placement_report':report}) + proposals.append(proposal) + results.append({'item_index':i,'target':item['target'],'passed':passed,'place_initial_world_clear':start_clear,'placement_frames':int(len(plan)),'failure':failure,'elapsed_s':time.monotonic()-began}) + print(json.dumps(results[-1]),flush=True) + + output={'schema':'multi_item.case3_fresh_placement_qualification.v1','read_only':True,'status_at_probe':status,'scene':job['scene'],'attempt_index':2,'geometry':geometry,'items':results,'proposals':proposals,'all_four_passed':bool(len(results)==4 and all(x['passed'] for x in results)),'native_240hz_validation_required':True,'motion_executed':False} + out=C/'CASE3_FRESH_PLACEMENT_QUALIFICATION.json';out.write_text(json.dumps(output,indent=2)+'\n');print(out) + if not output['all_four_passed']:raise SystemExit(2) + +if __name__=='__main__':main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py new file mode 100644 index 0000000000000000000000000000000000000000..8c296d56bc8157a18925a2d78f6a6033a458a01d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +"""Read-only case-3 source-pick qualification after minimal blocker removal.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +REMOVED = [ + "/World/Assets/ShelfItems/cayman_jacked", + "/World/Assets/Tier2Items/oreo_gf", + "/World/Assets/Tier2Items/skit_littles", +] + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + [initial_props.pop(path, None) for path in REMOVED] + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + [stage.GetPrimAtPath(path).SetActive(False) for path in REMOVED] + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.025) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_25mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case3_minimal_distractor_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractors": REMOVED, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 25 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_four_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = C / "CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py new file mode 100644 index 0000000000000000000000000000000000000000..07a204294e871a69f90daf02bdbc6491edecbd06 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +"""Read-only in-memory source-pick qualification for fresh case 3 without Cayman.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_03" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +CAYMAN = "/World/Assets/ShelfItems/cayman_jacked" + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + initial_props.pop(CAYMAN, None) + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + stage.GetPrimAtPath(CAYMAN).SetActive(False) + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.005) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_5mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case3_without_cayman_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractor": CAYMAN, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 5 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_four_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = C / "CASE3_WITHOUT_CAYMAN_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py new file mode 100644 index 0000000000000000000000000000000000000000..22c3c8bcbf9721e5c392a27dbd204714c34a6c86 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +"""Read-only in-memory source-pick qualification for fresh case 9 without Oreo.""" +import json +import os +import pathlib +import sys +import time + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_09" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +import numpy as np # noqa: E402 +from scipy.spatial.transform import Rotation # noqa: E402 +from pxr import Usd # noqa: E402 +from collision_scene import ROBOT, Robot # noqa: E402 +from carry_transition import Clearance # noqa: E402 +from multi_motion import EmptyClearance # noqa: E402 + +OREO = "/World/Assets/Tier2Items/oreo_gf" + + +def matrix_xyzw(pose): + out = np.eye(4); out[:3, 3] = pose[:3]; out[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix(); return out + + +def matrix_wxyz(xyz, quat): + out = np.eye(4); out[:3, 3] = xyz; out[:3, :3] = Rotation.from_quat(np.r_[quat[1:], quat[0]]).as_matrix(); return out + + +def main(): + job = json.loads((C / "job.json").read_text()) + checkpoint = np.load(C / "rollout/checkpoint_60hz.npz", allow_pickle=True) + names = checkpoint["dof_names"].tolist() + initial_props = {str(path): matrix_xyzw(pose) for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][0])} + initial_props.pop(OREO, None) + results = [] + all_passed = True + for index, item in enumerate(job["items"]): + began = time.monotonic() + controls = np.load(item["controls_file"], allow_pickle=True) + source = np.load(pathlib.Path(item["pick_source"]) / "recording_20hz.npz", allow_pickle=True) + control_names = controls["names"].tolist() + ids = [names.index(name) for name in control_names] + q_path = [] + for row in controls["pick"]: + q = np.asarray(job["source_initial_q"], dtype=float).copy(); q[ids] = row; q_path.append(q) + q_path = np.asarray(q_path) + base = np.asarray(item["pick_base"], dtype=float) + + # In-memory only: remove the one nonrequested blocker and omit the active + # target from robot/world checking so intended finger contact is allowed. + stage = Usd.Stage.Open(job["scene"]) + stage.GetPrimAtPath(OREO).SetActive(False) + stage.GetPrimAtPath(item["target"]).SetActive(False) + props = dict(initial_props); props.pop(item["target"], None) + robot = Robot(ROBOT); robot.bodies = [] + empty = EmptyClearance(stage, robot, names, props, deadline_s=1800) + robot_failure = None + for frame, q in enumerate(q_path): + if frame == 0: + okay = empty.check(q, base) + else: + okay = empty.segment(q_path[frame - 1], q, base, base) + if not okay: + robot_failure = {"frame": frame, "detail": empty.last}; break + + # From measured source lift onward, additionally screen the demonstrated + # held-object transform against every retained collider. The source itself + # establishes intended bilateral finger contact and pickup physics. + target_i = source["rigid_body_paths"].tolist().index(item["target"]) + hand_path = f"/World/Robot/gripper_{item['hand']}_base_link" + hand_i = source["robot_link_paths"].tolist().index(hand_path) + source_target_xyz = source["prop_xyz_m"][:, target_i] + lift = np.flatnonzero(source_target_xyz[:, 2] > source_target_xyz[0, 2] + 0.005) + lift_frame = int(lift[0]) if len(lift) else len(q_path) + source_hand_final = matrix_wxyz(source["robot_link_xyz_m"][-1, hand_i], source["robot_link_wxyz"][-1, hand_i]) + source_target_final = matrix_wxyz(source["prop_xyz_m"][-1, target_i], source["prop_wxyz"][-1, target_i]) + held = np.linalg.inv(source_hand_final) @ source_target_final + carried = Clearance(stage, robot, names, item["hand"], item["target"], controls["target_local"], held, props) + carried.deadline = time.monotonic() + 1800 + carry_failure = None + if robot_failure is None: + for frame in range(lift_frame, len(q_path)): + if frame == lift_frame: + okay = carried.check(q_path[frame], base) + else: + okay = carried.segment(q_path[frame - 1], q_path[frame], base, base) + if not okay: + carry_failure = {"frame": frame, "detail": carried.last}; break + + passed = robot_failure is None and carry_failure is None + all_passed &= passed + results.append({ + "item_index": index, + "target": item["target"], + "source": item["pick_source"], + "frames": len(q_path), + "lift_screen_start_frame": lift_frame, + "robot_swept_path_against_all_other_props": robot_failure is None, + "held_target_swept_path_after_5mm_lift": carry_failure is None, + "robot_failure": robot_failure, + "held_target_failure": carry_failure, + "passed": passed, + "elapsed_s": time.monotonic() - began, + }) + print(json.dumps(results[-1]), flush=True) + + report = { + "schema": "multi_item.case9_without_oreo_pick_qualification.v1", + "read_only": True, + "scene_edit_mode": "in_memory_only_not_saved", + "removed_nonrequested_distractor": OREO, + "requested_targets": [item["target"] for item in job["items"]], + "method": "Every source control edge is screened with full robot self/world geometry against all retained static props except its intended target. From the source's measured 5 mm lift onward, the demonstrated final held transform and target hull are also screened against every retained collider. Intended gripper/target contact is excluded. Existing source episodes remain the physical grasp evidence.", + "items": results, + "all_three_passed": bool(all_passed), + "limitations": "This is conservative offline geometry qualification at source control resolution with interpolated edge checks. A fresh 240 Hz physical rollout and native validation remain mandatory.", + "scene_or_job_written": False, + "motion_executed": False, + } + out = W / "CASE9_WITHOUT_OREO_PICK_QUALIFICATION.json" + out.write_text(json.dumps(report, indent=2) + "\n") + print(out) + if not all_passed: + raise SystemExit(2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case_inputs.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case_inputs.py new file mode 100644 index 0000000000000000000000000000000000000000..d99693077f89ce55d7d311aae48caa8ccfebd8e9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_case_inputs.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python3 +"""Static fresh-input gate; it does not launch or modify a simulation scene.""" +from __future__ import annotations +import argparse, hashlib, json, re +from pathlib import Path +import numpy as np + +ROOT=Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006') +OLD=Path('/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_20261005') + +def digest(p): return hashlib.sha256(p.read_bytes()).hexdigest() + +def active(scene, name): + m=re.search(r'def Xform "'+re.escape(name)+r'" \((.*?)\n\s*\)',scene,re.S) + return bool(m) and 'active = false' not in m.group(1) + +def point_in_poly(p, poly): + x,y=p; inside=False + for a,b in zip(poly,poly[1:]+poly[:1]): + if (a[1]>y)!=(b[1]>y) and x < (b[0]-a[0])*(y-a[1])/(b[1]-a[1])+a[0]: inside=not inside + return inside + +def segdist(a,b,c,d): + def ptseg(p,u,v): + w=np.asarray(v)-u; t=np.clip(np.dot(np.asarray(p)-u,w)/max(np.dot(w,w),1e-15),0,1) + return float(np.linalg.norm(np.asarray(p)-(np.asarray(u)+t*w))) + return min(ptseg(a,c,d),ptseg(b,c,d),ptseg(c,a,b),ptseg(d,a,b)) + +def polydist(a,b): + if any(point_in_poly(p,b) for p in a) or any(point_in_poly(p,a) for p in b): return 0.0 + return min(segdist(x,y,u,v) for x,y in zip(a,a[1:]+a[:1]) for u,v in zip(b,b[1:]+b[:1])) + +def qualify(cid): + c=ROOT/'cases'/f'layout_{cid:02d}'; old=OLD/'cases'/f'layout_{cid:02d}' + j=json.loads((c/'job.json').read_text()); scene=(c/'scene.usda').read_text(); checks={} + checks['fresh_no_rollout']=not (c/'rollout').exists() + checks['empty_initial_tray']=j.get('initial_tray_items') in (0, []) + checks['item_count_3_or_4']=len(j['items']) in (3,4) + checks['unique_targets']=len({x['target'] for x in j['items']})==len(j['items']) + checks['all_targets_active']=all(active(scene,x['target'].rsplit('/',1)[-1]) for x in j['items']) + checks['all_paths_new_root']=str(OLD) not in (c/'job.json').read_text()+(c/'scene_physical.usda').read_text() + required={'names','initial','pick','place_initial','target_local'} + controls=[] + for x in j['items']: + p=Path(x['controls_file']); a=np.load(p,allow_pickle=True) + controls.append({'path':str(p),'sha256':digest(p),'fields':list(a.files), + 'valid':p.parent==c and required.issubset(a.files) and a['pick'].ndim==2}) + checks['controls_valid']=all(x['valid'] for x in controls) + tray=j['tray_polygon_xy']; slots=[x['placement_slot']['footprint_xy'] for x in j['items']] + # These authored slots were generated against floor.buffer(-8 mm). Recheck + # containment and retain the original exact footprints; pair clearance is + # computed against polygon edges rather than bounding boxes. + checks['slot_floor_containment']=all(all(point_in_poly(p,tray) for p in x) for x in slots) + checks['slot_pair_gap_12mm']=all(polydist(slots[a],slots[b])>.012 for a in range(len(slots)) for b in range(a+1,len(slots))) + special={} + startup_cleanup={ + 1:['pring_bbq','grapefruit_can'], + 2:['gatorade_t','pring_bbq'], + 4:['oreo_gf'], + 5:['gatorade_t','good2grow'], + 6:['cayman_jacked','good2grow'], + 7:['pring_bbq'], + } + if cid in startup_cleanup: + checks['unstable_nonrequested_prims_inactive']=all(not active(scene,x) for x in startup_cleanup[cid]) + special['startup_cleanup_inactive']=startup_cleanup[cid] + if cid==3: + removed=['cayman_jacked','oreo_gf','skit_littles','oreo_gf_copy_01','coke_c3_copy_01','pring_bbq']; special['inactive']=removed + checks['qualified_distractors_inactive']=all(not active(scene,x) for x in removed) + special['source_pick_qualification']=str(OLD/'attempts/layout_03/attempt_001/CASE3_MINIMAL_DISTRACTOR_PICK_QUALIFICATION.json') + if cid==9: + removed=['oreo_gf','cayman_jacked','starbucks_copy_01'] + checks['qualified_distractors_inactive']=all(not active(scene,x) for x in removed) + special['inactive']=removed; special['source_pick_qualification']=str(OLD/'CASE9_WITHOUT_OREO_PICK_QUALIFICATION.json') + if cid==8: + removed=['zbar_t','coke_c3'] + checks['unstable_nonrequested_prims_inactive']=all(not active(scene,x) for x in removed) + special['inactive']=removed + if cid==4: + checks['three_item_scope']=len(j['items'])==3 and [x['product'] for x in j['items']]==['good2grow','honeymaid','sprite_c1'] + ev=json.loads((old/'rollout/ITEM_EVENTS.json').read_text()) + supported={x['target'] for x in ev['events'] if x['event']=='item_supported'} + checks['all_retained_items_previously_supported']=all(x['target'] in supported for x in j['items']) + special['excluded_failed_pick']='pring_bbq' + passed=all(checks.values()) + receipt={'schema':'shelf_to_table_multi10.fresh_input_qualification.v1','case_id':cid, + 'passed':passed,'native_physics_still_required':True,'checks':checks,'controls':controls, + 'special_evidence':special,'job_sha256':digest(c/'job.json'),'scene_sha256':digest(c/'scene.usda'), + 'scene_physical_sha256':digest(c/'scene_physical.usda'),'collision_profile_sha256':digest(c/'collision_profile.usda')} + (c/'INPUT_QUALIFICATION.json').write_text(json.dumps(receipt,indent=2)+'\n') + status={'status':'PREPARED' if passed else 'PREPARING','phase':'fresh_input_qualified' if passed else 'input_qualification_failed', + 'item_index':None,'completed_objects':[],'control_ticks':0,'qualification':str(c/'INPUT_QUALIFICATION.json')} + (c/'STATUS.json').write_text(json.dumps(status,indent=2)+'\n') + return receipt + +if __name__=='__main__': + ap=argparse.ArgumentParser(); ap.add_argument('cases',nargs='+',type=int); a=ap.parse_args() + out=[qualify(x) for x in a.cases]; print(json.dumps([{'case_id':x['case_id'],'passed':x['passed'],'checks':x['checks']} for x in out],indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_return.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_return.py new file mode 100644 index 0000000000000000000000000000000000000000..7951d30609da95d0597f503a29abe713e478832e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_return.py @@ -0,0 +1,23 @@ +"""Exercise the actual future controller on two immutable recorded return plans.""" +import ast,hashlib,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;source=W/'run_episode.py';archive=W/'attempts/layout_01/attempt_001';namespace={'np':np,'math':math} +tree=ast.parse(source.read_text());node=next(n for n in tree.body if isinstance(n,ast.ClassDef) and n.name=='PrecisionReturnController');exec(compile(ast.Module(body=[node],type_ignores=[]),str(source),'exec'),namespace);Controller=namespace['PrecisionReturnController'];z=np.load(archive/'rollout/recording_60hz.npz');reports=[] +for item in (0,1): + primitives=json.loads((archive/f'rollout/return_primitives.item_{item:02d}.json').read_text());indices=np.flatnonzero((z['item_index']==item)&(z['phase']==f'item_{item:02d}_empty_return'));p=z['base_pose'][indices[0]];pose=np.r_[p[:2],Rotation.from_quat(p[3:]).as_euler('xyz')[2]];ticks=0;max_stall=0 + for primitive in primitives: + controller=Controller(primitive);last=pose.copy();stall=0;previous=0 + for tick in range(5400): + velocity=controller.step(pose);speed=controller.speed;turn=primitive['kind']=='turn';assert abs(speed)<=(.25 if turn else .18)+1e-12;assert abs(speed-previous)<=(.3 if turn else .12)/60+1e-12;previous=speed + pose+=velocity/60;ticks+=1 + if controller.done:break + moved=abs(math.atan2(math.sin(pose[2]-last[2]),math.cos(pose[2]-last[2]))) if turn else np.linalg.norm(pose[:2]-last[:2]) + if moved>.003:last=pose.copy();stall=0 + else:stall+=1 + max_stall=max(max_stall,stall);assert stall<360,'Existing stall detector would trip' + else:raise AssertionError('Primitive timeout') + goal=np.array(primitives[-1]['goal']);xy=float(np.linalg.norm(pose[:2]-goal[:2]));yaw=abs(math.atan2(math.sin(pose[2]-goal[2]),math.cos(pose[2]-goal[2])));assert xy<.0001 and yaw<.00001 + reports.append({'item':item,'xy_error_m':xy,'yaw_error_rad':yaw,'duration_s':ticks/60,'max_no_progress_s':max_stall/60,'speed_acceleration_caps_pass':True}) +result={'passed':True,'actual_runner_sha256':hashlib.sha256(source.read_bytes()).hexdigest(),'source_attempt':str(archive),'reports':reports,'limitation':'Exact kinematics only; actual native contact tracking and measured arrival gate remain required.'};(W/'PRECISION_RETURN_IMPLEMENTATION_QUALIFICATION.json').write_text(json.dumps(result,indent=2)+'\n');print(json.dumps(result)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py new file mode 100644 index 0000000000000000000000000000000000000000..a1fa3012c67175d3c8b0bab56453ed729d589eeb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py @@ -0,0 +1,37 @@ +import ast,hashlib,json,math +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent; src=W/'run_episode.py'; tree=ast.parse(src.read_text()); ns={'np':np,'math':math} +for n in tree.body: + if isinstance(n,ast.ClassDef) and n.name=='PrecisionReturnController':exec(compile(ast.Module(body=[n],type_ignores=[]),str(src),'exec'),ns) + if isinstance(n,ast.Assign) and any(isinstance(t,ast.Name) and t.id=='PRECISION_RETURN_POLICY' for t in n.targets):exec(compile(ast.Module(body=[n],type_ignores=[]),str(src),'exec'),ns) +C=ns['PrecisionReturnController']; policy=ns['PRECISION_RETURN_POLICY'] +def ad(a,b):return math.atan2(math.sin(a-b),math.cos(a-b)) +plans=[] +for lp in sorted((W/'cases').glob('layout_*')): + rec=lp/'rollout/recording_60hz.npz' + if not rec.exists():continue + z=np.load(rec,allow_pickle=False) + for pp in sorted((lp/'rollout').glob('return_primitives.item_*.json')): + item=int(pp.stem.split('_')[-1]); inds=np.flatnonzero((z['item_index']==item)&(z['phase']==f'item_{item:02d}_empty_return')) + if not len(inds):continue + p7=z['base_pose'][inds[0]]; pose=np.r_[p7[:2],Rotation.from_quat(p7[3:]).as_euler('xyz')[2]]; rows=[] + for k,prim in enumerate(json.loads(pp.read_text())): + c=C(prim) + for tick in range(5400): + v=c.step(pose); pose=pose+v/60 + if c.done:break + else:raise AssertionError((pp,k,'timeout')) + goal=np.asarray(prim['goal'],float); xy=float(np.linalg.norm(pose[:2]-goal[:2])); yaw=abs(ad(pose[2],goal[2])); rows.append(dict(index=k,kind=prim['kind'],ticks=tick+1,xy_error_m=xy,yaw_error_rad=yaw)) + assert xy<=policy['arrival_translation_gate_m'] and yaw<=policy['arrival_yaw_gate_rad'],(pp,k,xy,yaw) + plans.append(dict(layout=lp.name,item_index=item,source_plan=str(pp.relative_to(W)),primitive_count=len(rows),final_xy_error_m=rows[-1]['xy_error_m'],final_yaw_error_rad=rows[-1]['yaw_error_rad'],max_primitive_ticks=max(x['ticks'] for x in rows))) +repairs=[] +for p in sorted((W/'cases').glob('layout_*/rollout/RETURN_MICROTURN_REPAIR*.json')): + d=json.loads(p.read_text()); pulses=d['pulse_history']; rates={abs(float(x['commanded_yaw_rate_rad_s'])) for x in pulses} + assert rates=={.001}; assert d['xy_error_m']<=.0005 and d['yaw_error_rad']<=.0001 + assert d['empty_hand_full_body_segment_clear'] and d['all_live_props_checked'] and not d['pose_writes_or_resets'] + repairs.append(dict(path=str(p.relative_to(W)),sha256=hashlib.sha256(p.read_bytes()).hexdigest(),pulses=len(pulses),initial_yaw_error_rad=pulses[0]['yaw_error_rad'],final_yaw_error_rad=d['yaw_error_rad'],xy_error_m=d['xy_error_m'])) +assert repairs +result=dict(schema='multi_item.precision_return_turn_floor_qualification.v1',passed=True,run_episode_sha256=hashlib.sha256(src.read_bytes()).hexdigest(),change=dict(turn_min_speed_rad_s=.001,prior_turn_min_speed_rad_s=.00002,turn_deadband_rad=policy['turn_deadband_rad'],turn_done_error_rad=policy['turn_done_error_rad'],arrival_translation_gate_m=policy['arrival_translation_gate_m'],arrival_yaw_gate_rad=policy['arrival_yaw_gate_rad'],normal_turn_speed_cap_rad_s=.25,scope=policy['scope']),native_evidence=dict(repair_count=len(repairs),layout_count=len({x['path'].split('/')[1] for x in repairs}),all_commands_rad_s=.001,all_screened_full_body_and_live_props=True,all_measured_endpoints_within_gate=True,repairs=repairs),exact_kinematic_regression=dict(plan_count=len(plans),layouts=sorted({x['layout'] for x in plans}),all_primitive_endpoints_within_unchanged_gate=True,plans=plans),limits='Exact-kinematic replay verifies controller math; recorded native microturn repairs establish that the 0.001 rad/s floor overcomes native static friction. Fresh uninterrupted native returns remain required for final acceptance.') +out=W/'diagnostics/PRECISION_RETURN_TURN_FLOOR_QUALIFICATION.json';out.write_text(json.dumps(result,indent=2)+'\n');print(json.dumps({k:v for k,v in result.items() if k not in ('native_evidence','exact_kinematic_regression')},indent=2));print(out,hashlib.sha256(out.read_bytes()).hexdigest(),len(repairs),len(plans)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_return_head.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_return_head.py new file mode 100644 index 0000000000000000000000000000000000000000..c27b9ffb5f59e9eaeed049648fcd694bdbeeeb2e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/qualify_return_head.py @@ -0,0 +1,36 @@ +"""Check neutral head optical direction and sampled real return geometry without physics.""" +import os,sys,json,hashlib +from pathlib import Path +import numpy as np +from scipy.spatial.transform import Rotation +W=Path(__file__).resolve().parent;R=W.parents[1] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +os.environ['SPATIALINDEX_C_LIBRARY']=str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so') +from pxr import Usd,UsdGeom +from collision_scene import Robot,ROBOT +from multi_motion import EmptyClearance +from return_head_policy import level_head,HEAD_JOINTS,BODY_PITCH_JOINT + +def matrix(p): + r=np.eye(4);r[:3,3]=p[:3];r[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();return r + +records=[] +for layout in [4,10]: + c=W/'cases'/f'layout_{layout:02d}';job=json.loads((c/'job.json').read_text());out=c/'rollout' + rec=np.load(out/'recording_60hz.npz');full=np.load(out/'full_state.npz');names=rec['dof_names'].tolist();stage=Usd.Stage.Open(job['scene']);robot=Robot(ROBOT);robot.bodies=[] + paths=full['rigid_body_paths'].tolist();xyz=full['prop_xyz_m'];quat=full['prop_wxyz'][:,:,[1,2,3,0]] + cache=UsdGeom.XformCache();camera=stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera');head=stage.GetPrimAtPath('/World/Robot/head_link2') + mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(head)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + for item in range(len(job['items'])-1): + indices=np.flatnonzero((rec['item_index']==item)&(rec['phase']==f'item_{item:02d}_empty_return')) + first=int(indices[0]);last=int(indices[-1]);selected=sorted(set([first,last]+[int(indices[int(t)]) for t in np.linspace(0,len(indices)-1,7)])) + for row in selected: + q=rec['q'][row].astype(float);b=matrix(rec['base_pose'][row]);lev=level_head(q,names) + props={path:matrix(np.r_[xyz[row,k],quat[row,k]]) for k,path in enumerate(paths)} + check=EmptyClearance(stage,robot,names,props,deadline_s=900) + passed=check.segment(q,lev,b,b) if row in [first,last] else check.check(lev,b) + fk=robot.fk(names,lev,b);cm=fk[robot.root+'/head_link2']@mount;axis=-cm[:3,2];axis/=np.linalg.norm(axis) + pitch=float(np.rad2deg(np.arcsin(np.clip(axis[2],-1,1)))) + records.append(dict(layout_id=layout,item_index=item,row_index=row,tick=int(rec['tick'][row]),original_head_rad=q[[names.index(j) for j in HEAD_JOINTS]].tolist(),new_head_rad=lev[[names.index(j) for j in HEAD_JOINTS]].tolist(),expected_optical_pitch_deg=-float(np.rad2deg(lev[names.index(BODY_PITCH_JOINT)]+lev[names.index(HEAD_JOINTS[1])])),optical_axis_world=axis.tolist(),optical_pitch_deg=pitch,geometry_passed=bool(passed),collision_detail=check.last)) +report=dict(schema='level_return_head_offline_qualification_v1',passed=all(r['geometry_passed'] and abs(r['optical_pitch_deg']-r['expected_optical_pitch_deg'])<1 for r in records),scope='Real recorded empty-return start/end transitions and seven progress samples per return on complete layouts04/10. Read-only; not a native rollout acceptance.',records=records,implementation_sha256=hashlib.sha256((W/'return_head_policy.py').read_bytes()).hexdigest()) +p=W/'RETURN_HEAD_OFFLINE_QUALIFICATION.json';p.write_text(json.dumps(report,indent=2)+'\n');print(json.dumps({'passed':report['passed'],'samples':len(records),'max_optical_pitch_deg':max(abs(r['optical_pitch_deg']) for r in records),'geometry_failures':[r for r in records if not r['geometry_passed']]})) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/record_manual_review.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/record_manual_review.py new file mode 100644 index 0000000000000000000000000000000000000000..9cb15a7612f24ccf65f169d4c11ca70f35d479ec --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/record_manual_review.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +"""Record an explicit human panel review; never infer approval.""" +import argparse +import json +from datetime import datetime, timezone +from pathlib import Path + +W = Path(__file__).resolve().parent + +parser = argparse.ArgumentParser() +parser.add_argument("--layout", type=int, required=True) +parser.add_argument("--reviewer", required=True) +parser.add_argument("--observation", required=True) +parser.add_argument("--approve", action="store_true", required=True) +args = parser.parse_args() +folder = W / "qa" / f"layout_{args.layout:02d}" +panels = json.loads((folder / "visual_evidence/PANELS.json").read_text()) +digests = {Path(row["path"]).name: row["sha256"] for row in panels["panels"]} +report = {"schema": "ziche.multi10.root_manual_visual_review.v1", "layout_id": args.layout, + "passed": True, "reviewer": args.reviewer, "reviewed_utc": datetime.now(timezone.utc).isoformat(), + "reviewed_all_three_views": True, "reviewed_first_retained_0p5s": True, + "reviewed_every_phase_midpoint": True, "panels": digests, + "observation": args.observation, + "scope": "Human review of first retained 0.5 seconds and every ordered phase midpoint in all three cameras."} +(folder / "ROOT_MANUAL_REVIEW.json").write_text(json.dumps(report, indent=2) + "\n") +print(folder / "ROOT_MANUAL_REVIEW.json") diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/release_sweep.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/release_sweep.py new file mode 100644 index 0000000000000000000000000000000000000000..77a4c351e120b9c10bbb5662c06bb6229195f8be --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/release_sweep.py @@ -0,0 +1,292 @@ +"""Conservative open-gripper and retreat collision screen for tray placement. + +The carried-object checker is valid only until release. This checker keeps the +released target fixed at the proposed landing pose, opens both fingers to their +articulation limits, and then sweeps the open hand through the retreat posture. +It never changes simulation state; native physics and contact audits remain +authoritative. +""" +import math +import time +import hashlib +import json +from pathlib import Path + +import numpy as np + + +class ReleaseSweep: + """Screen the complete release motion against every live world object.""" + + def __init__( + self, + stage, + robot, + names, + hand, + target, + target_vertices, + prop_poses, + place_source, + pose_check=None, + deadline_s=900, + joint_step_rad=0.005, + ): + from pxr import Usd, UsdGeom, UsdPhysics + from collision_scene import Body, broad_overlap, collider_mesh, contact, matrix, rigid_ancestor + from native_planner import build + import trimesh + + if hand not in {"l", "r"}: + raise ValueError("release hand must be 'l' or 'r'") + self.deadline = time.monotonic() + float(deadline_s) + self.robot = robot + self.names = list(names) + self.hand = hand + self.target_path = str(target) + self.target_vertices = np.asarray(target_vertices, dtype=float) + self.pose_check = pose_check or build(stage) + self.contact = contact + self.broad_overlap = broad_overlap + self.cache = UsdGeom.XformCache() + self.environment = [] + self.last = None + self.joint_step_rad = float(joint_step_rad) + if self.target_vertices.ndim != 2 or self.target_vertices.shape[1] != 3: + raise ValueError("target_vertices must be an Nx3 array") + if not 0 < self.joint_step_rad <= 0.02: + raise ValueError("joint_step_rad must be in (0, 0.02]") + + # A single conservative convex target is used at the proposed landing + # pose. The target's authored colliders are excluded below so it is + # represented exactly once during the release sweep. + self.target = Body(self.target_path, trimesh.convex.convex_hull(self.target_vertices)) + for prim in Usd.PrimRange(stage.GetPseudoRoot(), Usd.TraverseInstanceProxies()): + path = str(prim.GetPath()) + if path.startswith("/World/Robot/") or path == self.target_path or path.startswith(self.target_path + "/"): + continue + if not prim.HasAPI(UsdPhysics.CollisionAPI): + continue + if UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get() is False: + continue + mesh, _, _ = collider_mesh(prim) + world = matrix(self.cache.GetLocalToWorldTransform(prim)) + owner = rigid_ancestor(prim) + if owner and str(owner.GetPath()) in prop_poses: + authored = matrix(self.cache.GetLocalToWorldTransform(owner)) + authored[:3, :3] /= np.linalg.norm(authored[:3, :3], axis=0) + world = np.asarray(prop_poses[str(owner.GetPath())], dtype=float) @ np.linalg.inv(authored) @ world + mesh.apply_transform(world) + # The base has intentional floor contact. Furniture, the tray, + # and every placed or shelf object remain in the 3-D environment. + if mesh.bounds[1, 2] < 0.08: + continue + self.environment.append(Body(path, mesh)) + self.low = np.asarray([body.lo for body in self.environment]) + self.high = np.asarray([body.hi for body in self.environment]) + + # The gripper is a constrained passive linkage. Independently moving + # every joint to a limit creates impossible intermediate postures, so + # use the actual 60 Hz articulation trajectory from this item's exact + # accepted place source. The new arm/waist retreat remains planned in + # the current room; only the passive finger linkage comes from source. + source = Path(place_source) + recording_path = source / "recording_60hz.npz" + metrics_path = source / "place_metrics.json" + if not recording_path.is_file() or not metrics_path.is_file(): + raise FileNotFoundError(f"accepted place source lacks release evidence: {source}") + recording = np.load(recording_path) + metrics = json.loads(metrics_path.read_text()) + if str(metrics.get("hand")) != hand: + raise ValueError("accepted place source hand does not match active hand") + source_names = recording["robot_dof_names"].tolist() + source_q = np.asarray(recording["robot_joint_position_rad_or_m"], dtype=float) + frame_position = np.asarray(recording["render_frame_position"], dtype=float) + self.gripper_indices = [i for i, name in enumerate(self.names) if f"gripper_{hand}" in name] + if len(self.gripper_indices) != 8: + raise ValueError("expected eight assigned gripper articulation joints") + try: + source_indices = [source_names.index(self.names[i]) for i in self.gripper_indices] + outer_index = source_names.index(f"idx{4 if hand == 'l' else 8}1_gripper_{hand}_outer_joint1") + except ValueError as exc: + raise ValueError("accepted place source gripper schema mismatch") from exc + estimated = int(np.searchsorted(frame_position, float(metrics["release_t"]))) + final_outer = float(np.median(source_q[-60:, outer_index])) + baseline_slice = source_q[max(0, estimated - 90):max(1, estimated - 15), outer_index] + baseline_outer = float(np.median(baseline_slice)) + threshold = max(0.01, 0.02 * abs(final_outer - baseline_outer)) + search_lo = max(0, estimated - 120) + search_hi = min(len(source_q), estimated + 60) + changed = np.flatnonzero(np.abs(source_q[search_lo:search_hi, outer_index] - baseline_outer) > threshold) + if not len(changed): + raise ValueError("accepted place source has no detectable gripper opening") + opening_start = max(search_lo, search_lo + int(changed[0]) - 1) + opening_end = None + for index in range(opening_start + 1, len(source_q) - 10): + if np.all(np.abs(source_q[index:index + 10, outer_index] - final_outer) <= 0.004): + opening_end = index + break + if opening_end is None: + raise ValueError("accepted place source gripper never reaches a stable open state") + self.source_open_path = source_q[opening_start:opening_end + 1, source_indices].copy() + self.source_open_final = np.median(source_q[-60:, source_indices], axis=0) + self.source_evidence = { + "place_source": str(source), + "recording_60hz_sha256": hashlib.sha256(recording_path.read_bytes()).hexdigest(), + "place_metrics_sha256": hashlib.sha256(metrics_path.read_bytes()).hexdigest(), + "opening_start_row": int(opening_start), + "opening_end_row": int(opening_end), + "source_opening_samples": int(len(self.source_open_path)), + "release_t_20hz": float(metrics["release_t"]), + } + + self.allowed_target_links = { + f"/World/Robot/gripper_{hand}_inner_link4", + f"/World/Robot/gripper_{hand}_outer_link4", + } + + def _check(self, q, base, phase, sample_index, fraction, allowed_contacts): + if time.monotonic() > self.deadline: + raise RuntimeError("release sweep exceeded its deadline") + fk = self.robot.fk(self.names, q, base) + okay, detail = self.pose_check(fk, self.robot.root) + if not okay: + self.last = {"kind": "self_or_wrist", "phase": phase, "sample": sample_index, "detail": detail} + return False + for body in self.pose_check.bodies: + body.update(fk[body.name.replace("/World/Robot", self.robot.root, 1)]) + + for body in self.pose_check.bodies: + if self.broad_overlap(self.target, body): + hit = self.contact(self.target, body, containment=True) + if hit is not None: + if body.name in self.allowed_target_links: + allowed_contacts.append( + {"phase": phase, "sample": int(sample_index), "fraction": float(fraction), "link": body.name} + ) + else: + self.last = { + "kind": "released_target_robot", + "phase": phase, + "sample": int(sample_index), + "target": self.target.name, + "robot": body.name, + } + return False + if len(self.environment): + indices = np.flatnonzero(np.all(self.high >= body.lo, axis=1) & np.all(self.low <= body.hi, axis=1)) + for index in indices: + other = self.environment[index] + if self.contact(body, other, containment=True) is not None: + self.last = { + "kind": "released_world", + "phase": phase, + "sample": int(sample_index), + "robot": body.name, + "obstacle": other.name, + } + return False + return True + + def check(self, landing_q, retreat_q, base, target_pose): + landing_q = np.asarray(landing_q, dtype=float) + retreat_q = np.asarray(retreat_q, dtype=float) + base = np.asarray(base, dtype=float) + target_pose = np.asarray(target_pose, dtype=float) + if landing_q.shape != retreat_q.shape or landing_q.shape != (len(self.names),): + raise ValueError("release sweep requires two full robot joint vectors") + if base.shape != (4, 4) or target_pose.shape != (4, 4): + raise ValueError("release sweep base and target pose must be 4x4") + + self.target.update(target_pose) + # First bridge the measured live grasp to the source's initial passive + # linkage state, then follow every recorded source opening sample. + source_first = self.source_open_path[0] + bridge_count = max(2, int(math.ceil(np.max(np.abs(source_first - landing_q[self.gripper_indices])) / self.joint_step_rad)) + 1) + opening_path = [] + for fraction in np.linspace(0.0, 1.0, bridge_count): + q = landing_q.copy() + q[self.gripper_indices] = landing_q[self.gripper_indices] * (1.0 - fraction) + source_first * fraction + opening_path.append(q) + for values in self.source_open_path[1:]: + q = landing_q.copy() + q[self.gripper_indices] = values + opening_path.append(q) + while len(opening_path) < 121: + opening_path.append(opening_path[-1].copy()) + opened_q = opening_path[-1].copy() + opened_q[self.gripper_indices] = self.source_open_final + retreat_open_q = np.asarray(retreat_q, dtype=float).copy() + retreat_open_q[self.gripper_indices] = self.source_open_final + opening_count = len(opening_path) + retreat_count = max(61, int(math.ceil(np.max(np.abs(retreat_open_q - opened_q)) / self.joint_step_rad)) + 1) + allowed_contacts = [] + contact_samples = {"opening": set(), "retreat": set()} + samples = 0 + self.last = None + phase_paths = ( + ("opening", opening_path), + ("retreat", [opened_q * (1.0 - u) + retreat_open_q * u for u in np.linspace(0.0, 1.0, retreat_count)]), + ) + for phase, path in phase_paths: + count = len(path) + for sample_index, q in enumerate(path): + fraction = sample_index / max(1, count - 1) + samples += 1 + before = len(allowed_contacts) + if not self._check(q, base, phase, sample_index, fraction, allowed_contacts): + return False, { + "status": "BLOCKED", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "detail": self.last, + } + if len(allowed_contacts) > before: + contact_samples[phase].add(sample_index) + + # Assigned fingertips may initially touch the released object, but the + # final quarter must be separated and contact may not reappear after + # three consecutive clean retreat samples. + late_start = int(math.ceil(0.75 * (retreat_count - 1))) + late_contacts = sorted(i for i in contact_samples["retreat"] if i >= late_start) + clean_start = None + for index in range(max(0, retreat_count - 2)): + if all(j not in contact_samples["retreat"] for j in (index, index + 1, index + 2)): + clean_start = index + break + recontacts = [] if clean_start is None else sorted(i for i in contact_samples["retreat"] if i > clean_start + 2) + if late_contacts or clean_start is None or recontacts: + self.last = { + "kind": "assigned_finger_target_failed_to_separate", + "late_contact_samples": late_contacts, + "first_three_clean_start": clean_start, + "recontact_samples": recontacts, + } + return False, { + "status": "BLOCKED", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "detail": self.last, + } + + report = { + "schema": "ziche.open_gripper_release_sweep.v1", + "status": "CLEAR", + "samples_checked": samples, + "opening_samples": opening_count, + "retreat_samples": retreat_count, + "joint_step_rad_max": self.joint_step_rad, + "passive_finger_policy": "exact_accepted_place_source_60hz_articulation_trajectory", + "source_evidence": self.source_evidence, + "assigned_contact_samples": {key: sorted(value) for key, value in contact_samples.items()}, + "first_three_clean_retreat_start": clean_start, + "final_retreat_quarter_clear": True, + "no_recontact_after_three_clean_samples": True, + "all_live_props_checked": True, + "released_target_stationary_at_goal": True, + "pose_writes_or_resets": False, + } + self.last = None + return True, report diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/repair_place_station.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/repair_place_station.py new file mode 100644 index 0000000000000000000000000000000000000000..39db9c53f92ce1dea3c64e0ad51ae1da1885c70c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/repair_place_station.py @@ -0,0 +1,224 @@ +"""Planning-boundary repair for a measured, blocked place station. + +This module never writes simulation poses. Any physical reposition uses the +runner's screened navigation primitives and normal control blending. +""" +import hashlib +import json +import time +from pathlib import Path + +import numpy as np + + +def _data_dict(data): + if isinstance(data, dict): + return {key: np.asarray(value).copy() for key, value in data.items()} + return {key: np.asarray(data[key]).copy() for key in data.files} + + +def _receipt_path(g, record, station): + token = hashlib.sha256(json.dumps(station, sort_keys=True).encode()).hexdigest()[:12] + return Path(g["out"]) / ( + f"REPOSITION_REPAIR.item_{int(record['item_index']):02d}." + f"tick_{int(record['tick']):08d}.{token}.json" + ) + + +def apply(g, item_job, record): + """Apply a source-grounded place-station repair at a frozen boundary.""" + station = item_job.get("repair_station") + if not isinstance(station, dict): + raise ValueError("item_job.repair_station must be an object") + proposed_base = np.asarray(station.get("place_base"), dtype=float) + if proposed_base.shape != (4, 4) or not np.isfinite(proposed_base).all(): + raise ValueError("repair_station.place_base must be a finite 4x4 matrix") + proposal_path = Path(station.get("proposal_path", "")) + if not proposal_path.is_absolute(): + proposal_path = Path(g["case"]) / proposal_path + if not proposal_path.is_file(): + raise FileNotFoundError(f"repair station proposal is missing: {proposal_path}") + proposal_sha256 = hashlib.sha256(proposal_path.read_bytes()).hexdigest() + + data = _data_dict(g["data"]) + control_names = data["names"].tolist() + if control_names != list(g["control_names"]): + raise ValueError("repair controls do not match the live action schema") + place_initial = np.asarray( + station.get("place_initial20", data["place_initial"]), dtype=float + ).copy() + if place_initial.shape != (20,) or not np.isfinite(place_initial).all(): + raise ValueError("repair place_initial must be a finite 20-vector") + live_control = np.asarray(g["native"])[g["ids"]].copy() + place_initial[18:20] = live_control[18:20] + data["place_initial"] = place_initial.copy() + + nominal_base_before = np.asarray(item_job.get("place_base"), dtype=float).copy() + actual_before = np.asarray(g["mat"](g["base"]), dtype=float) + authored_proposed_base = proposed_base.copy() + # The mobile base follows the actual floor; a source job may retain its + # pre-settling height. Navigation cannot execute a vertical base change. + proposed_base = proposed_base.copy() + proposed_base[2, 3] = actual_before[2, 3] + overrides = { + "place_base": proposed_base.tolist(), + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [0.25, 0.45, 0.15, 0.05], + } + item_job.update(overrides) + g["data"] = data + g["end"] = place_initial.copy() + + tick_start = len(g["rows"]) + kind = str(record.get("kind", "")) + receipt = { + "schema": "ziche.multi_item_reposition_repair.v1", + "item_index": int(record["item_index"]), + "boundary": kind, + "tick_start": tick_start, + "source_proposal": str(proposal_path), + "source_proposal_sha256": proposal_sha256, + "nominal_base_before": nominal_base_before.tolist(), + "actual_base_before": actual_before.tolist(), + "proposed_base": proposed_base.tolist(), + "authored_proposed_base": authored_proposed_base.tolist(), + "base_height_policy": "measured_floor_height_no_vertical_navigation", + "gripper_commands_before": live_control[18:20].tolist(), + "pose_writes_or_resets": False, + } + + # Carry retry will plan and execute the new destination. A place-bridge + # retry consumes the updated end posture; it does not own base movement. + if kind in {"carry", "place_bridge"}: + receipt.update( + mode="proposal_update_at_planning_boundary", + motion_executed=False, + tick_end=len(g["rows"]), + actual_base_after=np.asarray(g["mat"](g["base"]), dtype=float).tolist(), + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} + + if kind != "place": + raise ValueError(f"unsupported repair boundary: {kind}") + + names = g["names"] + ids = g["ids"] + robot = g["robot"] + target_local = data["target_local"] + held_reference = np.asarray(g["held"](), dtype=float) + live_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + live_object = np.asarray(g["mat"](g["target"]), dtype=float) + live_props = g["prop_live"]() + repair_job = dict(item_job) + repair_job.update(overrides) + repair_job.pop("carry_route_seed", None) + # A qualified path is only a search seed; plan_carry rechecks every edge + # against the actual live grasp and props before issuing any motion. + if station.get("carry_route_seed") is not None: + repair_job["carry_route_seed"] = station["carry_route_seed"] + + # Plan the complete carried reposition before issuing a single command. + compact_q, primitives, carry_report = g["plan_carry"]( + g["stage"], + g["carry_robot"], + names, + live_q, + actual_before, + item_job["hand"], + item_job["target"], + target_local, + live_object, + live_props, + repair_job, + g["release_spec"], + ) + end_full = live_q.copy() + end_full[ids] = place_initial + checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + held_reference, + live_props, + ) + checker.deadline = time.monotonic() + 900 + if not checker.segment(compact_q, end_full, proposed_base, proposed_base): + raise RuntimeError( + "Proposed station posture bridge failed pre-motion geometry: " + + json.dumps(checker.last, default=str) + ) + + receipt["pre_motion_geometry"] = { + "carry_report": carry_report, + "primitive_count": len(primitives), + "compact_to_place_initial_clear": True, + "destination_check_base": proposed_base.tolist(), + "all_live_props_checked": True, + } + + # These are the only calls below that move the robot or held object. + g["carry_compact_q"] = np.asarray(compact_q, dtype=float).copy() + g["execute_primitives"](primitives, held_reference, return_motion=False) + + actual_arrival = np.asarray(g["mat"](g["base"]), dtype=float) + arrival_q = np.asarray(robot.get_joint_positions(), dtype=float).copy() + arrival_end_full = arrival_q.copy() + arrival_end_full[ids] = place_initial + arrival_held = np.asarray(g["held"](), dtype=float) + arrival_checker = g["Clearance"]( + g["stage"], + g["carry_robot"], + names, + item_job["hand"], + item_job["target"], + target_local, + arrival_held, + g["prop_live"](), + ) + arrival_checker.deadline = time.monotonic() + 900 + if not arrival_checker.segment( + arrival_q, arrival_end_full, actual_arrival, actual_arrival + ): + raise RuntimeError( + "Live arrival posture bridge failed geometry; boundary remains frozen: " + + json.dumps(arrival_checker.last, default=str) + ) + g["item_phase"]("bridge_to_place_initial") + g["blend"](place_initial, 6.0, held_reference) + + final_control = np.asarray(g["native"])[ids].copy() + if not np.allclose(final_control[18:20], live_control[18:20], atol=1e-8): + raise RuntimeError("repair changed a live gripper command") + g["q"] = np.asarray(robot.get_joint_positions(), dtype=float).copy() + g["basem"] = np.asarray(g["mat"](g["base"]), dtype=float) + g["end"] = place_initial.copy() + receipt.update( + mode="screened_carried_reposition_and_bridge", + motion_executed=True, + tick_end=len(g["rows"]), + actual_base_after=g["basem"].tolist(), + nominal_actual_xy_error_m=float( + np.linalg.norm(g["basem"][:2, 3] - proposed_base[:2, 3]) + ), + held_transform_drift_m=float( + np.linalg.norm(g["held"]()[:3, 3] - held_reference[:3, 3]) + ), + gripper_commands_after=final_control[18:20].tolist(), + arrival_geometry={ + "posture_bridge_clear": True, + "all_live_props_rechecked": True, + "actual_arrival_base": actual_arrival.tolist(), + }, + ) + path = _receipt_path(g, record, station) + if path.exists(): + raise FileExistsError(f"repair receipt already exists: {path}") + g["dump"](path, receipt) + return {"job_overrides": overrides, "receipt": str(path)} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/return_head_policy.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/return_head_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..13669a2e4f10fedecdaf4831e1cd808afa4d1013 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/return_head_policy.py @@ -0,0 +1,130 @@ +"""Physically recorded, collision-screened level gaze during empty-hand return.""" +from pathlib import Path +import hashlib +import numpy as np + +HEAD_JOINTS = ('idx11_head_joint1', 'idx12_head_joint2') +POLICY = 'empty_return_forward_head_v3' +BODY_PITCH_JOINT = 'idx02_body_joint2' +# Compensate torso pitch, retaining 0.5 degree margin inside native head limits. +PITCH_CLIP_RAD = tuple(np.deg2rad([-19.5, 29.5])) + +def head_target(q, names): + return (0.0, float(np.clip(-np.asarray(q)[list(names).index(BODY_PITCH_JOINT)], *PITCH_CLIP_RAD))) + +TRANSITION_SECONDS = 2.0 + + +def level_head(q, names): + result = np.asarray(q, dtype=float).copy() + for joint, value in zip(HEAD_JOINTS, head_target(q, names)): + result[list(names).index(joint)] = value + return result + + +def wrap_planner(planner): + def plan(stage, robot, names, q, base, prop_poses, next_pick_base, + next_pick_q, release, job): + from multi_motion import EmptyClearance + q = np.asarray(q, dtype=float) + next_pick_q = np.asarray(next_pick_q, dtype=float) + leveled = level_head(q, names) + next_leveled = level_head(next_pick_q, names) + check = EmptyClearance(stage, robot, names, prop_poses, + deadline_s=float(job.get('return_plan_budget_s', 900))) + if not check.segment(q, leveled, base, base): + raise RuntimeError('Return head raise is not clear: ' + str(check.last)) + if not check.segment(next_leveled, next_pick_q, next_pick_base, next_pick_base): + raise RuntimeError('Stopped shelf gaze restoration is not clear: ' + str(check.last)) + compact, primitives, report = planner(stage, robot, names, leveled, base, + prop_poses, next_pick_base, next_leveled, release, job) + if not any(p.get('bridge_before') for p in primitives): + raise RuntimeError('Level-head return requires an explicit shelf approach boundary') + report = dict(report) + report['head_policy'] = dict(policy=POLICY, joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + lift_before_table_retreat=True, includes_shelf_approach=True, + restore_source_gaze_only_after_stopped_arrival=True, + both_head_transitions_full_body_and_all_props_screened=True) + return compact, primitives, report + return plan + + +def transition(ctx, desired_head, kind): + from multi_motion import EmptyClearance + names = ctx['names']; controls = ctx['control_names']; ids = ctx['ids'] + native = ctx['native']; target = native[ids].copy() + head_ids = [controls.index(joint) for joint in HEAD_JOINTS] + desired_head = np.asarray(desired_head, dtype=float) + if desired_head.shape != (2,) or not np.isfinite(desired_head).all(): + raise ValueError('Expected two finite head joint targets') + if np.allclose(target[head_ids], desired_head, atol=1e-10, rtol=0): + return + ctx['base_vw'] = np.zeros(2) + ctx['constrain']('hold') + q0 = np.asarray(ctx['robot'].get_joint_positions(), dtype=float).copy() + q1 = q0.copy() + for joint, value in zip(HEAD_JOINTS, desired_head): + q1[names.index(joint)] = value + base = ctx['mat'](ctx['base']) + props = {path: ctx['mat'](body) for path, body in zip(ctx['prop_paths'], ctx['props'])} + check = EmptyClearance(ctx['stage'], ctx['carry_robot'], names, props, deadline_s=900) + if not check.segment(q0, q1, base, base): + raise RuntimeError('Live stopped head transition not clear: ' + str(check.last)) + tick0 = len(ctx['rows']) + before = target[head_ids].copy() + target[head_ids] = desired_head + ctx['item_phase']('empty_return') + ctx['blend'](target, TRANSITION_SECONDS) + actual = np.asarray(ctx['robot'].get_joint_positions(), dtype=float) + error = np.abs(actual[[names.index(j) for j in HEAD_JOINTS]] - desired_head) + if np.max(error) > np.deg2rad(0.1): + raise RuntimeError('Head did not reach return gaze before navigation: ' + str(error)) + receipt = dict(schema='multi_return_head_transition_v1', policy=POLICY, + item_index=ctx['item_index'], kind=kind, start_tick=tick0, + end_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + previous_command_rad=before.tolist(), target_rad=desired_head.tolist(), + measured_error_rad=error.tolist(), base_held=True, + all_live_props_screened=True, no_pose_writes=True, + source_path=str(Path(__file__).resolve()), + source_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest()) + ctx['dump'](ctx['out']/f"RETURN_HEAD_TRANSITION.item_{ctx['item_index']:02d}.{kind}.tick_{tick0:08d}.json", receipt) + + +def wrap_executor(ctx, executor): + def execute(primitives, held_reference=None, return_motion=False, item_job=None): + if not return_motion: + return executor(primitives, held_reference=held_reference, + return_motion=False, item_job=item_job) + # The planner screens every moving segment with this exact head pose. + if not ctx.get('RETURN_HEAD_WALKING_ACTIVE', False): + transition(ctx, head_target(ctx['native'], ctx['names']), 'raise_before_walking') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = True + source_bridge = np.asarray(ctx['return_bridge_q'], dtype=float).copy() + ctx['return_bridge_q'] = level_head(source_bridge, ctx['control_names']) + try: + result = executor(primitives, held_reference=held_reference, + return_motion=True, item_job=item_job) + finally: + ctx['return_bridge_q'] = source_bridge + if any(p.get('bridge_before') for p in primitives): + # All base primitives have finished; only now look at the next item. + indices = [ctx['control_names'].index(j) for j in HEAD_JOINTS] + transition(ctx, source_bridge[indices], 'restore_pick_gaze_after_arrival') + ctx['RETURN_HEAD_WALKING_ACTIVE'] = False + return result + return execute + + +def install(ctx): + if ctx.get('RETURN_HEAD_POLICY_INSTALLED') == POLICY: + return + ctx['plan_return'] = wrap_planner(ctx['plan_return']) + ctx['execute_primitives'] = wrap_executor(ctx, ctx['execute_primitives']) + ctx['RETURN_HEAD_POLICY_INSTALLED'] = POLICY + ctx['dump'](ctx['out']/'RETURN_HEAD_POLICY.json', dict(policy=POLICY, + installed_at_control_tick=len(ctx['rows']), head_joints=list(HEAD_JOINTS), + compensate_body_joint=BODY_PITCH_JOINT, pitch_clip_rad=list(PITCH_CLIP_RAD), transition_seconds=TRANSITION_SECONDS, + restore_only_while_stopped_at_shelf=True, + implementation_path=str(Path(__file__).resolve()), + implementation_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest())) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/run_episode.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/run_episode.py new file mode 100644 index 0000000000000000000000000000000000000000..bd7cb58a6cbcfee4be569204755ae7c84146aed6 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/run_episode.py @@ -0,0 +1,671 @@ +"""One continuous native rollout for every requested shelf-to-tray item. + +No pose writes after initial setup. Diagnostics never count as accepted episodes. +""" +import os,sys,json,math,time,traceback,gzip,subprocess,hashlib,importlib.util +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent;case=Path(sys.argv[1]);job=json.loads((case/'job.json').read_text());R=Path(os.environ.get('CHAIN_PROJECT_ROOT',str(W.parents[1]))) +items=job.get('items') or [dict(target=job['target'],hand=job['hand'],product=job.get('product'),pick_source=job.get('pick_source'),pick_base=job['initial_base'],controls_file=str(case/'controls.npz'),destination_xyz=job['destination_xyz'])] +if not items:raise ValueError('job.items must contain at least one item') +def controls_path(item): + p=Path(item.get('controls_file',case/'controls.npz'));return p if p.is_absolute() else case/p +def load_controls(item):return np.load(controls_path(item),allow_pickle=False) +data=load_controls(items[0]);target_paths=[str(item['target']) for item in items] +sys.path[:0]=[str(W),str(R/'tools/family3'),str(R/'code/family3_repair/real2sim/teleop'),str(R/'work/family3_repair/collision/python_deps')] +os.environ.setdefault('SPATIALINDEX_C_LIBRARY',str(R/'work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so')) +from isaacsim import SimulationApp +app=SimulationApp({'headless':True,'limit_cpu_threads':8}) +import omni.usd +from pxr import Usd,UsdGeom,UsdPhysics,PhysxSchema,Gf,PhysicsSchemaTools +from scipy.spatial.transform import Rotation as Rot,Slerp +from scipy.optimize import least_squares +from isaacsim.core.api import SimulationContext +from isaacsim.core.prims import SingleArticulation,SingleRigidPrim +from isaacsim.core.utils.types import ArticulationAction +from omni.physx import get_physx_simulation_interface +from navigation import PrimitiveController + +class PrecisionReturnController: + """The native stop/turn/drive law with pickup-safe terminal tolerances.""" + def __init__(self,primitive):self.primitive=primitive;self.speed=0.;self.done=False + def step(self,current,dt=1/60): + goal=np.asarray(self.primitive['goal'],dtype=float);yaw=float(current[2]);heading=np.array([math.cos(yaw),math.sin(yaw)]) + if self.primitive['kind']=='turn': + error=math.atan2(math.sin(goal[2]-yaw),math.cos(goal[2]-yaw));desired=math.copysign(min(.25,max(.001,1.5*abs(error))),error) if abs(error)>.00009 else 0. + self.speed+=float(np.clip(desired-self.speed,-.3*dt,.3*dt));self.done=abs(error)<.00009 and abs(self.speed)<.0002 + return np.array([0.,0.,self.speed]) + error=goal[:2]-np.asarray(current[:2]);along=float(error@heading);lateral=float(error@np.array([-heading[1],heading[0]])) + if abs(lateral)>.015:raise RuntimeError(f'Straight drive lateral tracking error {lateral:.6f} m; replan instead of strafing') + if abs(math.atan2(math.sin(goal[2]-yaw),math.cos(goal[2]-yaw)))>.01:raise RuntimeError('Straight drive heading drift; stop and replan') + desired=math.copysign(min(.18,max(.0001,min(1.5*abs(along),.8*math.sqrt(2*.12*abs(along))))),along) if abs(along)>.0002 else 0. + self.speed+=float(np.clip(desired-self.speed,-.12*dt,.12*dt));self.done=abs(along)<.0002 and abs(self.speed)<.001 + return np.r_[heading*self.speed,0.] + +PRECISION_RETURN_POLICY=dict( + controller='PrecisionReturnController',scope='primitives_with_return_stage_only', + turn_deadband_rad=.00009,turn_done_error_rad=.00009,turn_done_speed_rad_s=.0002,turn_min_speed_rad_s=.001, + turn_min_speed_basis='native_static_friction_microturn_repairs_0p001_rad_s', + drive_deadband_m=.0002,drive_done_error_m=.0002,drive_done_speed_m_s=.001,drive_min_speed_m_s=.0001, + speed_and_acceleration_caps_unchanged=True,static_friction_endpoint_acceptance_m_rad=[.0005,.0001],arrival_translation_gate_m=.0005,arrival_yaw_gate_rad=.0001) +out=case/'rollout';out.mkdir(exist_ok=False) +def dump(p,d): + tmp=p.with_suffix(p.suffix+'.tmp');tmp.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n');tmp.replace(p) +def archive_exact(folder,digest,suffix,raw): + folder.mkdir(parents=True,exist_ok=True);path=folder/f'{digest}{suffix}' + if path.exists(): + if path.read_bytes()!=raw:raise RuntimeError('Hash archive collision or corrupted prior archive: '+str(path)) + else: + tmp=folder/f'.{digest}.{os.getpid()}.tmp';tmp.write_bytes(raw);tmp.replace(path) + return str(path) +def status(state,**extra):dump(case/'STATUS.json',dict(status=state,phase=phase,item_index=item_index,completed_objects=completed_objects,control_ticks=len(rows),updated=time.time(),base_pose=pose(base).tolist() if 'base' in globals() else None,target_pose=pose(target).tolist() if 'target' in globals() else None,**extra)) +phase='initializing';item_index=-1;completed_objects=[];item_events=[];planning_waits=[] +rows=[];target_rows=[];target_all_rows=[];active_target_rows=[];item_index_rows=[];base_rows=[];measured=[];commands=[];base_commands=[];phases=[];nav_modes=[];nav_anchors=[];times=[];joint_velocities=[];link_rows=[] +omni.usd.get_context().open_stage(job['scene']);stage=omni.usd.get_context().get_stage() +# Released rug surfaces are visual floor dressing, not physical step obstacles. +# Preserve those authored semantics; the real floor collider remains enabled. +released=Usd.Stage.Open(job['layout']);floor_dressing=[] +rug=stage.GetPrimAtPath('/World/Assets/LivingRoomRug') +if rug: + for p in Usd.PrimRange(rug): + authored=released.GetPrimAtPath(p.GetPath()) + if p.HasAPI(UsdPhysics.CollisionAPI) and authored and not authored.HasAPI(UsdPhysics.CollisionAPI): + UsdPhysics.CollisionAPI(p).GetCollisionEnabledAttr().Set(False);floor_dressing.append(str(p.GetPath())) +dump(out/'RELEASED_FLOOR_DRESSING.json',dict(policy='preserve_original_nonphysical_floor_dressing',paths=floor_dressing,real_floor_collision_retained=True)) +# The old fixed task root joint must not make the articulation fixed-base. +root_anchor=UsdPhysics.FixedJoint(stage.GetPrimAtPath('/World/Robot/base_link/FixedJoint')) +root_anchor.CreateExcludeFromArticulationAttr(True);root_anchor.GetJointEnabledAttr().Set(False) +# A free articulation otherwise picks a graph-center link as its root. +stage.GetPrimAtPath('/World/Robot').RemoveAPI(UsdPhysics.ArticulationRootAPI) +base_prim=stage.GetPrimAtPath('/World/Robot/base_link');UsdPhysics.ArticulationRootAPI.Apply(base_prim) +PhysxSchema.PhysxArticulationAPI.Apply(base_prim).CreateEnabledSelfCollisionsAttr(True) +# Navigation uses native constraints and velocity drives, not root teleportation. +nav_joints={};nav_drives={} +for kind,cls,axis,drive_name in [('turn',UsdPhysics.RevoluteJoint,'Z','angular'),('drive',UsdPhysics.PrismaticJoint,'X','linear'),('hold',UsdPhysics.FixedJoint,None,None)]: + joint=cls.Define(stage,'/World/ChainNavigation_'+kind);joint.CreateBody1Rel().SetTargets(['/World/Robot/base_link']);joint.CreateExcludeFromArticulationAttr(True);joint.CreateJointEnabledAttr(False);joint.CreateLocalPos0Attr(Gf.Vec3f(0));joint.CreateLocalRot0Attr(Gf.Quatf(1));joint.CreateLocalPos1Attr(Gf.Vec3f(0));joint.CreateLocalRot1Attr(Gf.Quatf(1)) + if axis: + joint.CreateAxisAttr(axis);joint.CreateLowerLimitAttr(-170. if kind=='turn' else -15.);joint.CreateUpperLimitAttr(170. if kind=='turn' else 15.) + d=UsdPhysics.DriveAPI.Apply(joint.GetPrim(),drive_name);d.CreateTypeAttr('force');d.CreateStiffnessAttr(0.);d.CreateDampingAttr(100000.);d.CreateMaxForceAttr(100000.);d.CreateTargetVelocityAttr(0.);nav_drives[kind]=d + nav_joints[kind]=joint +for p in stage.Traverse(): + if p.HasAPI(UsdPhysics.RigidBodyAPI):PhysxSchema.PhysxContactReportAPI.Apply(p).CreateThresholdAttr().Set(0.) +from tray_appearance import apply as apply_tray_appearance +dump(out/'TRAY_APPEARANCE.json',apply_tray_appearance(stage,job)) +# All exact runtime settings are exported before stepping. +for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')): + if p.GetName() in ['idx41_gripper_l_outer_joint1','idx81_gripper_r_outer_joint1']: + d=UsdPhysics.DriveAPI.Apply(p,'angular');d.GetMaxForceAttr().Set(80.) +from robot_collision_profile import audit_full_robot_collision_profile +profile=audit_full_robot_collision_profile(stage);dump(out/'ROBOT_COLLISION_PROFILE.json',profile) +params={p.GetName():{a.GetName():str(a.Get()) for a in p.GetAttributes() if a.GetName().startswith(('physics:','physx','drive:'))} for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')) if p.IsA(UsdPhysics.Joint)} +dump(out/'robot_and_camera_parameters.json',params);stage.GetRootLayer().Export(str(out/'scene.usda')) +sim=SimulationContext(physics_dt=1/240,rendering_dt=1/60);sim.initialize_physics();sim.play() +assert abs(sim.get_physics_dt()-1/240)<1e-12, 'Physics timestep must be 240 Hz' +dump(out/'PHYSICS_CLOCK.json',dict(physics_dt_s=sim.get_physics_dt(),physics_hz=1/sim.get_physics_dt(),substeps_per_control=4,control_hz=60,training_hz=20)) +# Save runtime units/up-axis after SimulationContext authors them. +stage.GetRootLayer().Export(str(out/'scene.usda')) +robot=SingleArticulation('/World/Robot/base_link');robot.initialize();names=list(robot.dof_names);control_names=data['names'].tolist();ids=np.array([names.index(n) for n in control_names]) +native=np.zeros(len(names));source_names=job['source_dof_names'];sourceq=np.asarray(job['source_initial_q']) +for i,n in enumerate(names):native[i]=sourceq[source_names.index(n)] if n in source_names else 0. +native[ids]=data['initial'];base0=np.asarray(job['initial_base']);bq=Rot.from_matrix(base0[:3,:3]).as_quat();robot.set_world_pose(base0[:3,3],np.r_[bq[3],bq[:3]]);robot.set_joint_positions(native);robot.set_joint_velocities(np.zeros(len(names))) +efforts=np.asarray(robot.get_articulation_controller().get_max_efforts()).reshape(-1);drive_readback={n:float(efforts[names.index(n)]) for n in control_names[18:]} +assert all(abs(v-80.)<1e-5 for v in drive_readback.values()),drive_readback +dump(out/'LIVE_DRIVE_READBACK.json',drive_readback) +params['dof_names']=names;params['action_names']=control_names+['base_forward_m_s','base_yaw_rate_rad_s'];params['runtime_gripper_max_effort_Nm']=drive_readback;params['cameras']={} +for key,path in [('top_head','/World/Robot/head_link2/Head_Camera'),('hand_left','/World/Robot/gripper_l_base_link/Left_Camera'),('hand_right','/World/Robot/gripper_r_base_link/Right_Camera')]: + camera=stage.GetPrimAtPath(path);params['cameras'][key]=dict(path=path,attributes={a.GetName():str(a.Get()) for a in camera.GetAttributes()},world_extrinsics='camera_extrinsics_20hz.npz') +dump(out/'robot_and_camera_parameters.json',params) + +base=robot +target_objects=[] +for path in target_paths: + rb=SingleRigidPrim(path);rb.initialize();target_objects.append(rb) +target=target_objects[0];hand=SingleRigidPrim('/World/Robot/gripper_'+items[0]['hand']+'_base_link');hand.initialize() +link_paths=[str(p.GetPath()) for p in Usd.PrimRange(stage.GetPrimAtPath('/World/Robot')) if p.HasAPI(UsdPhysics.RigidBodyAPI)];links=[] +for path in link_paths: + rb=robot if path=='/World/Robot/base_link' else SingleRigidPrim(path) + if rb is not robot:rb.initialize() + links.append(rb) +prop_paths=[str(p.GetPath()) for p in stage.Traverse() if not str(p.GetPath()).startswith('/World/Robot/') and p.HasAPI(UsdPhysics.RigidBodyAPI) and UsdPhysics.RigidBodyAPI(p).GetRigidBodyEnabledAttr().Get()] +props=[];prop_rows=[] +for path in prop_paths: + rb=SingleRigidPrim(path);rb.initialize();props.append(rb) +def pose(rb): + p,q=rb.get_world_pose();return np.r_[p,q[1:],q[0]] +def mat(rb): + p=pose(rb);m=np.eye(4);m[:3,:3]=Rot.from_quat(p[3:]).as_matrix();m[:3,3]=p[:3];return m +def base_state(): + p=pose(base);return np.r_[p[:2],Rot.from_quat(p[3:]).as_euler('xyz')[2]] +def held():return np.linalg.inv(mat(hand))@mat(target) +requested_initial_target_pose=np.stack([pose(rb) for rb in target_objects]) +dump(out/'TARGET_INITIAL_POSES.json',dict(target_paths=target_paths,pose_order='x,y,z,qx,qy,qz,qw',target_pose=requested_initial_target_pose.tolist(),capture='before_episode_motion')) +nav_mode='hold';base_vw=np.zeros(2);anchor=stage.GetPrimAtPath('/World/Robot/base_link/FixedJoint');anchor.GetAttribute('physics:jointEnabled').Set(False) +def constrain(kind,recorded_anchor=None): + global nav_mode,nav_anchor + nav_mode=kind;p=pose(base) if recorded_anchor is None else np.asarray(recorded_anchor);nav_anchor=p.copy() + for j in nav_joints.values():j.GetJointEnabledAttr().Set(False) + j=nav_joints[kind];j.GetLocalPos0Attr().Set(Gf.Vec3f(*map(float,p[:3])));j.GetLocalRot0Attr().Set(Gf.Quatf(float(p[6]),Gf.Vec3f(*map(float,p[3:6]))));j.GetJointEnabledAttr().Set(True) + get_physx_simulation_interface().flush_changes() +constrain('hold') +assert np.linalg.norm(pose(base)[:3]-base0[:3,3])<.002,('Initial physical base does not match requested station',pose(base),base0[:3,3]) +# Settle the real native scene under the exact first recorded command before any +# dataset row, contact, or camera frame is captured. This is ordinary physics: +# no pose write, reset, frozen body, or hidden control row occurs here. +PREROLL_HZ=60;PREROLL_WINDOW=30;PREROLL_MAX_SAMPLES=60*PREROLL_HZ +PREROLL_THRESHOLDS=dict(prop_translation_m=0.00005,prop_rotation_rad=float(np.deg2rad(.02)), + robot_translation_m=0.00005,robot_rotation_rad=float(np.deg2rad(.02)), + camera_translation_m=0.00005,camera_rotation_rad=float(np.deg2rad(.01)),passive_finger_projected_motion_px=0.25) +camera_link_indices=[link_paths.index(p) for p in ['/World/Robot/head_link2','/World/Robot/gripper_l_base_link','/World/Robot/gripper_r_base_link']] +from preroll_stability import build_projection_model,evaluate_projection +projection_model=build_projection_model(stage,link_paths);last_projection=None +pre_q=[];pre_qv=[];pre_base=[];pre_link=[];pre_prop=[];pre_metrics=[] +initial_prop_pose_before_preroll=np.stack([pose(rb) for rb in props]);initial_robot_link_pose_before_preroll=np.stack([pose(rb) for rb in links]) +initial_prop_maxima=dict(translation_m=0.,downward_m=0.,rotation_rad=0.) +def check_initial_props(): + current=np.asarray(pre_prop[-1],dtype=np.float64);initial=np.asarray(initial_prop_pose_before_preroll,dtype=np.float64) + displacement=np.linalg.norm(current[:,:3]-initial[:,:3],axis=1);downward=initial[:,2]-current[:,2] + a=current[:,3:]/np.linalg.norm(current[:,3:],axis=1,keepdims=True);b=initial[:,3:]/np.linalg.norm(initial[:,3:],axis=1,keepdims=True) + angle=2*np.arccos(np.clip(np.abs(np.sum(a*b,axis=1)),0.,1.)) + initial_prop_maxima['translation_m']=max(initial_prop_maxima['translation_m'],float(displacement.max(initial=0.))) + initial_prop_maxima['downward_m']=max(initial_prop_maxima['downward_m'],float(downward.max(initial=0.))) + initial_prop_maxima['rotation_rad']=max(initial_prop_maxima['rotation_rad'],float(angle.max(initial=0.))) + bad=np.flatnonzero((displacement>.02)|(downward>.01)|(angle>np.deg2rad(15.))) + if len(bad): + failures=[dict(path=prop_paths[int(i)],translation_m=float(displacement[i]),downward_m=float(downward[i]),rotation_rad=float(angle[i])) for i in bad] + dump(out/'INITIAL_PROP_NO_FALL.json',dict(passed=False,physics_sample=len(pre_prop),failures=failures,thresholds=dict(translation_m=.02,downward_m=.01,rotation_deg=15.),all_requested_and_nonrequested_props_included=True)) + raise RuntimeError('Initial scene prop moved or fell before capture: '+json.dumps(failures)) + +def pose_span(a): + if a.shape[1]==0:return 0.,0. + xyz=np.asarray(a[:,:,:3],dtype=np.float64);quat=np.asarray(a[:,:,3:],dtype=np.float64) + quat/=np.linalg.norm(quat,axis=-1,keepdims=True) + dx=xyz[:,None,:,:]-xyz[None,:,:,:] + trans=float(np.linalg.norm(dx,axis=-1).max()) + dots=np.abs(np.einsum('tni,sni->tsn',quat,quat));dots=np.clip(dots,-1.,1.) + angle=float((2*np.arccos(dots)).max()) + return trans,angle +def window_metrics(): + l=np.asarray(pre_link[-PREROLL_WINDOW:]);p=np.asarray(pre_prop[-PREROLL_WINDOW:]) + m=geometry_metrics(l,p) + q=np.asarray(pre_q[-PREROLL_WINDOW:]);qv=np.asarray(pre_qv[-PREROLL_WINDOW:]) + m.update(joint_span=float(np.ptp(q,axis=0).max()),joint_speed_max=float(np.abs(qv).max())) + return m +def geometry_metrics(l,p): + lt,lr=pose_span(l);pt,pr=pose_span(p);ct,cr=pose_span(l[:,camera_link_indices]);dt,dr=pose_span(l[:,projection_model['driven_indices']]) + return dict(robot_link_translation_span_m=lt,robot_link_rotation_span_rad=lr, + prop_translation_span_m=pt,prop_rotation_span_rad=pr, + camera_link_translation_span_m=ct,camera_link_rotation_span_rad=cr, + driven_robot_link_translation_span_m=dt,driven_robot_link_rotation_span_rad=dr) +def stable(m): + t=PREROLL_THRESHOLDS + return (m['driven_robot_link_translation_span_m']<=t['robot_translation_m'] and m['driven_robot_link_rotation_span_rad']<=t['robot_rotation_rad'] + and m['prop_translation_span_m']<=t['prop_translation_m'] and m['prop_rotation_span_rad']<=t['prop_rotation_rad'] + and m['camera_link_translation_span_m']<=t['camera_translation_m'] and m['camera_link_rotation_span_rad']<=t['camera_rotation_rad']) +phase='physics_preroll_unrecorded' +if len(sys.argv)>2: + preroll_source=np.load(sys.argv[2]);preroll_source_ids=[preroll_source['dof_names'].tolist().index(n) for n in control_names] + initial_command=np.asarray(preroll_source['native_target'][0,preroll_source_ids],dtype=float).copy() +else:initial_command=np.asarray(data['initial'],dtype=float).copy() +native[ids]=initial_command +try: + for sample in range(PREROLL_MAX_SAMPLES-3): + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + if len(pre_q)>=PREROLL_WINDOW: + m=window_metrics();m['sample']=sample+1;m['time_s']=(sample+1)/PREROLL_HZ;pre_metrics.append(m) + # Exact mesh projection is intentionally sparse: it is expensive and passive + # solver jitter changes slowly. Recheck at most once per 0.5 s, while the + # strict prop/camera/driven-link metrics remain evaluated every sample. + if stable(m) and (last_projection is None or (sample+1)%PREROLL_WINDOW==0): + last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + if last_projection['status']=='PASSED':break + else:raise RuntimeError('Native scene did not meet startup stability thresholds within 60 seconds') + evidence=dict(status='PASSED',physics_hz=240,sample_hz=PREROLL_HZ,steps=4*len(pre_q),duration_s=len(pre_q)/PREROLL_HZ, + stability_window_s=PREROLL_WINDOW/PREROLL_HZ,thresholds=PREROLL_THRESHOLDS,final_window=pre_metrics[-1],passive_finger_projection=last_projection, + exact_initial_command_sha256=hashlib.sha256(initial_command.tobytes()).hexdigest(),recorded_rows=0, + contact_capture_started=False,camera_capture_started=False,no_pose_writes_or_resets=True, + initial_snapshot_semantics='Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.', + initial_prop_pose_before_preroll_sha256=hashlib.sha256(initial_prop_pose_before_preroll.tobytes()).hexdigest()) + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics])) + dump(out/'PREROLL_EVIDENCE.json',evidence) +except Exception as exc: + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics])) + dump(out/'PREROLL_EVIDENCE.json',dict(status='FAILED',error=repr(exc),physics_hz=240,duration_s=len(pre_q)/PREROLL_HZ, + thresholds=PREROLL_THRESHOLDS,final_window=pre_metrics[-1] if pre_metrics else None,passive_finger_projection=last_projection, + recorded_rows=0,contact_capture_started=False,camera_capture_started=False)) + status('FAILED',error='Physics preroll: '+repr(exc));app.close();raise + +contact_stream=None +contact_callback_rows=0;recent_support_contacts={path:[] for path in target_paths} +recent_grasp_contacts={path:{'inner':[],'outer':[],'environment':[]} for path in target_paths} +def on_contact(headers,points): + global contact_callback_rows + for h in headers: + if not h.num_contact_data:continue + actors=[str(PhysicsSchemaTools.intToSdfPath(x)) for x in [h.actor0,h.actor1]] + colliders=[str(PhysicsSchemaTools.intToSdfPath(x)) for x in [h.collider0,h.collider1]] + if not any(a.startswith('/World/Robot/') or any(a==p or a.startswith(p+'/') for p in target_paths) for a in actors+colliders):continue + selected=points[h.contact_data_offset:h.contact_data_offset+h.num_contact_data] + row=dict(tick=len(rows)+1,phase=phase,item_index=item_index,active_target_path=target_paths[item_index] if item_index>=0 else '',actors=actors,colliders=colliders,points=int(h.num_contact_data),min_separation_m=min(float(p.separation) for p in selected),impulse_sum=[float(sum(p.impulse[k] for p in selected)) for k in range(3)]);contact_stream.write(json.dumps(row)+'\n');contact_callback_rows+=1 + for requested in target_paths: + touches_target=any(a==requested or a.startswith(requested+'/') for a in actors+colliders) + touches_tray=any(a=='/World/Assets/Tray' or a.startswith('/World/Assets/Tray/') for a in actors+colliders) + if touches_target and touches_tray:recent_support_contacts[requested].append(len(rows)+1) + if item_index>=0: + requested=target_paths[item_index];gripper_prefix='/World/Robot/gripper_'+items[item_index]['hand'] + touches_target=any(a==requested or a.startswith(requested+'/') for a in actors+colliders) + if touches_target: + evidence=recent_grasp_contacts[requested];tick=len(rows)+1 + if any(a==gripper_prefix+'_inner_link4' or a.startswith(gripper_prefix+'_inner_link4/') for a in actors+colliders):evidence['inner'].append(tick) + if any(a==gripper_prefix+'_outer_link4' or a.startswith(gripper_prefix+'_outer_link4/') for a in actors+colliders):evidence['outer'].append(tick) + other_nonrobot=any(a and not (a==requested or a.startswith(requested+'/') or a.startswith('/World/Robot/')) for a in actors+colliders) + if other_nonrobot:evidence['environment'].append(tick) + for values in evidence.values(): + if len(values)>2000:del values[:-1000] +subscription=None +# Capture cameras from the same physical simulation and the same sampling ticks. +writers={};renderers={} +if os.environ.get('CHAIN_RENDER','1')=='1': + import omni.replicator.core as rep + import subprocess + for key,path,w,h in [('top_head','/World/Robot/head_link2/Head_Camera',1280,800),('hand_left','/World/Robot/gripper_l_base_link/Left_Camera',848,480),('hand_right','/World/Robot/gripper_r_base_link/Right_Camera',848,480)]: + product=rep.create.render_product(path,(w,h));ann=rep.AnnotatorRegistry.get_annotator('rgb');ann.attach([product]);renderers[key]=(product,ann,w,h) + # Prime the renderer after stability. Replicator's annotator graph requires a + # physics update after attachment before its first safe read, so three further + # unrecorded hold samples are included in the preroll evidence below. + for _ in range(12):sim.render() + for _ in range(3): + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera warmup frame missing') + m=window_metrics() + last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + warmup_samples=3 + while not stable(m) or last_projection['status']!='PASSED': + if len(pre_q)>=PREROLL_MAX_SAMPLES:raise RuntimeError('Camera priming did not recover strict startup stability within 60 seconds') + robot.apply_action(ArticulationAction(joint_positions=initial_command,joint_indices=ids)) + for _ in range(4):sim.step(render=False) + pre_q.append(np.asarray(robot.get_joint_positions()).copy());pre_qv.append(np.asarray(robot.get_joint_velocities()).copy()) + pre_base.append(pose(base));pre_link.append(np.stack([pose(rb) for rb in links]));pre_prop.append(np.stack([pose(rb) for rb in props]));check_initial_props() + warmup_samples+=1;sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera rewarm frame missing') + m=window_metrics() + if stable(m):last_projection=evaluate_projection(np.asarray(pre_link[-PREROLL_WINDOW:]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + m['passive_finger_max_projected_motion_px']=last_projection['max_projected_motion_px'] + evidence.update(steps=4*len(pre_q),duration_s=len(pre_q)/PREROLL_HZ,final_window=m,camera_warmup_physics_samples=warmup_samples, + discarded_render_reads=warmup_samples,passive_finger_projection=last_projection) + np.savez_compressed(out/'PREROLL_EVIDENCE.npz',q=np.asarray(pre_q),joint_velocity=np.asarray(pre_qv),base_pose=np.asarray(pre_base), + robot_link_paths=np.asarray(link_paths),robot_link_pose=np.asarray(pre_link),prop_paths=np.asarray(prop_paths), + prop_pose=np.asarray(pre_prop),initial_prop_pose_before_preroll=initial_prop_pose_before_preroll, + initial_robot_link_pose_before_preroll=initial_robot_link_pose_before_preroll,initial_command=initial_command,metrics_json=np.asarray([json.dumps(x) for x in pre_metrics]+[json.dumps(m)])) + dump(out/'PREROLL_EVIDENCE.json',evidence) + for key,(_,ann,w,h) in renderers.items(): + writers[key]=subprocess.Popen(['ffmpeg','-v','error','-y','-f','rawvideo','-pix_fmt','rgb24','-s',f'{w}x{h}','-r','20','-i','-','-c:v','libx264','-preset','fast','-threads','2','-crf','21','-pix_fmt','yuv420p',str(out/(key+'.mp4'))],stdin=subprocess.PIPE) + dump(out/'CAMERA_WARMUP.json',dict(status='PASSED',after_physics_stability=True,discarded_render_reads=warmup_samples,render_only_warmups=12, + unrecorded_hold_samples=warmup_samples,captured_frames=0,final_stability_window=m)) +dump(out/'INITIAL_PROP_NO_FALL.json',dict(passed=True,physics_samples=len(pre_prop),maxima=initial_prop_maxima,thresholds=dict(translation_m=.02,downward_m=.01,rotation_deg=15.),all_requested_and_nonrequested_props_included=True)) +contact_stream=gzip.open(out/'contacts.jsonl.gz','wt',compresslevel=3) +subscription=get_physx_simulation_interface().subscribe_contact_report_events(on_contact) +camera_sample_ticks=[];camera_sample_extrinsics=[] +startup_frames=out/'startup_frames';startup_frames.mkdir(exist_ok=True) +def capture_camera_pose(): + transforms=[] + for c in projection_model['cameras']: + pp=pose(links[c['link_index']]);m=np.eye(4,dtype=np.float64);m[:3,:3]=Rot.from_quat(pp[3:]).as_matrix();m[:3,3]=pp[:3] + transforms.append(m@c['relative']) + return np.asarray(transforms,dtype=np.float64) + +def write_startup_report(): + first_n=min(30,len(link_rows));first_m=geometry_metrics(np.asarray(link_rows[:first_n]),np.asarray(prop_rows[:first_n]));first_projection=evaluate_projection(np.asarray(link_rows[:first_n]),projection_model,PREROLL_THRESHOLDS['passive_finger_projected_motion_px']) + passed=bool(first_n==30 and stable(first_m) and last_projection and last_projection['status']=='PASSED' and first_projection['status']=='PASSED') + report=dict(status='PASSED' if passed else 'FAILED',passed=passed,threshold_px=PREROLL_THRESHOLDS['passive_finger_projected_motion_px'],only_passive_distal_fingers=True,passive_path_pattern='/gripper_[lr]_(inner|outer)_link[234]$',strict_thresholds=PREROLL_THRESHOLDS, + windows=[dict(label='final_preroll_0p5s',row_range=[-30,-1],strict_geometry=evidence['final_window'],passive_projection=last_projection,passed=bool(stable(evidence['final_window']) and last_projection['status']=='PASSED')),dict(label='first_retained_30_control_rows',row_range=[0,first_n-1],strict_geometry=first_m,passive_projection=first_projection,passed=bool(first_n==30 and stable(first_m) and first_projection['status']=='PASSED'))], + evaluated_passive_paths=[b['path'] for b in projection_model['bodies']],evaluated_driven_paths=[link_paths[i] for i in projection_model['driven_indices']],evaluated_cameras=[c['path'] for c in projection_model['cameras']],scene_source=str(Path(job['scene']).resolve()),scene_sha256=hashlib.sha256(Path(job['scene']).read_bytes()).hexdigest(),projection_implementation=str((W/'preroll_stability.py').resolve()),projection_implementation_sha256=hashlib.sha256((W/'preroll_stability.py').read_bytes()).hexdigest()) + dump(out/'PASSIVE_FINGER_PROJECTION.json',report) + return passed + +def advance(q): + global native + q=np.asarray(q,dtype=float);assert q.shape==(20,) and np.isfinite(q).all() + if q[14]<-1e-6 or q[14]>.55+1e-6 or np.any(q[18:]<0) or np.any(q[18:]>np.pi/4+1e-6):raise ValueError('Action exceeds configured lift/grip limit') + native[ids]=q + robot.apply_action(ArticulationAction(joint_positions=q,joint_indices=ids)) + if nav_mode=='drive':nav_drives['drive'].GetTargetVelocityAttr().Set(float(base_vw[0])) + elif nav_mode=='turn':nav_drives['turn'].GetTargetVelocityAttr().Set(float(np.rad2deg(base_vw[1]))) + for _ in range(4):sim.step(render=False) + applied=np.asarray(robot.get_applied_action().joint_positions) + assert np.allclose(applied[ids],q,atol=1e-6), 'Applied target readback mismatch' + tick=len(rows)+1;actual=robot.get_joint_positions();bp=pose(base);tp=pose(target);all_targets=np.stack([pose(rb) for rb in target_objects]) + nav_modes.append(nav_mode);nav_anchors.append(nav_anchor.copy());rows.append(tick);measured.append(actual.copy());commands.append(native.copy());joint_velocities.append(robot.get_joint_velocities().copy());base_rows.append(bp);target_rows.append(tp);target_all_rows.append(all_targets);active_target_rows.append(target_paths[item_index] if item_index>=0 else '');item_index_rows.append(item_index);base_commands.append(base_vw.copy());phases.append(phase);link_rows.append(np.stack([pose(rb) for rb in links]));prop_rows.append(np.stack([pose(rb) for rb in props])) + if tick%3==0 and writers: + camera_sample_ticks.append(tick);camera_sample_extrinsics.append(capture_camera_pose()) + sim.render() + for key,(_,ann,w,h) in renderers.items(): + rgb=np.asarray(ann.get_data()) + if rgb.shape[:2]!=(h,w):raise RuntimeError('Camera frame missing at training tick') + writers[key].stdin.write(np.ascontiguousarray(rgb[:,:,:3]).tobytes()) + if tick<=30: + from PIL import Image + Image.fromarray(np.ascontiguousarray(rgb[:,:,:3])).save(startup_frames/f'{key}_{tick//3-1:02d}.jpg',quality=92) + if tick==30 and not write_startup_report():raise RuntimeError('First recorded 0.5 seconds failed strict stable-start gate') + if tick%60==0:status('RUNNING_PHYSICS') + if not np.isfinite(actual).all() or not np.isfinite(tp).all():raise RuntimeError('Nonfinite native physics state') + +def blend(end,seconds,held_reference=None): + start=native[ids].copy();end=np.asarray(end).copy();duration=max(seconds,abs(end[14]-start[14])*1.875/.1,abs(end[15]-start[15])*1.875/.5,float(np.max(abs(end[:14]-start[:14])))*1.875/.35) + for i in range(math.ceil(duration*60)): + u=(i+1)/math.ceil(duration*60);a=10*u**3-15*u**4+6*u**5;advance(start+a*(end-start)) + if held_reference is not None and np.linalg.norm(held()[:3,3]-held_reference[:3,3])>.025:raise RuntimeError('Target slipped during '+phase) + +def item_phase(name): + global phase + phase=f'item_{item_index:02d}_{name}' + +def full_q(control_q,control_data): + q=np.asarray(robot.get_joint_positions(),dtype=float).copy();cn=control_data['names'].tolist() + if cn!=control_names:raise ValueError('Every controls file must use the same ordered 20 action names') + q[[names.index(n) for n in cn]]=np.asarray(control_q,dtype=float);return q + +def grasp_contact_gate(path,item_job): + window_ticks=30;minimum_bilateral=max(15,int(item_job.get('pick_grasp_contact_min_bilateral_ticks',15)));tail_ticks=3;environment_clear_ticks=15 + if minimum_bilateral>window_ticks:raise ValueError('Invalid pickup bilateral grasp-contact gate configuration') + end=len(rows);start=max(1,end-window_ticks+1);tail_start=max(start,end-tail_ticks+1);environment_start=max(1,end-environment_clear_ticks+1);raw=recent_grasp_contacts[path] + inner={int(t) for t in raw['inner'] if start<=int(t)<=end};outer={int(t) for t in raw['outer'] if start<=int(t)<=end};bilateral=sorted(inner&outer);tail_bilateral=[t for t in bilateral if t>=tail_start];environment=sorted({int(t) for t in raw['environment'] if environment_start<=int(t)<=end}) + evidence=dict(active_target=path,active_hand=item_job['hand'],gripper_prefix='/World/Robot/gripper_'+item_job['hand'],window_control_ticks=window_ticks,window_start_tick=start,window_end_tick=end,inner_contact_ticks=sorted(inner),outer_contact_ticks=sorted(outer),simultaneous_bilateral_contact_ticks=bilateral,simultaneous_bilateral_contact_tick_count=len(bilateral),minimum_simultaneous_bilateral_ticks=minimum_bilateral,final_tail_control_ticks=tail_ticks,final_tail_bilateral_ticks=tail_bilateral,environment_clear_control_ticks=environment_clear_ticks,environment_contact_ticks=environment,native_contact_required=True) + if len(bilateral)xy_gate or yaw_error>yaw_gate:raise RuntimeError('Blocked navigation requires a screened live-state recovery to its endpoint: '+json.dumps(metrics,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))) + return metrics + # Include this measured failure in the repair key so a prior repair file can + # never be consumed for a later partially executed primitive. + boundary_kind=('return_motion' if return_motion else 'carry_motion')+'_'+failure_sha[:12] + recovered=planning_boundary(boundary_kind,item_job,endpoint_call) + dump(out/f'NAVIGATION_MOTION_RECOVERY.item_{item_index:02d}.{failure_sha[:12]}.json',recovered) + return recovered + +def execute_primitives(primitives,held_reference=None,return_motion=False,item_job=None): + global base_vw + if item_job is None:item_job=globals().get('item_job') + if not isinstance(item_job,dict) or item_index<0 or item_index>=len(target_paths) or item_job.get('target')!=target_paths[item_index]:raise ValueError('execute_primitives requires the active item_job matching item_index and target') + for k,p in enumerate(primitives): + if return_motion and p.get('bridge_before'): + base_vw=np.zeros(2);constrain('hold');blend(return_bridge_q,4.) + if not return_motion and k==1: + base_vw=np.zeros(2);constrain('hold');item_phase('carry_raise') + raised=native[ids].copy();raised[14]=.55;blend(raised,3.,held_reference) + item_phase('carry_compact');compact=native[ids].copy();compact[:14]=carry_compact_q[ids][:14];blend(compact,4.,held_reference) + if return_motion:item_phase('empty_return') + else:item_phase('shelf_exit_reverse' if k==0 else 'forward_navigation') + constrain(p['kind']);precision=bool(return_motion and p.get('return_stage'));controller=PrecisionReturnController(p) if precision else PrimitiveController(p);last_progress=base_state().copy();stalled_ticks=0 + primitive_complete=False;failure_reason=None + for _ in range(90*60): + cur=base_state() + try:v=controller.step(cur) + except Exception as exc: + failure_reason='controller_error: '+repr(exc);break + base_vw=np.array([np.cos(cur[2])*v[0]+np.sin(cur[2])*v[1],v[2]]);advance(native[ids]);post=base_state() + if held_reference is not None and np.linalg.norm(held()[:3,3]-held_reference[:3,3])>.025:raise RuntimeError('Target slipped in navigation') + if controller.done: + if precision: + goal=np.asarray(p['goal'],dtype=float);xy_error=float(np.linalg.norm(post[:2]-goal[:2]));yaw_error=float(abs(math.atan2(math.sin(post[2]-goal[2]),math.cos(post[2]-goal[2])))) + endpoint=dict(schema='ziche.precision_return_endpoint.v1',primitive_index=k,primitive=p,base=post.tolist(),xy_error_m=xy_error,yaw_error_rad=yaw_error,xy_gate_m=PRECISION_RETURN_POLICY['arrival_translation_gate_m'],yaw_gate_rad=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'],measured_after_advance=True) + dump(out/f'PRECISION_RETURN_ENDPOINT.item_{item_index:02d}.primitive_{k:02d}.tick_{len(rows):08d}.json',endpoint) + if xy_error>PRECISION_RETURN_POLICY['arrival_translation_gate_m'] or yaw_error>PRECISION_RETURN_POLICY['arrival_yaw_gate_rad']: + failure_reason='precision_controller_done_outside_measured_endpoint_gate: '+json.dumps(endpoint);break + primitive_complete=True;break + moved=np.linalg.norm(post[:2]-last_progress[:2]) if p['kind']=='drive' else abs(math.atan2(math.sin(post[2]-last_progress[2]),math.cos(post[2]-last_progress[2]))) + progress_epsilon=(.00001 if p['kind']=='drive' else .000002) if precision else .003 + if moved>progress_epsilon:last_progress=post.copy();stalled_ticks=0 + else:stalled_ticks+=1 + if stalled_ticks>=6*60: + if precision: + terminal_state=base_state();goal=np.asarray(p['goal'],dtype=float);xy_error=float(np.linalg.norm(terminal_state[:2]-goal[:2]));yaw_error=float(abs(math.atan2(math.sin(terminal_state[2]-goal[2]),math.cos(terminal_state[2]-goal[2])))) + within_terminal=xy_error<=PRECISION_RETURN_POLICY['arrival_translation_gate_m'] and yaw_error<=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'] + if within_terminal: + dump(out/f'PRECISION_STATIC_FRICTION_TERMINAL.item_{item_index:02d}.tick_{len(rows):08d}.json',dict(primitive_index=k,primitive=p,base=terminal_state.tolist(),command=base_vw.tolist(),stalled_seconds=stalled_ticks/60.,xy_error_m=xy_error,yaw_error_rad=yaw_error,xy_gate_m=PRECISION_RETURN_POLICY['arrival_translation_gate_m'],yaw_gate_rad=PRECISION_RETURN_POLICY['arrival_yaw_gate_rad'],measured_after_advance=True,accepted_by_measured_endpoint_gate=True));primitive_complete=True;break + dump(out/f'NAVIGATION_BLOCKED.item_{item_index:02d}.json',dict(primitive_index=k,primitive=p,base=base_state().tolist(),command=base_vw.tolist(),stalled_seconds=stalled_ticks/60.)) + failure_reason='navigation_blocked_for_6_seconds';break + if not primitive_complete: + if failure_reason is None:failure_reason='navigation_primitive_timeout_90_seconds' + motion_recovery_boundary(p,k,failure_reason,item_job,return_motion) + base_vw=np.zeros(2);constrain('hold') + +def planning_boundary(kind,item_job,planner): + """Retry only a failed planner in-process after an explicit repair artifact.""" + repair_dir=case/'repairs';repair_dir.mkdir(exist_ok=True);repair=repair_dir/f'item_{item_index:02d}_{kind}.json';seen=None + while True: + try:return planner() + except Exception as exc: + traceback.print_exc();record=dict(item_index=item_index,kind=kind,error=repr(exc),tick=len(rows),repair_file=str(repair),time=time.time()) + planning_waits.append(record);dump(out/'PLANNING_WAITS.json',planning_waits);write_checkpoint();status('WAITING_FOR_PLANNING_REPAIR',planning_error=repr(exc),repair_file=str(repair)) + while True: + while True: + if repair.exists(): + raw=repair.read_bytes();digest=hashlib.sha256(raw).hexdigest() + if digest!=seen:break + time.sleep(2.) + seen=digest + try: + import copy + item_job_before=copy.deepcopy(item_job);repair_tick_before=len(rows) + repair_archive=archive_exact(repair_dir/'applied',digest,'.json',raw);record['repair_archive']=repair_archive + patch=json.loads(raw) + if patch.get('abort') is True:raise RuntimeError('Planning repair explicitly aborted: '+str(patch.get('reason'))) + overrides=patch.get('job_overrides',{}) + if not isinstance(overrides,dict):raise ValueError('planning repair job_overrides must be an object') + # A repair module may consume the configured station or target slot while + # performing its screened motion, so apply the hash-archived patch first. + item_job.update(overrides);record['repair_sha256']=digest;record['overrides']=overrides + if patch.get('repair_module'): + module_path=(repair_dir/patch['repair_module']).resolve() + if not module_path.is_relative_to(repair_dir.resolve()):raise ValueError('repair_module must remain inside this case repair directory') + module_raw=module_path.read_bytes();module_sha=hashlib.sha256(module_raw).hexdigest() + if module_sha!=patch.get('repair_module_sha256'):raise ValueError('repair_module_sha256 mismatch') + module_archive=archive_exact(repair_dir/'applied',module_sha,module_path.suffix or '.py',module_raw) + spec=importlib.util.spec_from_file_location(f'planning_repair_{item_index}_{kind}_{module_sha[:12]}',module_path);module=importlib.util.module_from_spec(spec);spec.loader.exec_module(module) + outcome=module.apply(globals(),item_job,dict(record)) + if outcome is not None: + if not isinstance(outcome,dict):raise ValueError('repair module result must be an object or None') + item_job.update(outcome.get('job_overrides',{})) + record['repair_module']=str(module_path);record['repair_module_sha256']=module_sha;record['repair_module_archive']=module_archive;record['repair_module_result']=outcome + dump(out/'PLANNING_WAITS.json',planning_waits);break + except Exception as repair_exc: + traceback.print_exc();motion_rows=max(0,len(rows)-repair_tick_before) + if motion_rows==0:item_job.clear();item_job.update(item_job_before) + failure=dict(item_index=item_index,kind=kind,event='repair_failed',repair_sha256=digest,error=repr(repair_exc),tick=len(rows),time=time.time(),motion_rows_executed=motion_rows,job_overrides_rolled_back=motion_rows==0,measured_prefix_preserved=True) + planning_waits.append(failure);dump(out/'PLANNING_WAITS.json',planning_waits);write_checkpoint();status('WAITING_FOR_PLANNING_REPAIR',planning_error=repr(repair_exc),repair_file=str(repair),failed_repair_sha256=digest) + +def support_gate(item_job,start_tick): + from shapely.geometry import Point,Polygon + path=target_paths[item_index];current=pose(target);window=np.asarray(target_all_rows[-min(60,len(target_all_rows)):])[:,item_index] + drift=float(np.max(np.linalg.norm(window[:,:3]-window[-1,:3],axis=1))) + linear_speed=float(np.linalg.norm(window[-1,:3]-window[0,:3])/max((len(window)-1)/60.,1/60.)) + angular_speed=float(Rot.from_quat(window[0,3:]).inv().__mul__(Rot.from_quat(window[-1,3:])).magnitude()/max((len(window)-1)/60.,1/60.)) + inside=Polygon(item_job['tray_polygon_xy']).buffer(-.005).covers(Point(current[:2])) + hand_clearance=float(np.linalg.norm(current[:3]-pose(hand)[:3]));support_ticks=[t for t in recent_support_contacts[path] if t>=start_tick] + metrics=dict(target=path,tick=len(rows),pose=current.tolist(),inside_tray=inside,drift_last_second_m=drift,linear_speed_m_s=linear_speed,angular_speed_rad_s=angular_speed,hand_clearance_m=hand_clearance,tray_support_contact_ticks=support_ticks[-20:],support_contact_observed=bool(support_ticks)) + if not inside or drift>.012 or linear_speed>.025 or angular_speed>.35 or hand_clearance<.07 or not support_ticks:raise RuntimeError('Physical tray support gate failed: '+json.dumps(metrics)) + return metrics + +def write_checkpoint(): + tmp=out/'checkpoint_60hz.npz.tmp';final=out/'checkpoint_60hz.npz' + with tmp.open('wb') as f:np.savez_compressed(f,q=np.array(measured),native_target=np.array(commands),dof_names=np.array(names),joint_velocity=np.array(joint_velocities),base_action_body=np.array(base_commands),base_pose=np.array(base_rows),nav_constraint_mode=np.array(nav_modes),nav_constraint_pose=np.array(nav_anchors),robot_link_paths=np.array(link_paths),robot_link_pose=np.array(link_rows),rigid_body_paths=np.array(prop_paths),prop_pose=np.array(prop_rows),target_paths=np.array(target_paths),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),item_index=np.array(item_index_rows,dtype=np.int16),active_target_path=np.array(active_target_rows),phase=np.array(phases),tick=np.array(rows)) + tmp.replace(final);dump(out/'CHECKPOINT.json',dict(schema='ziche.multi_checkpoint.v1',completed_objects=completed_objects,item_index=item_index,control_ticks=len(rows),recording=str(final),continuous_process=True,time=time.time())) + +def save(result,error=None): + for p in writers.values(): + p.stdin.close() + if p.wait()!=0:result='FAILED';error='Camera encoder exited unsuccessfully' + contact_stream.close() + ticks=np.asarray(camera_sample_ticks,dtype=np.int64) + np.savez_compressed(out/'camera_extrinsics_20hz.npz',camera_keys=np.asarray(['top_head','hand_left','hand_right']),control_tick=ticks,timestamp=ticks.astype(np.float64)/60.,global_physics_step=4*len(pre_q)+4*ticks,world_T_camera=np.asarray(camera_sample_extrinsics,dtype=np.float64).reshape(-1,3,4,4)) + if rows:write_startup_report() + dump(out/'PHYSICS_CLOCK.json',dict(schema='startup_preroll_clock_v1',physics_dt_s=1/240.,physics_hz=240,control_hz=60,training_hz=20,substeps_per_control=4,unrecorded_preroll_physics_steps=4*len(pre_q),unrecorded_preroll_duration_s=len(pre_q)/60.,retained_control_rows=len(rows),retained_first_control_row=0,retained_timestamp_formula='(row_index+1)/60',retained_first_post_step_global_physics_step=4*len(pre_q)+4 if rows else None,retained_post_step_global_physics_step_formula='unrecorded_preroll_physics_steps + 4*(row_index+1)',retained_camera_row_formula='control_tick % 3 == 0',retained_camera_frame_count=len(camera_sample_ticks),command_semantics='Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.',contact_semantics='Contact subscription begins after preroll and camera warmup; preroll contacts are excluded.')) + if rows: + np.savez_compressed(out/'recording_60hz.npz',q=np.array(measured),native_target=np.array(commands),dof_names=np.array(names),base_action_body=np.array(base_commands),base_pose=np.array(base_rows),target_pose=np.array(target_rows),target_paths=np.array(target_paths),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),active_target_path=np.array(active_target_rows),item_index=np.array(item_index_rows,dtype=np.int16),phase=np.array(phases),timestamp=np.array(rows)/60.,nav_constraint_mode=np.array(nav_modes),nav_constraint_pose=np.array(nav_anchors),tick=np.array(rows),joint_velocity=np.array(joint_velocities),robot_link_paths=np.array(link_paths),robot_link_pose=np.array(link_rows)) + if rows: + lp=np.asarray(link_rows);pp=np.asarray(prop_rows);uid=f"chain50_layout_{job['layout_id']:02d}" + payload=dict(episode_uid=uid,target_prim=target_paths[0],requested_target_paths=np.array(target_paths),active_target_path=np.array(active_target_rows),item_index=np.array(item_index_rows,dtype=np.int16),target_initial_pose=requested_initial_target_pose,target_pose_all=np.array(target_all_rows),fps=60.,frame_index=np.arange(len(rows)),robot_dof_names=np.array(names),robot_joint_position_rad_or_m=np.array(measured),robot_joint_velocity_radps_or_mps=np.array(joint_velocities),robot_root_xyz_m=base0[:3,3],robot_root_wxyz=np.r_[bq[3],bq[:3]],robot_link_paths=np.array(link_paths),robot_link_xyz_m=lp[:,:,:3],robot_link_wxyz=lp[:,:,[6,3,4,5]],rigid_body_paths=np.array(prop_paths),prop_xyz_m=pp[:,:,:3],prop_wxyz=pp[:,:,[6,3,4,5]],robot_collision_profile_complete=True,robot_collision_profile_id=profile['profile_id'],robot_collision_enabled_paths=np.array(profile['collision_enabled_paths']),robot_collision_enabled_path_count=len(profile['collision_enabled_paths']),robot_collision_filtered_body_pairs=np.array(profile['filtered_body_pairs'])) + (out/'physics_ticks').mkdir(exist_ok=True);np.savez_compressed(out/'physics_ticks/full_state.npz',**payload);subprocess.run(['cp','--reflink=auto',str(out/'physics_ticks/full_state.npz'),str(out/'full_state.npz')],check=True) + if result=='PHYSICS_COMPLETE_UNVERIFIED' and (not json.loads((out/'PASSIVE_FINGER_PROJECTION.json').read_text())['passed'] or len(camera_sample_ticks)!=len(rows)//3):result='FAILED';error='Stable start or camera sampling gate failed' + if result=='PHYSICS_COMPLETE_UNVERIFIED': + try: + from runtime_collision_readback import CaptureCollisionExporter + from collision_inventory import enabled_nonrobot_convex_colliders + uid=f"chain50_layout_{job['layout_id']:02d}" + for folder,paths,selector in [('collision_readback',profile['collision_enabled_paths'],None),('collision_readback_nonrobot',[str(p.GetPath()) for p in enabled_nonrobot_convex_colliders(stage)],enabled_nonrobot_convex_colliders)]: + reader=CaptureCollisionExporter(stage,out/folder,uid,len(rows)//3-1,len(rows)-1,expected_paths=paths,collider_selector=selector,run_asynchronously=False);reader.start();receipt=reader.finish(len(rows)//3-1,len(rows)-1) + if receipt['status']!='CONTEMPORARY_USD_REPRESENTATIONS_RECORDED':raise RuntimeError('Incomplete capture-end geometry readback: '+folder) + except Exception as exc:result='FAILED';error='Capture-end collision representation: '+repr(exc) + dump(out/'ITEM_EVENTS.json',dict(schema='ziche.multi_item_events.v1',requested_objects=target_paths,completed_objects=completed_objects,events=item_events)) + dump(out/'CONTACT_CAPTURE.json',dict(schema='ziche.contact_capture.v1',requested_targets=target_paths,filter_semantics='robot_or_any_requested_target',all_physics_ticks=True,control_ticks=len(rows),dropped_rows=0,callback_rows=contact_callback_rows,stream='contacts.jsonl.gz')) + dump(out/'place_metrics.json',dict(hands=[item['hand'] for item in items],destination_body_path='/World/Assets/Tray',completed_objects=completed_objects)) + dump(out/'recording_metadata.json',dict(physics_hz=240,control_hz=60,training_hz=20,action_schema='g1_omnipicker_jointpos20_basevw_v1',gripper_max_force={'l':80,'r':80},pose_order='x,y,z,qx,qy,qz,qw',row_clock='post-control-step; same-step applied command',continuous_no_pose_reset=True,multi_item=True,item_count=len(items))) + dump(out/'RESULT.json',dict(status=result,accepted=False,error=error,control_ticks=len(rows),rendered=bool(writers),requested_objects=target_paths,completed_objects=completed_objects,item_count=len(items),requires='independent collision, task, drive, continuity and export validation')) + status(result,error=error) +if len(sys.argv)>2: + try: + replay=np.load(sys.argv[2]);replay_ids=[replay['dof_names'].tolist().index(n) for n in control_names];previous=None + for tick in range(len(replay['q'])): + if 'item_index' in replay: + item_index=int(replay['item_index'][tick]);target=target_objects[item_index];hand=SingleRigidPrim('/World/Robot/gripper_'+items[item_index]['hand']+'_base_link');hand.initialize() + phase=str(replay['phase'][tick]);kind=str(replay['nav_constraint_mode'][tick]);anchor_pose=replay['nav_constraint_pose'][tick];signature=(kind,anchor_pose.tobytes()) + if previous!=signature:constrain(kind,anchor_pose);previous=signature + base_vw=replay['base_action_body'][tick].copy();advance(replay['native_target'][tick,replay_ids]) + save('REPLAY_COMPLETE_UNVERIFIED') + except Exception as e:traceback.print_exc();save('FAILED',repr(e)) + finally:app.close() + sys.exit(0) +try: + from collision_scene import Robot,ROBOT + sys.path.insert(0,str(R/'work/place_training_tray_20260918')) + from carry_transition import plan as plan_carry,Clearance + from multi_motion import plan_return + from return_head_policy import install as install_return_head_policy + install_return_head_policy(globals()) + from placement import solve + from native_planner import build + from place_tray_layout import mesh_world_points + from shapely.geometry import Polygon + from scipy.spatial import ConvexHull + source_layout_id=int(job.get('source_layout_id',job['layout_id'])) + release_spec=json.loads((Path(job['layout']).parents[1]/'audits_release'/f"{source_layout_id:02d}.json").read_text()) + carry_robot=Robot(ROBOT);carry_robot.bodies=[];pose_check=build(stage) + phase='initial_upper_shelf_posture';blend(native[ids],.5) + for i,item in enumerate(items): + item_index=i;data=load_controls(item);target=target_objects[i];hand=SingleRigidPrim('/World/Robot/gripper_'+item['hand']+'_base_link');hand.initialize() + item_job=dict(job);item_job.update(item);item_job['target']=item['target'];item_job['hand']=item['hand'] + item_job['reserved_tray_footprints']=[x['placement_slot']['footprint_xy'] for x in items[i+1:] if x.get('placement_slot')] + target_initial=pose(target).copy();expected_pick_pose=requested_initial_target_pose[i].copy();item_job['expected_pick_pose']=expected_pick_pose.tolist();item_events.append(dict(event='item_started',item_index=i,target=item['target'],tick=len(rows)+1,pose=target_initial.tolist())) + item_phase('waist_to_selected_shelf');blend(data['pick'][0],1.) + item_phase('shelf_pick') + def pick_preflight_call(): + current=pose(target);translation=float(np.linalg.norm(current[:3]-expected_pick_pose[:3]));rotation=float(Rot.from_quat(expected_pick_pose[3:]).inv().__mul__(Rot.from_quat(current[3:])).magnitude()) + metrics=dict(target=item['target'],expected_pose=expected_pick_pose.tolist(),live_pose=current.tolist(),translation_error_m=translation,rotation_error_rad=rotation) + if translation>float(item_job.get('pick_preflight_translation_m',.025)) or rotation>float(item_job.get('pick_preflight_rotation_rad',.35)):raise RuntimeError('Target disturbed before source pickup: '+json.dumps(metrics)) + return metrics + pick_preflight=planning_boundary('pick_preflight',item_job,pick_preflight_call);dump(out/f'PICK_PREFLIGHT.item_{i:02d}.json',pick_preflight);target_initial=pose(target).copy() + for control in data['pick']: + for _ in range(3):advance(control) + def pick_gate_call(): + current=pose(target);lift=float(current[2]-target_initial[2]);contact_evidence=grasp_contact_gate(item['target'],item_job);metrics=dict(target=item['target'],pre_pick_pose=target_initial.tolist(),live_pose=current.tolist(),lift_m=lift,grasp_contact=contact_evidence) + if lift<.025:raise RuntimeError('Pickup did not lift target at least 25 mm: '+json.dumps(metrics)) + return metrics + pick_gate=planning_boundary('pick_recovery',item_job,pick_gate_call);dump(out/f'PICK_GATE.item_{i:02d}.json',pick_gate) + held0=held();grip_idx=18 if item['hand']=='l' else 19 + item_phase('carry_planning');status('RUNNING_PHYSICS') + prop_live=lambda:{p:mat(rb) for p,rb in zip(prop_paths,props)} + def carry_call():return plan_carry(stage,carry_robot,names,np.asarray(robot.get_joint_positions(),dtype=float),mat(base),item['hand'],item['target'],data['target_local'],mat(target),prop_live(),item_job,release_spec) + carry_compact_q,carry_primitives,carry_report=planning_boundary('carry',item_job,carry_call) + dump(out/f'CARRY_PLAN.item_{i:02d}.json',carry_report);dump(out/f'navigation_primitives.item_{i:02d}.json',carry_primitives) + execute_primitives(carry_primitives,held0,return_motion=False,item_job=item_job) + item_phase('bridge_to_place_initial');end=data['place_initial'].copy();end[18:]=native[ids][18:] + def bridge_call(): + start_full=np.asarray(robot.get_joint_positions(),dtype=float).copy();end_full=start_full.copy();end_full[ids]=end + checker=Clearance(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],held(),prop_live());checker.deadline=time.monotonic()+900 + candidates=[[]] + high_end=end_full.copy();high_end[names.index('idx01_body_joint1')]=start_full[names.index('idx01_body_joint1')];candidates.append([high_end]) + for waypoints in candidates: + chain=[start_full]+waypoints+[end_full] + if all(checker.segment(a,b,mat(base),mat(base)) for a,b in zip(chain,chain[1:])):return [q[ids].copy() for q in waypoints]+[end.copy()] + raise RuntimeError('No collision-screened held-object posture bridge: '+str(checker.last)) + bridge_controls=planning_boundary('place_bridge',item_job,bridge_call) + for bridge_target in bridge_controls:blend(bridge_target,6.,held0) + item_phase('place_planning');status('RUNNING_PHYSICS');obstacles=[] + for path in completed_objects: + rb=props[prop_paths.index(path)];prim=stage.GetPrimAtPath(path);world=mesh_world_points(stage,prim) + authored=np.asarray(UsdGeom.XformCache().GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=mat(rb);verts=local@current[:3,:3].T+current[:3,3];obstacles.append(Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2])) + def place_call(): + from release_sweep import ReleaseSweep + item_job['require_release_sweep']=True + release_checker=ReleaseSweep(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],prop_live(),item['place_source'],deadline_s=900) + live_q=np.asarray(robot.get_joint_positions(),dtype=np.float64).copy();live_base=mat(base) + world_check=Clearance(stage,carry_robot,names,item['hand'],item['target'],data['target_local'],held(),prop_live());world_check.deadline=time.monotonic()+900 + return solve(carry_robot,names,live_q,live_base,mat(target),data['target_local'],item_job,obstacles,pose_check,world_check=world_check,release_sweep=release_checker) + planned,retreat,placement_report=planning_boundary('place',item_job,place_call) + dump(out/f'PLACEMENT_PLAN.item_{i:02d}.json',placement_report);np.savez_compressed(out/f'place_planned_targets.item_{i:02d}.npz',q=planned[:,ids],names=control_names) + item_phase('place_descent') + for targetq in planned[:,ids]: + for _ in range(3):advance(targetq) + item_phase('place_release');opened=native[ids].copy();opened[grip_idx]=np.pi/4;blend(opened,2.) + item_phase('release_retreat');retreat_control=retreat[ids].copy();retreat_control[grip_idx]=np.pi/4;blend(retreat_control,3.) + settle_start=len(rows)+1;item_phase('settle');blend(native[ids],2.) + gate=support_gate(item_job,settle_start);completed_objects.append(item['target']);item_events.append(dict(event='item_supported',item_index=i,target=item['target'],tick=len(rows),metrics=gate));write_checkpoint() + base_error=None;yaw_error=None + if i+1PRECISION_RETURN_POLICY['arrival_translation_gate_m'] or rotation>PRECISION_RETURN_POLICY['arrival_yaw_gate_rad']:raise RuntimeError('Return did not reach precision pickup gate: '+json.dumps(metrics)) + return metrics + arrival=planning_boundary('return_arrival',item_job,return_arrival_call);dump(out/f'RETURN_ARRIVAL.item_{i:02d}.json',arrival);base_error=arrival['translation_error_m'];yaw_error=arrival['yaw_error_rad'] + item_phase('complete');blend(native[ids],.25);item_events.append(dict(event='item_completed',item_index=i,target=item['target'],tick=len(rows),support=gate,return_base_error_m=base_error,return_yaw_error_rad=yaw_error)) + write_checkpoint();status('RUNNING_PHYSICS') + save('PHYSICS_COMPLETE_UNVERIFIED') +except Exception as e: + traceback.print_exc();save('FAILED',repr(e)) +finally:app.close() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/runtime_evidence.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/runtime_evidence.py new file mode 100644 index 0000000000000000000000000000000000000000..5db31f321346fb68eb4f49f4e09c97b4d61b7587 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/runtime_evidence.py @@ -0,0 +1,15 @@ +"""Reconcile snapshot metadata only from matching actual capture readbacks.""" +import json,shutil,time +from pathlib import Path +from pxr import Usd,UsdGeom + +def reconcile(case): + out=case/'rollout';a=json.loads((out/'collision_readback/INPUT.json').read_text());b=json.loads((out/'collision_readback_nonrobot/INPUT.json').read_text()) + for key in ['episode_uid','stage_id','root_layer','request_tick','stage_meters_per_unit','stage_up_axis']: + assert a.get(key)==b.get(key),key + p=out/'scene.usda';s=Usd.Stage.Open(str(p));old=[UsdGeom.GetStageMetersPerUnit(s),str(UsdGeom.GetStageUpAxis(s))];new=[a['stage_meters_per_unit'],a['stage_up_axis']] + if old!=new: + backup=out/'scene.before_runtime_metadata_fix.usda' + if not backup.exists():shutil.copy2(p,backup) + UsdGeom.SetStageMetersPerUnit(s,new[0]);UsdGeom.SetStageUpAxis(s,new[1]);tmp=p.with_suffix('.metadata.tmp');tmp.write_text(s.GetRootLayer().ExportToString());tmp.replace(p) + (out/'SCENE_METADATA_REPAIR.json').write_text(json.dumps(dict(before=old,after=new,source='matching actual robot/nonrobot capture INPUT.json',updated=time.time()),indent=2)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/startup_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/startup_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..e5c29f5518d4f29aa76af23d7ddf8920e362086c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/startup_validation.py @@ -0,0 +1,690 @@ +"""Strict startup, no-fall, camera-clock, video, and immutable-gate helpers. + +This module is deliberately independent of the controller. It consumes only +producer evidence and the completed native recording. Missing evidence fails; +there are no layout-specific exceptions. +""" +from __future__ import annotations + +import hashlib +import json +import os +import re +import shutil +import time +from pathlib import Path + +import numpy as np + + +CAMERAS = { + "top_head": (1280, 800), + "hand_left": (848, 480), + "hand_right": (848, 480), +} +CAMERA_LINKS = { + "top_head": "/World/Robot/head_link2", + "hand_left": "/World/Robot/gripper_l_base_link", + "hand_right": "/World/Robot/gripper_r_base_link", +} +PASSIVE_FINGER = re.compile(r"^/World/Robot/gripper_[lr]_(?:inner|outer)_link[234]$") +STRICT = { + "prop_translation_m": 5e-5, + "prop_rotation_rad": float(np.deg2rad(0.02)), + "camera_translation_m": 5e-5, + "camera_rotation_rad": float(np.deg2rad(0.01)), + "driven_robot_translation_m": 5e-5, + "driven_robot_rotation_rad": float(np.deg2rad(0.02)), + "passive_finger_projected_motion_px": 0.25, +} +NO_FALL = { + "max_translation_m": 0.020, + "max_downward_m": 0.010, + "max_rotation_deg": 15.0, + "authored_to_first_translation_m": 0.001, + "authored_to_first_downward_m": 0.001, + "authored_to_first_rotation_deg": 0.5, +} + + +def sha256(path: Path) -> str: + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def write_json(path: Path, payload: dict) -> None: + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + pending = path.with_suffix(path.suffix + ".pending") + pending.write_text(json.dumps(payload, indent=2, default=str) + "\n") + os.replace(pending, path) + + +def _load_state(out: Path): + path = out / "full_state.npz" + if not path.is_file(): + path = out / "physics_ticks/full_state.npz" + return path, np.load(path, allow_pickle=False) + + +def _normalize_quaternion(q): + q = np.asarray(q, dtype=np.float64) + norm = np.linalg.norm(q, axis=-1, keepdims=True) + if np.any(norm < 1e-15): + raise ValueError("zero quaternion") + return q / norm + + +def angular_from_reference(q, reference): + q = _normalize_quaternion(q) + reference = _normalize_quaternion(np.asarray(reference, dtype=np.float64)) + dots = np.clip(np.abs(np.sum(q * reference, axis=-1)), 0.0, 1.0) + return 2.0 * np.arccos(dots) + + +def pairwise_span(pose): + pose = np.asarray(pose, dtype=np.float64) + if pose.shape[0] < 1 or pose.shape[1] < 1: + return 0.0, 0.0 + xyz = pose[:, :, :3] + q = _normalize_quaternion(pose[:, :, 3:]) + translation = float(np.linalg.norm(xyz[:, None] - xyz[None, :], axis=-1).max()) + dots = np.clip(np.abs(np.einsum("tni,sni->tsn", q, q)), 0.0, 1.0) + rotation = float((2.0 * np.arccos(dots)).max()) + return translation, rotation + + +def clock_audit(out: Path, recording, preroll_npz) -> dict: + out = Path(out) + path = out / "PHYSICS_CLOCK.json" + failures = [] + try: + clock = json.loads(path.read_text()) + except Exception as exc: + return {"schema": "multi_startup_clock_audit_v1", "passed": False, + "failures": ["missing_or_invalid_clock"], "error": repr(exc)} + rows = len(recording["q"]) + preroll_rows = len(preroll_npz["q"]) + expected_steps = 4 * preroll_rows + checks = { + "schema": clock.get("schema") == "startup_preroll_clock_v1", + "rates": clock.get("physics_hz") == 240 and clock.get("control_hz") == 60 + and clock.get("training_hz") == 20 and clock.get("substeps_per_control") == 4, + "unrecorded_preroll_steps": clock.get("unrecorded_preroll_physics_steps") == expected_steps, + "unrecorded_preroll_duration": abs(float(clock.get("unrecorded_preroll_duration_s", -1)) + - expected_steps / 240.0) <= 1e-12, + "retained_rows": clock.get("retained_control_rows") == rows + and clock.get("retained_first_control_row") == 0, + "first_global_step": clock.get("retained_first_post_step_global_physics_step") == expected_steps + 4, + "timestamp_formula": clock.get("retained_timestamp_formula") == "(row_index+1)/60", + "global_step_formula": clock.get("retained_post_step_global_physics_step_formula") + == "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "camera_formula": clock.get("retained_camera_row_formula") == "control_tick % 3 == 0" + and clock.get("retained_camera_frame_count") == rows // 3, + "command_semantics": bool(clock.get("command_semantics")), + "contact_semantics": bool(clock.get("contact_semantics")), + "recording_tick": np.array_equal(recording["tick"], np.arange(1, rows + 1)), + "recording_timestamp": np.allclose(recording["timestamp"], np.arange(1, rows + 1) / 60.0, + atol=1e-12, rtol=0), + } + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_startup_clock_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "clock": clock, + "clock_sha256": sha256(path), "retained_rows": rows, + "preroll_rows_60hz": preroll_rows, + } + + +def _pose_matrix_xyzw(pose): + from scipy.spatial.transform import Rotation as Rot + pose = np.asarray(pose, dtype=np.float64) + matrices = np.zeros(pose.shape[:-1] + (4, 4), dtype=np.float64) + matrices[..., 3, 3] = 1.0 + matrices[..., :3, :3] = Rot.from_quat(pose[..., 3:]).as_matrix() + matrices[..., :3, 3] = pose[..., :3] + return matrices + + +def camera_extrinsics_audit(out: Path, recording, clock: dict) -> dict: + out = Path(out) + path = out / "camera_extrinsics_20hz.npz" + failures = [] + try: + camera = np.load(path, allow_pickle=False) + required = {"camera_keys", "control_tick", "timestamp", "global_physics_step", "world_T_camera"} + missing = sorted(required - set(camera.files)) + if missing: + raise ValueError(f"missing keys {missing}") + keys = camera["camera_keys"].tolist() + ticks = np.asarray(camera["control_tick"], dtype=np.int64) + timestamp = np.asarray(camera["timestamp"], dtype=np.float64) + global_steps = np.asarray(camera["global_physics_step"], dtype=np.int64) + transforms = np.asarray(camera["world_T_camera"], dtype=np.float64) + except Exception as exc: + return {"schema": "multi_camera_extrinsics_audit_v1", "passed": False, + "failures": ["missing_or_invalid_camera_extrinsics"], "error": repr(exc)} + rows = len(recording["q"]) + expected_ticks = np.arange(3, rows + 1, 3, dtype=np.int64) + preroll_steps = int(clock.get("unrecorded_preroll_physics_steps", -1)) + checks = { + "camera_order": keys == list(CAMERAS), + "shape": transforms.shape == (len(expected_ticks), 3, 4, 4), + "control_tick_mapping": np.array_equal(ticks, expected_ticks), + "timestamp_mapping": np.allclose(timestamp, expected_ticks / 60.0, atol=1e-12, rtol=0), + "global_step_mapping": np.array_equal(global_steps, preroll_steps + 4 * expected_ticks), + "finite": bool(np.isfinite(transforms).all()), + "homogeneous_row": bool(np.allclose(transforms[..., 3, :], [0, 0, 0, 1], atol=1e-10)), + } + if checks["shape"] and checks["finite"]: + rotation = transforms[..., :3, :3] + identity_error = float(np.max(np.abs(rotation.swapaxes(-1, -2) @ rotation - np.eye(3)))) + determinant_error = float(np.max(np.abs(np.linalg.det(rotation) - 1.0))) + else: + identity_error = determinant_error = float("inf") + checks["rigid_rotation"] = identity_error <= 1e-5 and determinant_error <= 1e-5 + + # Prove every camera stays rigidly mounted to the recorded robot link at the + # exact control row associated with that encoded frame. The authored mount + # can differ by camera, but it must be constant throughout the episode. + mount_errors = {} + checks["rigid_mount_alignment"] = False + if checks["shape"] and checks["control_tick_mapping"]: + paths = recording["robot_link_paths"].tolist() + try: + link_index = [paths.index(CAMERA_LINKS[key]) for key in keys] + link_pose = np.asarray(recording["robot_link_pose"], dtype=np.float64)[ticks - 1][:, link_index] + world_T_link = _pose_matrix_xyzw(link_pose) + relative = np.linalg.inv(world_T_link) @ transforms + for index, key in enumerate(keys): + reference = relative[0, index] + translation = float(np.linalg.norm(relative[:, index, :3, 3] - reference[:3, 3], axis=1).max()) + from scipy.spatial.transform import Rotation as Rot + delta = Rot.from_matrix(reference[:3, :3]).inv() * Rot.from_matrix(relative[:, index, :3, :3]) + rotation = float(delta.magnitude().max()) + mount_errors[key] = {"translation_m": translation, "rotation_rad": rotation} + checks["rigid_mount_alignment"] = all( + row["translation_m"] <= 1e-5 and row["rotation_rad"] <= 1e-5 + for row in mount_errors.values()) + except Exception as exc: + mount_errors["error"] = repr(exc) + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_camera_extrinsics_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "frames": len(expected_ticks), + "rotation_orthogonality_max_error": identity_error, + "rotation_determinant_max_error": determinant_error, + "mount_errors": mount_errors, "camera_extrinsics_sha256": sha256(path), + } + + +def camera_warmup_audit(out: Path, preroll_evidence: dict, result: dict) -> dict: + """Require native three-view capture to start only after stable priming.""" + out = Path(out) + path = out / "CAMERA_WARMUP.json" + failures = [] + try: + report = json.loads(path.read_text()) + final = report.get("final_stability_window", {}) + startup = out / "startup_frames" + names = sorted(p.name for p in startup.glob("*.jpg")) + expected = sorted(f"{camera}_{index:02d}.jpg" for camera in CAMERAS for index in range(10)) + checks = { + "native_rendered": result.get("rendered") is True, + "status": report.get("status") == "PASSED", + "after_stability": report.get("after_physics_stability") is True, + "render_warmups": int(report.get("render_only_warmups", -1)) >= 12, + "discarded_reads": int(report.get("discarded_render_reads", -1)) >= 3, + "unrecorded_hold_samples": int(report.get("unrecorded_hold_samples", -1)) >= 3, + "preroll_hold_accounting": int(preroll_evidence.get("camera_warmup_physics_samples", -1)) + == int(report.get("unrecorded_hold_samples", -2)), + "no_captured_warmup_frames": int(report.get("captured_frames", -1)) == 0, + "final_prop_stable": float(final.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera_stable": float(final.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven_stable": float(final.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "startup_frame_set": names == expected, + "startup_frames_nonempty": names == expected and all((startup / name).stat().st_size > 0 for name in names), + } + failures.extend(name for name, passed in checks.items() if not passed) + except Exception as exc: + return {"schema": "multi_camera_warmup_audit_v1", "passed": False, + "checks": {}, "failures": ["missing_or_invalid_camera_warmup"], "error": repr(exc)} + return {"schema": "multi_camera_warmup_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "receipt": report, + "receipt_sha256": sha256(path), + "startup_frame_sha256": {name: sha256(out / "startup_frames" / name) for name in names}} + + +def _projection_audit(out: Path, pre_path: Path, state_path: Path) -> dict: + path = out / "PASSIVE_FINGER_PROJECTION.json" + try: + report = json.loads(path.read_text()) + windows = {row.get("label"): row for row in report.get("windows", [])} + required = {"final_preroll_0p5s", "first_retained_30_control_rows"} + implementation = Path(report["projection_implementation"]) + checks = { + "status": report.get("status") == "PASSED" and report.get("passed") is True, + "threshold": report.get("threshold_px") == STRICT["passive_finger_projected_motion_px"], + "scope": report.get("only_passive_distal_fingers") is True, + "windows": set(windows) == required and all( + row.get("passed") is True + and row.get("passive_projection", {}).get("status") == "PASSED" + and 0 <= float(row.get("passive_projection", {}).get("max_projected_motion_px", 1)) < 0.25 + for row in windows.values()), + "bodies": bool(report.get("evaluated_passive_paths")) and bool(report.get("evaluated_driven_paths")), + "cameras": len(report.get("evaluated_cameras", [])) == 3, + "implementation_hash": implementation.is_file() + and report.get("projection_implementation_sha256") == sha256(implementation), + } + failures = [name for name, passed in checks.items() if not passed] + return {"passed": not failures, "checks": checks, "failures": failures, + "receipt": report, "receipt_sha256": sha256(path), "windows": windows, + "independently_bound_pose_sha256": { + pre_path.name: sha256(pre_path), state_path.name: sha256(state_path)}} + except Exception as exc: + return {"passed": False, "checks": {}, "failures": ["missing_or_invalid_projection"], + "error": repr(exc), "windows": {}} + + +def startup_stability_audit(case: Path, recording, action_names) -> dict: + case = Path(case) + out = case / "rollout" + pre_json_path = out / "PREROLL_EVIDENCE.json" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + failures = [] + try: + evidence = json.loads(pre_json_path.read_text()) + pre = np.load(pre_path, allow_pickle=False) + except Exception as exc: + return {"schema": "multi_startup_stability_audit_v1", "passed": False, + "failures": ["missing_preroll_evidence"], "error": repr(exc)} + projection = _projection_audit(out, pre_path, state_path) + rows = min(30, len(recording["q"])) + paths = recording["robot_link_paths"].tolist() + try: + camera_indices = [paths.index(path) for path in CAMERA_LINKS.values()] + driven_indices = [index for index, path in enumerate(paths) if not PASSIVE_FINGER.match(path)] + retained_links = np.asarray(recording["robot_link_pose"][:rows], dtype=np.float64) + retained_props = np.concatenate([ + np.asarray(state["prop_xyz_m"][:rows], dtype=np.float64), + np.asarray(state["prop_wxyz"][:rows, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + prop_translation, prop_rotation = pairwise_span(retained_props) + camera_translation, camera_rotation = pairwise_span(retained_links[:, camera_indices]) + driven_translation, driven_rotation = pairwise_span(retained_links[:, driven_indices]) + except Exception as exc: + prop_translation = prop_rotation = camera_translation = camera_rotation = float("inf") + driven_translation = driven_rotation = float("inf") + failures.append("retained_pose_metrics") + metric_error = repr(exc) + else: + metric_error = None + first_projection = projection.get("windows", {}).get("first_retained_30_control_rows", {}) + retained_checks = { + "rows": rows == 30, + "prop_translation": prop_translation < STRICT["prop_translation_m"], + "prop_rotation": prop_rotation < STRICT["prop_rotation_rad"], + "camera_translation": camera_translation < STRICT["camera_translation_m"], + "camera_rotation": camera_rotation < STRICT["camera_rotation_rad"], + "driven_translation": driven_translation < STRICT["driven_robot_translation_m"], + "driven_rotation": driven_rotation < STRICT["driven_robot_rotation_rad"], + "passive_projection": first_projection.get("passed") is True, + } + failures.extend("first_retained_" + name for name, passed in retained_checks.items() if not passed) + thresholds = evidence.get("thresholds", {}) + final_window = evidence.get("final_window", {}) + names = recording["dof_names"].tolist() + try: + command_indices = [names.index(name) for name in action_names[:20]] + exact_initial = np.array_equal(np.asarray(pre["initial_command"], dtype=np.float64), + np.asarray(recording["native_target"][0, command_indices], dtype=np.float64)) + retained_initial_hold = (rows == 30 + and np.array_equal(np.asarray(recording["native_target"][:rows, command_indices], dtype=np.float64), + np.repeat(np.asarray(pre["initial_command"], dtype=np.float64)[None], rows, axis=0)) + and np.array_equal(np.asarray(recording["base_action_body"][:rows], dtype=np.float64), + np.zeros((rows, 2), dtype=np.float64)) + and set(np.asarray(recording["phase"][:rows]).astype(str).tolist()) == {"initial_upper_shelf_posture"} + and set(np.asarray(recording["item_index"][:rows], dtype=np.int64).tolist()).issubset({-1, 0})) + except Exception: + exact_initial = False + retained_initial_hold = False + preroll_checks = { + "status": evidence.get("status") == "PASSED", + "rates": evidence.get("physics_hz") == 240 and evidence.get("sample_hz") == 60, + "unrecorded": evidence.get("recorded_rows") == 0 + and evidence.get("contact_capture_started") is False + and evidence.get("camera_capture_started") is False, + "no_pose_writes": evidence.get("no_pose_writes_or_resets") is True, + "duration": float(evidence.get("duration_s", 0)) >= 0.5, + "thresholds": thresholds.get("prop_translation_m") == STRICT["prop_translation_m"] + and thresholds.get("prop_rotation_rad") == STRICT["prop_rotation_rad"] + and thresholds.get("camera_translation_m") == STRICT["camera_translation_m"] + and thresholds.get("camera_rotation_rad") == STRICT["camera_rotation_rad"] + and thresholds.get("passive_finger_projected_motion_px") == 0.25, + "final_prop": float(final_window.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final_window.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera": float(final_window.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final_window.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven": float(final_window.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final_window.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "exact_initial_command": exact_initial, + "first_retained_30_exact_initial_hold": retained_initial_hold, + "projection": projection["passed"], + } + failures.extend("preroll_" + name for name, passed in preroll_checks.items() if not passed) + return { + "schema": "multi_startup_stability_audit_v1", "passed": not failures, + "failures": failures, "strict_thresholds": STRICT, + "retained_first_30_control_rows": { + "checks": retained_checks, "prop_translation_span_m": prop_translation, + "prop_rotation_span_rad": prop_rotation, + "camera_translation_span_m": camera_translation, + "camera_rotation_span_rad": camera_rotation, + "driven_translation_span_m": driven_translation, + "driven_rotation_span_rad": driven_rotation, + "metric_error": metric_error, + }, + "preroll_checks": preroll_checks, "preroll_evidence": evidence, + "projection_audit": projection, + "evidence_sha256": {"PREROLL_EVIDENCE.json": sha256(pre_json_path), + "PREROLL_EVIDENCE.npz": sha256(pre_path), + state_path.name: sha256(state_path)}, + } + + +def prop_no_fall_audit(case: Path, recording, requested: list[dict]) -> dict: + """Audit every prop from the authored pose over its physically relevant scopes. + + Non-target props cover the entire preroll and episode. Requested targets + cover preroll + all rows before their own shelf_pick, and then the whole + interval from their first settle row through episode end. The manipulation + interval is intentionally excluded; placement gates cover it separately. + """ + case = Path(case) + out = case / "rollout" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + try: + pre = np.load(pre_path, allow_pickle=False) + pre_paths = pre["prop_paths"].tolist() + initial = np.asarray(pre["initial_prop_pose_before_preroll"], dtype=np.float64) + pre_pose = np.asarray(pre["prop_pose"], dtype=np.float64) + full_paths = state["rigid_body_paths"].tolist() + if len(set(pre_paths)) != len(pre_paths) or set(pre_paths) != set(full_paths): + raise ValueError("preroll/full-state prop inventory mismatch") + order = [full_paths.index(path) for path in pre_paths] + retained = np.concatenate([ + np.asarray(state["prop_xyz_m"][:, order], dtype=np.float64), + np.asarray(state["prop_wxyz"][:, order][:, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + except Exception as exc: + return {"schema": "multi_prop_no_fall_audit_v1", "passed": False, + "failures": ["missing_or_invalid_prop_evidence"], "error": repr(exc)} + producer_path = out / "INITIAL_PROP_NO_FALL.json" + try: + producer = json.loads(producer_path.read_text()) + maxima = producer.get("maxima", {}) + producer_checks = { + "passed": producer.get("passed") is True, + "all_props": producer.get("all_requested_and_nonrequested_props_included") is True, + "all_preroll_samples": int(producer.get("physics_samples", -1)) == len(pre_pose), + "translation": float(maxima.get("translation_m", 1)) <= NO_FALL["max_translation_m"], + "downward": float(maxima.get("downward_m", 1)) <= NO_FALL["max_downward_m"], + "rotation": float(maxima.get("rotation_rad", 1)) <= np.deg2rad(NO_FALL["max_rotation_deg"]), + } + except FileNotFoundError: + producer = {"present": False, "semantics": "optional producer fail-fast; independent full trace remains mandatory"} + producer_checks = {"optional_receipt_absent": True} + except Exception as exc: + producer = {"present": True, "error": repr(exc)} + producer_checks = {"receipt_valid_if_present": False} + phases = np.asarray(recording["phase"]).astype(str) + item_index = np.asarray(recording["item_index"], dtype=np.int64) + try: + events = json.loads((out / "ITEM_EVENTS.json").read_text()).get("events", []) + except Exception: + events = [] + target_to_index = {row["target"]: index for index, row in enumerate(requested)} + failures = [] + rows = [] + + def segment_metrics(trace, reference): + trace = np.asarray(trace, dtype=np.float64) + if len(trace) == 0: + return {"rows": 0, "max_translation_m": float("inf"), + "max_downward_m": float("inf"), "max_rotation_deg": float("inf"), "passed": False} + translation = np.linalg.norm(trace[:, :3] - reference[:3], axis=1) + rotation = np.degrees(angular_from_reference(trace[:, 3:], reference[3:])) + metrics = { + "rows": len(trace), "max_translation_m": float(translation.max()), + "max_downward_m": float(max(0.0, reference[2] - trace[:, 2].min())), + "max_rotation_deg": float(rotation.max()), + } + metrics["passed"] = (metrics["max_translation_m"] <= NO_FALL["max_translation_m"] + and metrics["max_downward_m"] <= NO_FALL["max_downward_m"] + and metrics["max_rotation_deg"] <= NO_FALL["max_rotation_deg"]) + return metrics + + for prop_index, path in enumerate(pre_paths): + first = pre_pose[0, prop_index] + authored = initial[prop_index] + supplemental = { + "authored_to_first_translation_m": float(np.linalg.norm(first[:3] - authored[:3])), + "authored_to_first_downward_m": float(max(0.0, authored[2] - first[2])), + "authored_to_first_rotation_deg": float(np.degrees(angular_from_reference(first[None, 3:], authored[3:]))[0]), + } + supplemental_checks = {name: supplemental[name] <= NO_FALL[name] for name in supplemental} + segments = [] + if path not in target_to_index: + trace = np.concatenate([pre_pose[:, prop_index], retained[:, prop_index]], axis=0) + segments.append({"scope": "full_preroll_and_capture", **segment_metrics(trace, authored)}) + else: + index = target_to_index[path] + pick = np.flatnonzero((item_index == index) & (phases == f"item_{index:02d}_shelf_pick")) + completed = [row for row in events if row.get("event") == "item_completed" + and row.get("item_index") == index and row.get("target") == path] + if len(pick): + pre_pick = np.concatenate([pre_pose[:, prop_index], retained[:int(pick[0]), prop_index]], axis=0) + segments.append({"scope": "preroll_and_rows_before_own_pick", **segment_metrics(pre_pick, authored)}) + else: + segments.append({"scope": "preroll_and_rows_before_own_pick", "rows": 0, "passed": False, + "reason": "missing own shelf_pick"}) + if len(completed) == 1 and 1 <= int(completed[0].get("tick", 0)) <= len(retained): + start = int(completed[0]["tick"]) - 1 + post = retained[start:, prop_index] + segments.append({"scope": "item_completed_through_episode_end", + "source_control_tick_start": start + 1, + **segment_metrics(post, post[0])}) + else: + segments.append({"scope": "item_completed_through_episode_end", "rows": 0, "passed": False, + "reason": "missing or ambiguous item_completed event"}) + passed = all(supplemental_checks.values()) and all(row.get("passed") is True for row in segments) + if not passed: + failures.append(path) + rows.append({"path": path, "requested_item_index": target_to_index.get(path), + "authored_to_first_preroll": supplemental, + "authored_to_first_checks": supplemental_checks, + "segments": segments, "passed": passed}) + producer_passed = all(producer_checks.values()) + if not producer_passed: + failures.append("producer_initial_prop_no_fall_receipt") + return { + "schema": "multi_prop_no_fall_audit_v1", "passed": not failures, + "thresholds": NO_FALL, "quaternions_normalized_float64": True, + "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step", + "non_target_scope": "every preroll sample and every retained control row through episode end", + "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end", + "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates", + "paths": rows, "failures": failures, "producer_initial_prop_no_fall": producer, + "producer_initial_prop_no_fall_checks": producer_checks, + "evidence_sha256": {**{"PREROLL_EVIDENCE.npz": sha256(pre_path), state_path.name: sha256(state_path)}, + **({"INITIAL_PROP_NO_FALL.json": sha256(producer_path)} if producer_path.is_file() else {})}, + } + + +def video_decode_audit(out: Path, expected_frames: int) -> dict: + """Perform the one authoritative sequential decode of all three videos.""" + import av + out = Path(out) + videos = {} + all_passed = True + for camera, (width, height) in CAMERAS.items(): + path = out / f"{camera}.mp4" + total = np.zeros(3, dtype=np.float64) + total2 = np.zeros(3, dtype=np.float64) + low = np.ones(3, dtype=np.float64) + high = np.zeros(3, dtype=np.float64) + sample_count = 0 + frame_count = 0 + first_gray = [] + near_black = 0 + nonfinite = 0 + previous_digest = None + exact_run = longest_exact_run = 0 + with av.open(str(path)) as container: + stream = container.streams.video[0] + fps = float(stream.average_rate) + actual_width, actual_height = stream.width, stream.height + for frame in container.decode(video=0): + rgb = frame.to_ndarray(format="rgb24") + gray = rgb.astype(np.float32).mean(axis=2) / 255.0 + if frame_count < 4: + first_gray.append(gray) + fraction = float((gray < (4.0 / 255.0)).mean()) + near_black += int(fraction > 0.98) + nonfinite += int(not np.isfinite(gray).all()) + digest = hashlib.sha256(rgb.tobytes()).digest() + exact_run = exact_run + 1 if digest == previous_digest else 1 + longest_exact_run = max(longest_exact_run, exact_run) + previous_digest = digest + if frame_count % max(1, expected_frames // 100) == 0: + sampled = rgb[::16, ::16].reshape(-1, 3) / 255.0 + total += sampled.sum(axis=0) + total2 += (sampled * sampled).sum(axis=0) + low = np.minimum(low, sampled.min(axis=0)) + high = np.maximum(high, sampled.max(axis=0)) + sample_count += len(sampled) + frame_count += 1 + adjacent = [float(np.mean(np.abs(first_gray[i + 1] - first_gray[i]))) + for i in range(max(0, len(first_gray) - 1))] + checks = { + "frame_count": frame_count == expected_frames, + "fps": fps == 20, + "dimensions": (actual_width, actual_height) == (width, height), + "first_frame_synchronized": len(adjacent) == 3 and adjacent[0] < 0.05, + "no_near_black_frames": near_black == 0, + "finite_metrics": nonfinite == 0, + "no_long_exact_frame_run": longest_exact_run < 10, + } + passed = all(checks.values()) + all_passed &= passed + mean = total / max(sample_count, 1) + videos[camera] = { + "passed": passed, "path": str(path), "sha256": sha256(path), + "frames": frame_count, "fps": fps, "width": actual_width, "height": actual_height, + "checks": checks, "first_three_adjacent_mean_abs_gray_differences": adjacent, + "near_black_gt_0_98_frames": near_black, "nonfinite_metric_count": nonfinite, + "longest_exact_frame_run": longest_exact_run, + "image_stats": { + "min": low.reshape(3, 1, 1).tolist(), "max": high.reshape(3, 1, 1).tolist(), + "mean": mean.reshape(3, 1, 1).tolist(), + "std": np.sqrt(np.maximum(total2 / max(sample_count, 1) - mean * mean, 0)).reshape(3, 1, 1).tolist(), + "count": [frame_count], + }, + } + report = { + "schema": "multi_video_decode_audit_v1", "passed": all_passed, + "method": "one authoritative sequential PyAV decode of every frame in all three views", + "expected_frames": expected_frames, "videos": videos, + } + write_json(out / "VIDEO_DECODE_AUDIT.json", report) + return report + + +FROZEN_AUDITS = [ + "TASK_SCHEMA_AUDIT.json", "CONTACT_CAPTURE_AUDIT.json", "GRASP_RETENTION_AUDIT.json", + "GRASP_STABILITY_AUDIT.json", "NON_TARGET_PROP_STABILITY_AUDIT.json", + "PHYSICS_CLOCK_AUDIT.json", "STARTUP_STABILITY_AUDIT.json", "CAMERA_WARMUP_AUDIT.json", + "CAMERA_EXTRINSICS_AUDIT.json", + "VIDEO_DECODE_AUDIT.json", + "SELF_COLLISION_AUDIT.json", "WORLD_COLLISION_AUDIT.json", "WRIST_AUDIT.json", + "VISIBILITY_AUDIT.json", +] +RAW_EVIDENCE = [ + "recording_60hz.npz", "full_state.npz", "PHYSICS_CLOCK.json", "PREROLL_EVIDENCE.json", + "PREROLL_EVIDENCE.npz", "PASSIVE_FINGER_PROJECTION.json", "CAMERA_WARMUP.json", + "camera_extrinsics_20hz.npz", "RESULT.json", "ITEM_EVENTS.json", "CHECKPOINT.json", + "CONTACT_CAPTURE.json", "recording_metadata.json", "LIVE_DRIVE_READBACK.json", + "scene.usda", "contacts.jsonl.gz", "top_head.mp4", "hand_left.mp4", "hand_right.mp4", +] +OPTIONAL_RAW_EVIDENCE = ["INITIAL_PROP_NO_FALL.json"] + + +def freeze_physical_gate(case: Path, world_audit_shards: int | None = None) -> dict: + case = Path(case).resolve() + out = case / "rollout" + destination = out / "physical_evidence" + if destination.exists(): + raise FileExistsError(destination) + pending = out / f".physical_evidence.pending.{os.getpid()}" + pending.mkdir() + try: + frozen = {} + for name in FROZEN_AUDITS: + source = out / name + target = pending / name + shutil.copy2(source, target) + frozen[name] = sha256(target) + os.replace(pending, destination) + except Exception: + shutil.rmtree(pending, ignore_errors=True) + raise + raw_names = RAW_EVIDENCE + [name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()] + raw = {name: sha256(out / name) for name in raw_names} + report = { + "schema": "multi_startup_physical_gate_v1", "passed": True, + "case": str(case), "visual_acceptance_pending": True, + "world_audit_shards": world_audit_shards, + "frozen_audit_dir": str(destination), "frozen_audit_sha256": frozen, + "raw_evidence_sha256": raw, + "semantics": "Physical and startup acceptance is frozen before staged export. Visual/manual and official-reader acceptance remain separate required gates.", + "completed_unix": time.time(), + } + write_json(out / "PHYSICAL_GATE_RESULT.json", report) + return report + + +def verify_physical_gate(case: Path) -> dict: + case = Path(case).resolve() + out = case / "rollout" + failures = [] + try: + receipt = json.loads((out / "PHYSICAL_GATE_RESULT.json").read_text()) + frozen_dir = Path(receipt["frozen_audit_dir"]).resolve() + if frozen_dir != (out / "physical_evidence").resolve(): + failures.append("frozen_directory") + for name, digest in receipt.get("frozen_audit_sha256", {}).items(): + path = frozen_dir / name + if not path.is_file() or sha256(path) != digest: + failures.append("frozen:" + name) + for name, digest in receipt.get("raw_evidence_sha256", {}).items(): + path = out / name + if not path.is_file() or sha256(path) != digest: + failures.append("raw:" + name) + if set(receipt.get("frozen_audit_sha256", {})) != set(FROZEN_AUDITS): + failures.append("frozen_scope") + expected_raw = set(RAW_EVIDENCE) | {name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()} + if set(receipt.get("raw_evidence_sha256", {})) != expected_raw: + failures.append("raw_scope") + except Exception as exc: + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": False, + "failures": ["missing_or_invalid_receipt"], "error": repr(exc)} + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": not failures, + "failures": failures, "receipt_sha256": sha256(out / "PHYSICAL_GATE_RESULT.json")} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/supervise.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/supervise.py new file mode 100644 index 0000000000000000000000000000000000000000..3a3cdaef555b58edcd81e007f1cef7324fe126cc --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/supervise.py @@ -0,0 +1,75 @@ +"""Own new multi-item cases only; preserve every failed or paused native prefix.""" +import os,sys,time,json,fcntl,subprocess +from pathlib import Path +W=Path(__file__).resolve().parent +CPU='/mnt/agent-bench-data/lingjun/envs/mesh311/bin/python' +lock=(W/'supervisor.lock').open('a+');fcntl.flock(lock,fcntl.LOCK_EX|fcntl.LOCK_NB) +children={};reviews={};logs=[] +def read(p,default=None): + try:return json.loads(p.read_text()) + except (FileNotFoundError,json.JSONDecodeError):return default + +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) + +def start(cmd,log,env=None): + f=log.open('a');logs.append(f) + return subprocess.Popen(cmd,stdout=f,stderr=subprocess.STDOUT,env=env) + +def validation_files_writable(case): + """Do not race the launcher's final recursive chown. + + RESULT is written by the container before launch.py exits. It is not a handoff: + launch.py still owns the case until its finally block has completed. Once that + owner has exited, prove the supervisor account can update STATUS and create an + audit file in rollout before changing status or spawning validate_case. + """ + out=case/'rollout';required=[out/'RESULT.json',out/'recording_60hz.npz',out/'full_state.npz', + out/'PHYSICS_CLOCK.json',out/'top_head.mp4',out/'hand_left.mp4',out/'hand_right.mp4'] + if not all(p.is_file() and os.access(p,os.R_OK) for p in required):return False + if not os.access(case/'STATUS.json',os.W_OK) or not os.access(out,os.W_OK):return False + probe=out/f'.validation_write_probe.{os.getpid()}' + try: + fd=os.open(probe,os.O_WRONLY|os.O_CREAT|os.O_EXCL,0o600);os.close(fd);probe.unlink();return True + except OSError: + try:probe.unlink(missing_ok=True) + except OSError:pass + return False + +while True: + control=read(W/'CONTROL.json',{'enabled':False,'allowed_layouts':[],'gpus':[0]}) + for gpu,(case,p) in list(children.items()): + if p.poll() is None:continue + s=read(case/'STATUS.json',{}) + if s.get('status') not in ['FAILED','PHYSICS_COMPLETE_UNVERIFIED','REVIEW_REQUIRED','ACCEPTED']: + write(case/'STATUS.json',dict(status='REVIEW_REQUIRED',phase='launcher_exit',exit_code=p.returncode,updated=time.time())) + del children[gpu] + for name,(case,p) in list(reviews.items()): + if p.poll() is None:continue + if p.returncode and read(case/'STATUS.json',{}).get('status')!='REVIEW_REQUIRED': + write(case/'STATUS.json',dict(status='REVIEW_REQUIRED',phase='validation_exit',exit_code=p.returncode,updated=time.time())) + del reviews[name] + cases=sorted((W/'cases').glob('layout_*')) + if control.get('enabled'): + for gpu in control.get('gpus',[0]): + if gpu in children:continue + candidates=[c for c in cases if read(c/'STATUS.json',{}).get('status')=='PREPARED' and read(c/'job.json',{}).get('layout_id') in control.get('allowed_layouts',[]) and not (c/'rollout').exists()] + if not candidates:break + case=candidates[0];layout=read(case/'job.json')['layout_id'] + write(case/'STATUS.json',dict(status='LAUNCHING',phase='gpu_reservation',gpu=gpu,updated=time.time())) + p=start([sys.executable,str(W/'launch.py'),str(layout),str(gpu)],case/'launcher.log');children[gpu]=(case,p) + if (W/'VALIDATION_READY').exists(): + native_owned={c.resolve() for c,p in children.values() if p.poll() is None} + for case in cases: + if len(reviews)>=1:break + if (read(case/'STATUS.json',{}).get('status')!='PHYSICS_COMPLETE_UNVERIFIED' + or case.name in reviews or case.resolve() in native_owned + or not validation_files_writable(case)):continue + write(case/'STATUS.json',dict(status='QUEUED_VALIDATION',phase='validation_start',updated=time.time())) + env=dict(os.environ,CHAIN_WORLD_AUDIT_SHARDS='8',CHAIN_PARALLEL_COLLISION_AUDITS='1',OPENBLAS_NUM_THREADS='1',OMP_NUM_THREADS='1') + p=start([CPU,str(W/'validate_case.py'),str(case)],case/'validation.log',env);reviews[case.name]=(case,p) + states=[{**read(c/'STATUS.json',{}), 'layout_id':read(c/'job.json',{}).get('layout_id'), 'case':str(c)} for c in cases] + accepted=sum(s.get('status')=='ACCEPTED' for s in states) + write(W/'SUPERVISOR.json',dict(pid=os.getpid(),updated=time.time(),requested=10,accepted=accepted,native=[dict(gpu=g,case=str(c),pid=p.pid) for g,(c,p) in children.items()],reviews=[dict(case=str(c),pid=p.pid) for c,p in reviews.values()],cases=states)) + if accepted==10 and not children and not reviews:break + time.sleep(5) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/task_collision_scope.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/task_collision_scope.py new file mode 100644 index 0000000000000000000000000000000000000000..5e29f2540b8f62498affa56eb14fa3e2fa003494 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/task_collision_scope.py @@ -0,0 +1,32 @@ +"""Robot and every requested target stay in scope for the full multi-item run.""" +import copy +POLICY=dict(version='robot_and_all_requested_targets_vs_environment_v2',included=['robot_vs_environment','robot_vs_any_requested_target','every_requested_target_vs_environment','requested_target_vs_requested_target'],excluded=['environment_vs_environment','unrelated_stock_support'],separate_required=['robot_self_collision_all_ticks','per_item_physical_pick_place_success','final_multi_item_nonoverlap'],authority='Multi-item task retains the task-scoped environment omission while keeping the robot and every requested target in scope at every tick.') + +def in_scope(pair,targets): + targets=tuple(targets) + def task_body(path): + if path.startswith(('/G01/','/World/Robot/')):return True + return any(path==target or path.startswith(target+'/') or path.startswith(target+'#') for target in targets) + return any(task_body(str(pair.get(k,''))) for k in ('a','b','a_owner','b_owner')) + +def summarize_scoped(original,report,tolerance,targets,nonphysical_paths=()): + scoped=copy.copy(report);pairs=report.get('pairs',[]);scoped['pairs']=[p for p in pairs if in_scope(p,targets) and not any(str(p.get(k,'')).split('#')[0] in nonphysical_paths for k in ('a','b'))];scoped['unrelated_stock_support']={} + # Keep all_scene_pairs_checked truthful. Remove only the deliberate scope omission. + result=original(scoped,tolerance) + result['unresolved_review']=[x for x in result['unresolved_review'] if x['reason']!='unrelated scene pairs were not checked'] + result['geometry_status']='REJECT' if result['hard_failures'] else 'REVIEW' if result['unresolved_review'] else 'CLEAR_AT_CHECKED_SAMPLES' + result['omitted_nonphysical_decorative_paths']=list(nonphysical_paths);result['collision_scope']=POLICY;result['excluded_environment_pair_count']=len(pairs)-len(scoped['pairs']);result['all_scene_pairs_checked']=bool(report.get('all_scene_pairs_checked')) + result['requested_targets']=list(targets) + result['limitations'].append('Clearance applies to the robot and every requested target, not environment assembly or unrelated object pairs.') + return result + +def install(acceptance,targets,nonphysical_paths=()): + original=acceptance.summarize + acceptance.summarize=lambda report,contact_tolerance_mm=None:summarize_scoped(original,report,contact_tolerance_mm,targets,nonphysical_paths) + + +def nonphysical_rug_paths(stage): + from pxr import Usd,UsdPhysics + root=stage.GetPrimAtPath('/World/Assets/LivingRoomRug') + if not root:return [] + return [str(p.GetPath()) for p in Usd.PrimRange(root) if p.HasAPI(UsdPhysics.CollisionAPI) and p.GetAttribute('physics:collisionEnabled').Get() is False] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..f9959a05280f366084a12f4d2009627868d11d6b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python3 +"""Read-only regression for the held-target/robot carry preflight rule.""" +import hashlib +import json +import os +import pathlib +import sys +import time + +import numpy as np +from scipy.spatial.transform import Rotation + +W = pathlib.Path(__file__).resolve().parent +R = W.parents[1] +C = W / "cases/layout_05" +sys.path[:0] = [str(W), str(R / "tools/family3"), str(R / "work/family3_repair/collision/python_deps"), str(R / "code/family3_repair/real2sim/teleop")] +os.environ["SPATIALINDEX_C_LIBRARY"] = str(R / "work/family3_repair/collision/python_deps/rtree.libs/libspatialindex-e5350069.so") + +from pxr import Usd, UsdGeom # noqa: E402 +from collision_scene import Body, ROBOT, Robot, collider_mesh, matrix as usd_matrix, rigid_part # noqa: E402 +from carry_transition import Clearance # noqa: E402 + + +def matrix(pose): + result = np.eye(4) + result[:3, 3] = pose[:3] + result[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + return result + + +def main(): + job = json.loads((C / "job.json").read_text()) + item = job["items"][1] + checkpoint_path = C / "rollout/checkpoint_60hz.npz" + checkpoint = np.load(checkpoint_path, allow_pickle=True) + ticks = checkpoint["tick"].astype(int) + phases = np.array([value.decode() if isinstance(value, bytes) else str(value) for value in checkpoint["phase"]]) + names = checkpoint["dof_names"].tolist() + hand_path = "/World/Robot/gripper_r_base_link" + hand_index = checkpoint["robot_link_paths"].tolist().index(hand_path) + target_index = checkpoint["target_paths"].tolist().index(item["target"]) + # Deepest native assigned-finger contact in the accepted pickup prefix. + safe_frame = int(np.flatnonzero(ticks == 10297)[0]) + bad_frames = [int(np.flatnonzero(ticks == tick)[0]) for tick in (15138, 15139)] + prop_poses = { + str(path): matrix(pose) + for path, pose in zip(checkpoint["rigid_body_paths"], checkpoint["prop_pose"][safe_frame]) + } + stage = Usd.Stage.Open(job["scene"]) + robot = Robot(ROBOT) + robot.bodies = [] + vertices = np.load(item["controls_file"])["target_local"] + initial_held = np.linalg.inv(matrix(checkpoint["robot_link_pose"][safe_frame, hand_index])) @ matrix( + checkpoint["target_pose_all"][safe_frame, target_index] + ) + checker = Clearance(stage, robot, names, item["hand"], item["target"], vertices, initial_held, prop_poses) + checker.deadline = time.monotonic() + 900 + allowed = {f"/World/Robot/gripper_r_{side}_link4" for side in ("inner", "outer")} + # Also retain the exact authored physical target cube. The planner target + # hull can sit inside PhysX's contact offsets and have no literal crossing; + # the exact cube exercises the intended-link 10 mm witness on the accepted + # physical grasp state without changing Clearance's production geometry. + cache = UsdGeom.XformCache() + target_prim = stage.GetPrimAtPath(item["target"] + "/CanonicalGraspCollision") + target_owner = stage.GetPrimAtPath(item["target"]) + target_mesh, target_method, target_approximation = collider_mesh(target_prim) + target_mesh.apply_transform( + np.linalg.inv(rigid_part(usd_matrix(cache.GetLocalToWorldTransform(target_owner)))) + @ usd_matrix(cache.GetLocalToWorldTransform(target_prim)) + ) + physical_target = Body(item["target"] + "/CanonicalGraspCollision", target_mesh) + + def target_robot_detail(frame): + q = checkpoint["q"][frame].astype(float) + base = matrix(checkpoint["base_pose"][frame]) + recorded_hand = matrix(checkpoint["robot_link_pose"][frame, hand_index]) + recorded_target = matrix(checkpoint["target_pose_all"][frame, target_index]) + held = np.linalg.inv(recorded_hand) @ recorded_target + checker.held = held + checker.results.clear() + local = robot.fk(names, q, np.eye(4)) + self_ok, self_detail = checker.self_check(local, robot.root) + fk = {name: base @ transform for name, transform in local.items()} + for body in checker.self_check.bodies: + body.update(fk[body.name.replace("/World/Robot", robot.root, 1)]) + checker.target.update(fk[robot.root + "/gripper_r_base_link"] @ held) + physical_target.update(recorded_target) + rows = [] + for body in checker.self_check.bodies: + if not checker.broad_overlap(checker.target, body): + continue + hit = checker.contact(checker.target, body, containment=True) + if hit is None: + continue + witness = None + permitted = False + if body.name in allowed: + witness = checker.separation_witness(checker.target, body, hit, tolerance_mm=10.0, vertical_support=False) + permitted = bool(witness.get("certified")) + rows.append({"robot_body": body.name, "contact": hit, "allowed_distal": body.name in allowed, "separation_witness": witness, "permitted": permitted}) + physical_rows = [] + for body in checker.self_check.bodies: + if not checker.broad_overlap(physical_target, body): + continue + hit = checker.contact(physical_target, body, containment=True) + if hit is None: + continue + witness = None + permitted = False + if body.name in allowed: + witness = checker.separation_witness(physical_target, body, hit, tolerance_mm=10.0, vertical_support=False) + permitted = bool(witness.get("certified")) + physical_rows.append({"robot_body": body.name, "contact": hit, "allowed_distal": body.name in allowed, "separation_witness": witness, "permitted": permitted}) + overall = checker.check(q, base) + return { + "source_control_tick": int(ticks[frame]), + "phase": phases[frame], + "self_and_wrist_ok": bool(self_ok), + "self_and_wrist_detail": self_detail, + "target_robot_intersections": rows, + "target_robot_rule_passed": all(row["permitted"] for row in rows), + "authored_physical_target_robot_intersections": physical_rows, + "authored_physical_target_robot_rule_passed": all(row["permitted"] for row in physical_rows), + "clearance_check_passed": bool(overall), + "clearance_last": None if overall else checker.last, + } + + safe = target_robot_detail(safe_frame) + bad = [target_robot_detail(frame) for frame in bad_frames] + safe_ok = (safe["clearance_check_passed"] and safe["target_robot_rule_passed"] + and bool(safe["authored_physical_target_robot_intersections"]) + and safe["authored_physical_target_robot_rule_passed"] + and {row["robot_body"] for row in safe["authored_physical_target_robot_intersections"]} <= allowed) + bad_ok = all( + not row["clearance_check_passed"] + and row["clearance_last"].get("kind") == "held_target_robot" + and row["clearance_last"].get("robot") == "/World/Robot/body_link2" + for row in bad + ) + result = { + "schema": "multi_item.carry_target_robot_regression.v1", + "passed": bool(safe_ok and bad_ok), + "read_only": True, + "carry_transition_sha256": hashlib.sha256((W / "carry_transition.py").read_bytes()).hexdigest(), + "checkpoint": str(checkpoint_path), + "checkpoint_sha256": hashlib.sha256(checkpoint_path.read_bytes()).hexdigest(), + "accepted_prefix_state": safe, + "confirmed_bad_states": bad, + "assertions": { + "accepted_source_final_pick_has_only_certified_assigned_distal_contacts": bool(safe_ok), + "case5_ticks_15138_15139_reject_body_link2": bool(bad_ok), + "whole_gripper_prefix_exemption_absent": True, + }, + "authored_physical_target_geometry": {"method": target_method, "approximation": target_approximation}, + "limitations": "The safe state is the physically retained case5 final shelf-pick state from the same continuous prefix; runtime bilateral contact evidence remains a separate pickup gate.", + "active_case_written": False, + "physics_executed": False, + } + output = W / "CARRY_TARGET_ROBOT_REGRESSION.json" + output.write_text(json.dumps(result, indent=2) + "\n") + print(json.dumps({"output": str(output), "passed": result["passed"], "safe": safe, "bad": bad}, indent=2)) + raise SystemExit(0 if result["passed"] else 2) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_multi_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_multi_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..ab4d7850c3e29e863c0de4285f06b0ae81c68cf4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_multi_validation.py @@ -0,0 +1,107 @@ +"""Focused contract tests; these do not launch or step the simulator.""" +import gzip +import json +import tempfile +import unittest +from pathlib import Path + +import numpy as np + +from multi_validation import audit_ranges, contact_capture_audit, grasp_retention_audit, recording_contract, validate_phase_order + + +def phases(count=3): + names = ["initial_upper_shelf_posture"] + indices = [-1] + core = ["waist_to_selected_shelf", "shelf_pick", "shelf_exit_reverse", + "forward_navigation", "bridge_to_place_initial", "place_descent", + "place_release", "release_retreat", "settle"] + for item in range(count): + suffixes = core + (["empty_return"] if item < count - 1 else []) + ["complete"] + names += [f"item_{item:02d}_{suffix}" for suffix in suffixes] + indices += [item] * len(suffixes) + return names, np.asarray(indices) + + +class Recording: + def __init__(self, names, indices, targets): + n = len(names) + self.files = ["q", "phase", "item_index", "active_target_path", "target_paths", "target_pose_all"] + self.values = dict(q=np.zeros((n, 1)), phase=np.asarray(names), item_index=indices, + active_target_path=np.asarray(["" if i < 0 else targets[i] for i in indices]), + target_paths=np.asarray(targets), target_pose_all=np.zeros((n, len(targets), 7))) + + def __getitem__(self, key): + return self.values[key] + + +class MultiValidationTests(unittest.TestCase): + def test_valid_order_and_no_final_return(self): + names, indices = phases() + self.assertEqual(len(validate_phase_order(names, indices, 3)), 3) + + def test_live_pilot_initial_item_zero_encoding_is_authentic(self): + names, indices = phases();indices[0]=0;targets=["/A","/B","/C"] + recording=Recording(names,indices,targets);recording.values["active_target_path"][0]=targets[0] + recording_contract(recording,[dict(target=x) for x in targets]) + self.assertEqual(len(validate_phase_order(names,indices,3)),3) + + def test_final_return_is_rejected(self): + names, indices = phases() + names.insert(-1, "item_02_empty_return"); indices = np.insert(indices, -1, 2) + with self.assertRaisesRegex(ValueError, "final item"): + validate_phase_order(names, indices, 3) + + def test_skipping_nonfinal_return_is_rejected(self): + names, indices = phases();at = names.index("item_00_empty_return") + names.pop(at);indices=np.delete(indices,at) + with self.assertRaisesRegex(ValueError, "return empty-handed"): + validate_phase_order(names, indices, 3) + + def test_audit_ranges_are_target_homogeneous_and_complete(self): + names, indices = phases();targets=["/A", "/B", "/C"] + requested=[dict(target=x) for x in targets];ranges=audit_ranges(Recording(names,indices,targets),requested,4,16) + self.assertEqual([x for a,b,_ in ranges for x in range(a,b)],list(range(len(names)))) + active=indices.copy();active[active<0]=0 + self.assertTrue(all(np.all(active[a:b]==item) for a,b,item in ranges)) + + def test_contact_receipt_requires_every_target(self): + requested=[dict(target="/A"),dict(target="/B"),dict(target="/C")] + with tempfile.TemporaryDirectory() as td: + out=Path(td);receipt=dict(requested_targets=["/A","/B","/C"],filter_semantics="robot_or_any_requested_target",all_physics_ticks=True,dropped_rows=0,control_ticks=9,callback_rows=2) + (out/"CONTACT_CAPTURE.json").write_text(json.dumps(receipt)) + with gzip.open(out/"contacts.jsonl.gz","wt") as stream: + for tick,target in enumerate(("/A","/B"),1):stream.write(json.dumps(dict(tick=tick,actors=[target,"/World/Assets/Tray"]))+"\n") + self.assertFalse(contact_capture_audit(out,requested,9)["passed"]) + + def test_contact_rows_align_with_active_item(self): + requested=[dict(target="/A"),dict(target="/B"),dict(target="/C")] + with tempfile.TemporaryDirectory() as td: + out=Path(td);receipt=dict(requested_targets=["/A","/B","/C"],filter_semantics="robot_or_any_requested_target",all_physics_ticks=True,dropped_rows=0,control_ticks=3,callback_rows=3) + (out/"CONTACT_CAPTURE.json").write_text(json.dumps(receipt));indices=np.array([0,1,2]);active=np.array(["/A","/B","/C"]);phase=np.array(["item_00_settle","item_01_settle","item_02_settle"]) + with gzip.open(out/"contacts.jsonl.gz","wt") as stream: + for tick,target in enumerate(active,1):stream.write(json.dumps(dict(tick=tick,item_index=tick-1,active_target_path=target,phase=phase[tick-1],actors=[target,"/World/Assets/Tray"]))+"\n") + self.assertTrue(contact_capture_audit(out,requested,3,indices,active,phase)["passed"]) + + def test_grasp_retention_requires_bilateral_final_contact_and_environment_clearance(self): + phase=np.asarray(["item_00_shelf_pick"]*30);indices=np.zeros(30,dtype=int) + requested=[dict(target="/Target",hand="r")] + rows=[] + for tick in range(1,31): + for finger in ("inner","outer"): + rows.append(dict(tick=tick,actors=["/Target",f"/World/Robot/gripper_r_{finger}_link4"],colliders=[])) + self.assertTrue(grasp_retention_audit(rows,phase,indices,requested)["passed"]) + rows.append(dict(tick=30,actors=["/Target","/World/Assets/Shelf"],colliders=[])) + report=grasp_retention_audit(rows,phase,indices,requested) + self.assertFalse(report["passed"]) + self.assertEqual(report["items"][0]["environment_contact_ticks"],[30]) + + def test_grasp_retention_rejects_height_only_pick_without_contacts(self): + phase=np.asarray(["item_00_shelf_pick"]*30);indices=np.zeros(30,dtype=int) + report=grasp_retention_audit([],phase,indices,[dict(target="/Target",hand="l")]) + self.assertFalse(report["passed"]) + self.assertEqual(report["items"][0]["simultaneous_bilateral_contact_tick_count"],0) + + +if __name__ == "__main__": + unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_return_head_policy.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_return_head_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..bbec5156d91c18a1aa83938e16bc662e83fe856f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_return_head_policy.py @@ -0,0 +1,72 @@ +"""Behavior checks for head commands at return navigation boundaries.""" +import unittest +from unittest.mock import patch +import numpy as np +import return_head_policy as policy + +NAMES=[f'joint{i}' for i in range(15)]+[policy.BODY_PITCH_JOINT]+list(policy.HEAD_JOINTS)+['grip_l','grip_r'] + +class Robot: + def __init__(self,ctx):self.ctx=ctx + def get_joint_positions(self):return self.ctx['native'].copy() + +class ReturnHeadTests(unittest.TestCase): + def context(self): + q=np.zeros(20);q[15]=np.deg2rad(30);q[16:18]=[.1,.7] + ctx=dict(names=NAMES,control_names=NAMES,ids=np.arange(20),native=q, + return_bridge_q=np.r_[np.zeros(16),.0,.45,.0,.0],rows=[],item_index=0, + stage=None,carry_robot=None,base=None,prop_paths=[],props=[],out=__import__('pathlib').Path('/unused')) + ctx['robot']=Robot(ctx);ctx['mat']=lambda body:np.eye(4) + ctx['constrain']=lambda mode:None;ctx['item_phase']=lambda phase:None;ctx['dump']=lambda path,record:None + def blend(target,seconds): + ctx['native'][:]=target;ctx['rows'].extend(range(round(seconds*60))) + ctx['blend']=blend + return ctx + + @patch('multi_motion.EmptyClearance') + def test_every_return_drive_is_level_then_source_gaze_restored(self,check): + check.return_value.segment.return_value=True + ctx=self.context();moving=[] + def original(primitives,**kwargs): + for primitive in primitives: + if primitive.get('bridge_before'):ctx['blend'](ctx['return_bridge_q'],4.) + moving.append(ctx['native'][16:18].copy()) + ctx['base_vw']=np.zeros(2) + execute=policy.wrap_executor(ctx,original) + source=ctx['return_bridge_q'].copy() + execute([dict(kind='drive',return_stage='table_retreat')],return_motion=True,item_job={}) + self.assertTrue(np.array_equal(ctx['native'][16:18],[0,policy.PITCH_CLIP_RAD[0]])) + execute([dict(kind='drive',return_stage='room_navigation'),dict(kind='drive',bridge_before=True)],return_motion=True,item_job={}) + np.testing.assert_array_equal(moving, [[0,policy.PITCH_CLIP_RAD[0]],[0,policy.PITCH_CLIP_RAD[0]],[0,0]]) + np.testing.assert_array_equal(ctx['native'][16:18],source[16:18]) + np.testing.assert_array_equal(ctx['return_bridge_q'],source) + self.assertEqual(check.return_value.segment.call_count,2) + + @patch('multi_motion.EmptyClearance') + def test_unsafe_head_raise_stops_before_navigation(self,check): + check.return_value.segment.return_value=False;check.return_value.last='collision' + ctx=self.context();calls=[];before=ctx['native'].copy() + with self.assertRaisesRegex(RuntimeError,'not clear'): + policy.wrap_executor(ctx,lambda *a,**k:calls.append(1))([{}],return_motion=True,item_job={}) + self.assertEqual(calls,[]);self.assertEqual(len(ctx['rows']),0) + np.testing.assert_array_equal(ctx['native'],before) + + @patch('multi_motion.EmptyClearance') + def test_planner_receives_same_level_head_as_executor_and_preserves_inputs(self,check): + check.return_value.segment.return_value=True + q=np.arange(20)/100;next_q=q+.02;original=q.copy();next_original=next_q.copy();received=[] + def planner(stage,robot,names,start,base,props,next_base,end,release,job): + received.extend([start.copy(),end.copy()]);return start.copy(),[{'bridge_before':True}],{} + _,_,report=policy.wrap_planner(planner)(None,None,NAMES,q,np.eye(4),{},np.eye(4),next_q,{}, {}) + for r,s in zip(received,[q,next_q]): + np.testing.assert_array_equal(r[16:18],policy.head_target(s,NAMES));np.testing.assert_array_equal(r[:16],s[:16]);np.testing.assert_array_equal(r[18:],s[18:]) + np.testing.assert_array_equal(q,original);np.testing.assert_array_equal(next_q,next_original) + self.assertTrue(report['head_policy']['includes_shelf_approach']) + self.assertEqual(check.return_value.segment.call_count,2) + + def test_carry_motion_is_unmodified(self): + ctx=self.context();before=ctx['native'].copy();seen=[] + policy.wrap_executor(ctx,lambda *a,**k:seen.append(k))([{}],return_motion=False,item_job={}) + np.testing.assert_array_equal(ctx['native'],before);self.assertFalse(seen[0]['return_motion']) + +if __name__=='__main__':unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_startup_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_startup_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..6ba19d8e1f9dcee21bcb51a8178537d04f5100d9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/test_startup_validation.py @@ -0,0 +1,106 @@ +import json +import tempfile +import unittest +from pathlib import Path + +import numpy as np + +import startup_validation as sv + + +class StartupValidationTests(unittest.TestCase): + def test_quaternions_are_normalized_before_angle(self): + q = np.array([[0.0, 0.0, 0.0, 0.99999994]], dtype=np.float32) + self.assertEqual(float(sv.angular_from_reference(q, q[0])[0]), 0.0) + + def test_clock_contract_and_wrong_rate(self): + with tempfile.TemporaryDirectory() as folder: + out = Path(folder) + recording = {"q": np.zeros((31, 1)), "tick": np.arange(1, 32), + "timestamp": np.arange(1, 32) / 60.0} + preroll = {"q": np.zeros((33, 1))} + clock = {"schema": "startup_preroll_clock_v1", "physics_hz": 240, + "control_hz": 60, "training_hz": 20, "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 132, + "unrecorded_preroll_duration_s": 33 / 60, + "retained_control_rows": 31, "retained_first_control_row": 0, + "retained_first_post_step_global_physics_step": 136, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 10, "command_semantics": "native", + "contact_semantics": "post-preroll"} + sv.write_json(out / "PHYSICS_CLOCK.json", clock) + self.assertTrue(sv.clock_audit(out, recording, preroll)["passed"]) + clock["physics_hz"] = 120 + sv.write_json(out / "PHYSICS_CLOCK.json", clock) + self.assertFalse(sv.clock_audit(out, recording, preroll)["passed"]) + + def test_camera_exact_tick_and_mount_mapping(self): + with tempfile.TemporaryDirectory() as folder: + out = Path(folder) + rows = 9 + paths = list(sv.CAMERA_LINKS.values()) + pose = np.zeros((rows, 3, 7)); pose[..., 6] = 1 + pose[:, :, 0] = np.arange(rows)[:, None] * 1e-4 + recording = {"q": np.zeros((rows, 1)), "robot_link_paths": np.asarray(paths), + "robot_link_pose": pose} + ticks = np.arange(3, rows + 1, 3) + transforms = sv._pose_matrix_xyzw(pose[ticks - 1]) + np.savez(out / "camera_extrinsics_20hz.npz", camera_keys=np.asarray(list(sv.CAMERAS)), + control_tick=ticks, timestamp=ticks / 60, global_physics_step=120 + 4 * ticks, + world_T_camera=transforms) + clock = {"unrecorded_preroll_physics_steps": 120} + self.assertTrue(sv.camera_extrinsics_audit(out, recording, clock)["passed"]) + np.savez(out / "camera_extrinsics_20hz.npz", camera_keys=np.asarray(list(sv.CAMERAS)), + control_tick=ticks + 1, timestamp=ticks / 60, global_physics_step=120 + 4 * ticks, + world_T_camera=transforms) + self.assertFalse(sv.camera_extrinsics_audit(out, recording, clock)["passed"]) + + def test_prop_scope_rejects_distractor_drop_and_excludes_active_pick(self): + with tempfile.TemporaryDirectory() as folder: + case = Path(folder); out = case / "rollout"; (out / "physics_ticks").mkdir(parents=True) + paths = np.asarray(["/distractor", "/target"]) + initial = np.zeros((2, 7)); initial[:, 6] = 1; initial[:, 2] = 1 + pre = np.repeat(initial[None], 30, axis=0) + np.savez(out / "PREROLL_EVIDENCE.npz", q=np.zeros((30, 1)), prop_paths=paths, + prop_pose=pre, initial_prop_pose_before_preroll=initial) + sv.write_json(out / "INITIAL_PROP_NO_FALL.json", {"passed": True, "physics_samples": 30, + "maxima": {"translation_m": 0, "downward_m": 0, "rotation_rad": 0}, + "all_requested_and_nonrequested_props_included": True}) + retained = np.repeat(initial[None], 8, axis=0) + retained[3:, 0, 2] -= 0.011 + retained[2:4, 1, 0] += 0.20 + np.savez(out / "physics_ticks/full_state.npz", rigid_body_paths=paths, + prop_xyz_m=retained[:, :, :3], prop_wxyz=retained[:, :, [6, 3, 4, 5]]) + sv.write_json(out / "ITEM_EVENTS.json", {"events": [ + {"event": "item_completed", "item_index": 0, "target": "/target", "tick": 5}]}) + recording = {"phase": np.asarray(["initial", "initial", "item_00_shelf_pick", + "item_00_shelf_pick", "item_00_complete", + "item_00_complete", "item_00_complete", "item_00_complete"]), + "item_index": np.zeros(8, dtype=int)} + report = sv.prop_no_fall_audit(case, recording, [{"target": "/target"}]) + self.assertFalse(report["passed"]) + rows = {row["path"]: row for row in report["paths"]} + self.assertFalse(rows["/distractor"]["passed"]) + self.assertTrue(rows["/target"]["passed"]) + + def test_frozen_gate_detects_later_mutation(self): + with tempfile.TemporaryDirectory() as folder: + case = Path(folder); out = case / "rollout"; out.mkdir() + old_frozen, old_raw = sv.FROZEN_AUDITS, sv.RAW_EVIDENCE + try: + sv.FROZEN_AUDITS = ["audit.json"] + sv.RAW_EVIDENCE = ["raw.bin"] + sv.write_json(out / "audit.json", {"passed": True}) + (out / "raw.bin").write_bytes(b"native") + sv.freeze_physical_gate(case, 4) + self.assertTrue(sv.verify_physical_gate(case)["passed"]) + (out / "raw.bin").write_bytes(b"changed") + self.assertFalse(sv.verify_physical_gate(case)["passed"]) + finally: + sv.FROZEN_AUDITS, sv.RAW_EVIDENCE = old_frozen, old_raw + + +if __name__ == "__main__": + unittest.main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/tray_appearance.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/tray_appearance.py new file mode 100644 index 0000000000000000000000000000000000000000..95a16cd84f09a11ba51ce976946600a06e1af299 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/tray_appearance.py @@ -0,0 +1,10 @@ +"""Original tray, same white/gray/black solid palette as the standalone task.""" +import random,json +from pxr import UsdShade,Sdf,Gf + +def apply(stage,job): + rng=random.Random(json.dumps(['chain_original_tray',job['seed']]));palette={'white':.85,'gray':.14,'black':.025};name=rng.choice(list(palette));value=palette[name] + material=UsdShade.Material.Define(stage,'/World/Looks/ChainOriginalTray');shader=UsdShade.Shader.Define(stage,'/World/Looks/ChainOriginalTray/Surface');shader.CreateIdAttr('UsdPreviewSurface') + shader.CreateInput('diffuseColor',Sdf.ValueTypeNames.Color3f).Set(Gf.Vec3f(value));shader.CreateInput('roughness',Sdf.ValueTypeNames.Float).Set(.5);shader.CreateOutput('surface',Sdf.ValueTypeNames.Token);material.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(),'surface') + UsdShade.MaterialBindingAPI.Apply(stage.GetPrimAtPath('/World/Assets/Tray')).Bind(material,UsdShade.Tokens.strongerThanDescendants) + return dict(policy='standalone_original_neutral_tray_palette',color=name,linear_rgb=[value]*3,texture=None,geometry_changed=False) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_case.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_case.py new file mode 100644 index 0000000000000000000000000000000000000000..bdd041017eeb792fea5d4c07b4a67ba899aae96b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_case.py @@ -0,0 +1,113 @@ +"""Validate one completed native episode and stage it for independent review. + +This program never publishes or accepts an episode. It freezes physical and +startup evidence, exports a candidate, and leaves manual visual plus official +LeRobot reader QA as separate mandatory gates. +""" +import fcntl +import json +import os +import subprocess +import sys +import time +from pathlib import Path + +W = Path(__file__).resolve().parent +case = Path(sys.argv[1]).resolve() +out = case / "rollout" +CPU = sys.executable +sys.path.insert(0, "/mnt/agent-bench-data/lingjun/ziche/work/family3_repair/collision/python_deps") +from startup_validation import freeze_physical_gate, video_decode_audit +from validate_export import task_audit, write + + +def run(script, args, log, env=None): + with (out / log).open("w") as stream: + result = subprocess.run([CPU, str(W / script), str(case), *args], stdout=stream, + stderr=subprocess.STDOUT, env=env) + if result.returncode: + raise RuntimeError(f"{script} {args} exited {result.returncode}; see {log}") + + +lock_dir = W / "validation_locks" +lock_dir.mkdir(exist_ok=True) +case_lock = (lock_dir / f"{case.name}.lock").open("a+") +fcntl.flock(case_lock, fcntl.LOCK_EX | fcntl.LOCK_NB) +capacity = None +while capacity is None: + for index in range(int(os.environ.get("CHAIN_VALIDATION_CAPACITY", "4"))): + candidate = (lock_dir / f"capacity_{index}.lock").open("a+") + try: + fcntl.flock(candidate, fcntl.LOCK_EX | fcntl.LOCK_NB) + capacity = candidate + break + except BlockingIOError: + candidate.close() + if capacity is None: + time.sleep(10) + +try: + write(case / "STATUS.json", dict(status="VERIFYING", phase="startup_task_views_collisions", + updated=time.time())) + from runtime_evidence import reconcile + reconcile(case) + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Task/startup/schema: " + str(report["failures"])) + + run("audit_views.py", [], "views_audit.log") + for name in ("WRIST_AUDIT.json", "VISIBILITY_AUDIT.json"): + if json.loads((out / name).read_text()).get("passed") is not True: + raise RuntimeError(name + " failed") + + run("audit_geometry.py", ["self"], "self_audit.log") + if json.loads((out / "SELF_COLLISION_AUDIT.json").read_text()).get("passed") is not True: + raise RuntimeError("Native self collision requires replanning") + + world_env = dict(os.environ, OPENBLAS_NUM_THREADS="1", OMP_NUM_THREADS="1") + run("audit_geometry.py", ["world"], "world_audit.log", world_env) + world = json.loads((out / "WORLD_COLLISION_AUDIT.json").read_text()) + if world.get("geometry_status") != "CLEAR_AT_CHECKED_SAMPLES" or world.get("complete_trajectory_checked") is not True: + raise RuntimeError("World collision review is not clear and complete") + + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Final task/startup/schema: " + str(report["failures"])) + decode = video_decode_audit(out, report["training_frames"]) + if not decode["passed"]: + raise RuntimeError("Full three-view video decode audit failed") + gate = freeze_physical_gate(case, world.get("parallel_shards")) + if gate["passed"] is not True: + raise RuntimeError("Physical gate freeze failed") + + export_python = "/mnt/agent-bench-data/lingjun/ziche/work/shelf_training_target_layer60_20260916/lerobot_env/bin/python" + with (out / "export.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "validate_export.py"), str(case)], + stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Staged export verification failed; see export.log") + run("prepare_visual_qa.py", [], "visual_evidence.log") + dataset = W / "staged_datasets" / case.name + layout = int(json.loads((case / "job.json").read_text())["layout_id"]) + reader_report = W / "qa" / f"layout_{layout:02d}" / "OFFICIAL_LEROBOT_READER_QA.json" + reader_report.parent.mkdir(parents=True, exist_ok=True) + with (out / "official_reader.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "official_lerobot_reader_qa.py"), + "--layout", str(layout), "--dataset", str(dataset), + "--output", str(reader_report)], stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Official LeRobot reader QA failed; see official_reader.log") + write(case / "STATUS.json", dict(status="MANUAL_REVIEW_PENDING", phase="first_0p5s_and_all_phase_panels", + frames=report["training_frames"], updated=time.time(), + staged_dataset=str(dataset), physical_gate=str(out / "PHYSICAL_GATE_RESULT.json"), + official_reader=str(reader_report), accepted=False)) +except Exception as exc: + write(case / "STATUS.json", dict(status="REVIEW_REQUIRED", phase="validation_failure", + error=repr(exc), updated=time.time(), accepted=False)) + raise +finally: + if capacity is not None: + fcntl.flock(capacity, fcntl.LOCK_UN) + capacity.close() + fcntl.flock(case_lock, fcntl.LOCK_UN) + case_lock.close() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_export.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_export.py new file mode 100644 index 0000000000000000000000000000000000000000..ef2944855983730ca700c1c1b78803a54dd62949 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_export.py @@ -0,0 +1,318 @@ +"""Verify schema/task evidence; export only after independent collision gates pass.""" +import json,sys,shutil,os,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent +sys.path.insert(0,str(W.parents[1]/'work/family3_repair/collision/python_deps')) +sys.path.insert(0,str(W.parents[1]/'tools/family3')) +# The requested CPU 3.11 environment carries AV but shares the existing +# Python-3.11 Arrow build used by the export workers. +PYARROW_SITE=Path('/mnt/agent-bench-data/lingjun/runs/microwave-batch-20260911/export_env/lib/python3.11/site-packages') +if PYARROW_SITE.exists():sys.path.append(str(PYARROW_SITE)) + +def write(p,d): + p.parent.mkdir(parents=True,exist_ok=True);p.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n') +def link_or_copy(source,destination): + # Container-owned read-only snapshots can forbid hardlinks; retain source permissions. + import errno + try:os.link(source,destination) + except OSError as exc: + if exc.errno not in (errno.EPERM,errno.EACCES,errno.EXDEV):raise + shutil.copy2(source,destination) + with open(source,'rb') as a,open(destination,'rb') as b: + assert hashlib.file_digest(a,'sha256').digest()==hashlib.file_digest(b,'sha256').digest() + return str(destination) + +def pack(z,schema): + names=z['dof_names'].tolist();ids=[names.index(n) for n in schema['action_names'][:20]];samples=np.arange(2,len(z['q']),3) + quat=z['base_pose'][:,3:];x,y,zq,w=quat.T;yaw=np.unwrap(np.arctan2(2*(w*zq+x*y),1-2*(y*y+zq*zq))) + action=np.c_[z['native_target'][:,ids],z['base_action_body']].astype(np.float32) + state=np.c_[z['q'][:,ids],z['base_pose'][:,:2],yaw].astype(np.float32) + assert action.shape==(len(z['q']),22) and state.shape==(len(z['q']),23) + assert np.isfinite(action).all() and np.isfinite(state).all() + return samples,action[samples],state[samples] + +def task_audit(case): + from scipy.spatial.transform import Rotation as Rot + from scipy.spatial import ConvexHull + from shapely.geometry import Polygon + from multi_validation import (contact_capture_audit,controls,grasp_retention_audit,items,item_phase_indices, + recording_contract,validate_phase_order) + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + z=np.load(out/'recording_60hz.npz',allow_pickle=False);phases,item_index,active,target_pose_all=recording_contract(z,requested);phases=np.asarray(phases) + phase_error=None + try:phase_cycles=validate_phase_order(phases,item_index,len(requested)) + except ValueError as exc: + # Preserve a useful audit report for immutable failed native attempts. A + # completed episode still fails this gate; diagnostics continue so schema, + # alignment, contact capture, and completed-prefix behavior can be assessed. + phase_cycles=None;phase_error=str(exc) + schema=json.loads((W/'action_space.schema.json').read_text());samples,action,state=pack(z,schema) + failures=[];checks={} + def check(key,value,detail=None): + checks[key]=dict(passed=bool(value),detail=detail) + if not value:failures.append(key) + result=json.loads((out/'RESULT.json').read_text());expected_targets=[row['target'] for row in requested] + check('physics_finished',result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED',result) + check('all_requested_objects_completed_in_order',result.get('completed_objects')==expected_targets and result.get('requested_objects')==expected_targets and result.get('item_count')==len(requested),result) + # Stable-start evidence is independent of the task and collision reviewers. + # Every report is persisted even on failure so rejected native captures remain + # diagnosable without changing their bytes. + from startup_validation import (camera_extrinsics_audit,camera_warmup_audit,clock_audit, + prop_no_fall_audit,startup_stability_audit) + pre=np.load(out/'PREROLL_EVIDENCE.npz',allow_pickle=False) + clock_report=clock_audit(out,z,pre);write(out/'PHYSICS_CLOCK_AUDIT.json',clock_report) + check('strict_240hz_preroll_retained_clock',clock_report['passed'],clock_report) + startup_report=startup_stability_audit(case,z,schema['action_names']);write(out/'STARTUP_STABILITY_AUDIT.json',startup_report) + check('strict_unrecorded_preroll_and_first_retained_0p5s_stable',startup_report['passed'],startup_report) + preroll_evidence=json.loads((out/'PREROLL_EVIDENCE.json').read_text()) + warmup_report=camera_warmup_audit(out,preroll_evidence,result);write(out/'CAMERA_WARMUP_AUDIT.json',warmup_report) + check('native_three_view_warmup_after_stability',warmup_report['passed'],warmup_report) + camera_report=camera_extrinsics_audit(out,z,clock_report.get('clock',{}));write(out/'CAMERA_EXTRINSICS_AUDIT.json',camera_report) + check('camera_extrinsics_exact_clock_and_rigid_mount',camera_report['passed'],camera_report) + prop_report=prop_no_fall_audit(case,z,requested);write(out/'NON_TARGET_PROP_STABILITY_AUDIT.json',prop_report) + check('all_props_no_fall_and_completed_items_remain_stable',prop_report['passed'],prop_report) + readback_input=out/'collision_readback/INPUT.json' + evidence=json.loads(readback_input.read_text()) if readback_input.exists() else None + check('capture_end_collision_readback_present',evidence is not None,str(readback_input)) + if evidence: + rates=[scene.get('physxScene:timeStepsPerSecond') for scene in evidence['physics_scenes'].values()] + rate_source='capture_end_collision_readback' + else: + clock_path=out/'PHYSICS_CLOCK.json';clock=json.loads(clock_path.read_text()) if clock_path.exists() else {} + rates=[clock.get('physics_hz')] if clock.get('physics_hz') is not None else [] + rate_source='native_physics_clock_receipt' + check('actual_physics_240_hz',bool(rates) and all(hz==240 for hz in rates),rates) + checks['actual_physics_240_hz']['source']=rate_source + check('native_control_60_hz',np.array_equal(z['tick'],np.arange(1,len(z['q'])+1)) and np.allclose(z['timestamp'],np.arange(1,len(z['q'])+1)/60,atol=1e-12)) + readback=json.loads((out/'LIVE_DRIVE_READBACK.json').read_text());check('both_runtime_grippers_80',len(readback)==2 and all(abs(x-80)<1e-5 for x in readback.values()),readback) + check('continuous_per_item_phase_order',phase_error is None,phase_cycles if phase_error is None else phase_error) + # Native continuity and alignment: a single full-state stream must match every + # control row and every requested target pose. No concatenated replay is admitted. + full=np.load(out/'physics_ticks/full_state.npz',allow_pickle=False);n=len(z['q']) + aligned=(len(full['robot_joint_position_rad_or_m'])==n and np.array_equal(full['frame_index'],np.arange(n)) + and full['robot_dof_names'].tolist()==z['dof_names'].tolist() + and np.array_equal(full['robot_joint_position_rad_or_m'],z['q']) + and full['requested_target_paths'].tolist()==expected_targets + and np.array_equal(full['item_index'],z['item_index']) + and full['active_target_path'].tolist()==z['active_target_path'].tolist() + and np.array_equal(full['target_pose_all'],z['target_pose_all']) + and full['robot_link_paths'].tolist()==z['robot_link_paths'].tolist() + and np.array_equal(full['robot_link_xyz_m'],z['robot_link_pose'][:,:,:3]) + and np.array_equal(full['robot_link_wxyz'][:,:,[1,2,3,0]],z['robot_link_pose'][:,:,3:])) + paths=full['rigid_body_paths'].tolist();prop_aligned=True;target_errors={} + for i,target in enumerate(expected_targets): + if target not in paths:prop_aligned=False;target_errors[target]='missing from full-state rigid bodies';continue + p=paths.index(target);pose=np.c_[full['prop_xyz_m'][:,p],full['prop_wxyz'][:,p][:,[1,2,3,0]]] + error=float(np.max(abs(pose-target_pose_all[:,i])));target_errors[target]=error;prop_aligned &= error<=1e-6 + check('single_native_stream_source_alignment',aligned and prop_aligned,dict(episode_uid=str(full['episode_uid']),frames=n,target_max_abs_errors=target_errors)) + metadata=json.loads((out/'recording_metadata.json').read_text());checkpoint=json.loads((out/'CHECKPOINT.json').read_text()) + completed_prefix=result.get('completed_objects',[]) + checkpoint_prefix=checkpoint.get('completed_objects',[]) + prefix_consistent=(checkpoint_prefix==completed_prefix[:len(checkpoint_prefix)] and len(checkpoint_prefix)<=len(completed_prefix) + and int(checkpoint.get('control_ticks',0))<=n) + if result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED':prefix_consistent &= checkpoint_prefix==completed_prefix + check('no_pose_reset_or_stitched_replay',metadata.get('continuous_no_pose_reset') is True and metadata.get('multi_item') is True and checkpoint.get('continuous_process') is True and prefix_consistent,dict(recording_metadata=metadata,checkpoint=checkpoint,result_completed_objects=completed_prefix)) + events=json.loads((out/'ITEM_EVENTS.json').read_text());event_rows=events.get('events',[]);event_order=[(x.get('event'),x.get('item_index'),x.get('target')) for x in event_rows] + expected_events=[(event,i,item['target']) for i,item in enumerate(requested) for event in ('item_started','item_supported','item_completed')] + ticks=[int(x.get('tick',0)) for x in event_rows] + check('item_event_evidence_complete_ordered',events.get('requested_objects')==expected_targets and events.get('completed_objects')==expected_targets and event_order==expected_events and ticks==sorted(ticks) and all(1<=x<=n for x in ticks),dict(events=event_order,ticks=ticks)) + for i,item in enumerate(requested): + supported=event_rows[3*i+1] if len(event_rows)>3*i+1 else {};metrics=supported.get('metrics',{}) + physical=(metrics.get('target')==item['target'] and metrics.get('inside_tray') is True and metrics.get('support_contact_observed') is True + and float(metrics.get('drift_last_second_m',float('inf')))<=.012 + and float(metrics.get('linear_speed_m_s',float('inf')))<=.025 + and float(metrics.get('angular_speed_rad_s',float('inf')))<=.35 + and float(metrics.get('hand_clearance_m',-float('inf')))>=.07 + and bool(metrics.get('tray_support_contact_ticks'))) + check(f'item_{i:02d}_producer_physical_support_gate',physical,metrics) + completed=event_rows[3*i+2] if len(event_rows)>3*i+2 else {} + if i+1=-.001)) + base=z['base_pose'];steps=np.linalg.norm(np.diff(base[:,:2],axis=0),axis=1);check('base_no_teleport',steps.max()<.006,float(steps.max())) + yaw=Rot.from_quat(base[:,3:]).as_euler('xyz')[:,2];velocity=np.diff(base[:,:2],axis=0)*60;lateral=-np.sin(yaw[:-1])*velocity[:,0]+np.cos(yaw[:-1])*velocity[:,1];check('base_no_strafe',np.max(abs(lateral))<.02,float(np.max(abs(lateral)))) + ids=[z['dof_names'].tolist().index(n) for n in schema['action_names'][:20]];targets=z['native_target'][:,ids] + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());limits=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;entry=runtime[name];limits.append([float(entry['physics:lowerLimit'])*unit,float(entry['physics:upperLimit'])*unit]) + limits=np.asarray(limits);check('actual_configured_command_joint_limits',np.all(targets>=limits[:,0]-2e-5) and np.all(targets<=limits[:,1]+2e-5),limits.tolist()) + check('reference_command_envelope_reported',True,dict(within_reference=bool(np.all(targets>=LOWER-2e-5) and np.all(targets<=UPPER+2e-5)),authored_robot_limits_preserved=True)) + check('waist_speed_limit',np.max(abs(np.diff(targets[:,14])))*60<=.1001 and np.max(abs(np.diff(targets[:,15])))*60<=.5001) + from grasp_stability import metrics as stability_metrics + stability=stability_metrics(z,requested);write(out/'GRASP_STABILITY_AUDIT.json',stability);check('held_object_and_hand_stability_every_item',stability['passed'],stability) + floor=Polygon(job['tray_polygon_xy']);final=np.arange(max(0,n-120),n);final_footprints={};item_geometry=[] + for i,item in enumerate(requested): + control=controls(case,item);local=np.asarray(control['target_local']);p=target_pose_all[:,i];settle=item_phase_indices(phases,item_index,i,'settle');pick=item_phase_indices(phases,item_index,i,'shelf_pick') + check(f'item_{i:02d}_target_lifted',len(pick)>0 and p[pick[-1],2]>p[pick[0],2]+.025,dict(start_z=float(p[pick[0],2]) if len(pick) else None,end_z=float(p[pick[-1],2]) if len(pick) else None)) + check(f'item_{i:02d}_settle_duration',len(settle)>=120,len(settle)) + rot=Rot.from_quat(p[final,3:]);verts=np.einsum('nij,vj->nvi',rot.as_matrix(),local)+p[final,None,:3] + footprints=[Polygon(x[ConvexHull(x[:,:2]).vertices,:2]) for x in verts];final_footprints[i]=footprints + bottom=verts[:,:,2].min(1);inside=all(floor.buffer(.001).covers(f) for f in footprints) + check(f'item_{i:02d}_final_tray_containment',inside) + check(f'item_{i:02d}_final_tray_support',np.max(abs(bottom-job['tray_floor_z']))<.006,[float(bottom.min()),float(bottom.max()),job['tray_floor_z']]) + check(f'item_{i:02d}_final_upright',np.min(rot.as_matrix()[:,2,2])>np.cos(np.deg2rad(8))) + check(f'item_{i:02d}_final_stable',np.ptp(p[final,:3],axis=0).max()<.004,np.ptp(p[final,:3],axis=0).tolist()) + completed=item_phase_indices(phases,item_index,i,'complete');after=np.arange(settle[-1],n) if len(settle) else np.array([],dtype=int) + displacement=float(np.max(np.linalg.norm(p[after,:3]-p[after[0],:3],axis=1))) if len(after) else float('inf') + angular=float(np.max((Rot.from_quat(p[after[0],3:]).inv()*Rot.from_quat(p[after,3:])).magnitude())) if len(after) else float('inf') + check(f'item_{i:02d}_not_displaced_by_later_cycles',len(completed)>0 and displacement<.004 and angular.15,float(distance.min())) + if i+1max_overlap:max_overlap=overlap;worst=dict(source_control_tick=int(final[frame_number]+1),item_a=a,item_b=b,overlap_m2=overlap) + check('all_final_items_nonoverlapping',max_overlap<=1e-8,worst or dict(max_overlap_m2=0.)) + # The requested items all begin off the empty tray. + initial_intersection=[] + for i,item in enumerate(requested): + local=np.asarray(controls(case,item)['target_local']);p=target_pose_all[0,i];verts=local@Rot.from_quat(p[3:]).as_matrix().T+p[:3];foot=Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2]);initial_intersection.append(float(foot.intersection(floor).area)) + check('initial_tray_empty_of_requested_items',max(initial_intersection)<=1e-8,initial_intersection) + # Independently inspect every captured nonrobot rigid prop, including objects + # that are not task targets or declared clutter. A metadata count alone does + # not establish that the physical tray began empty. + from pxr import Usd,UsdGeom + from place_tray_layout import mesh_world_points + stage=Usd.Stage.Open(str(out/'scene.usda'));cache=UsdGeom.XformCache();occupants=[];unresolved=[] + for prop_index,path in enumerate(paths): + if path=='/World/Assets/Tray' or path.startswith('/World/Assets/Tray/'): + continue + try: + prim=stage.GetPrimAtPath(path);world=np.asarray(mesh_world_points(stage,prim),float);authored=np.asarray(cache.GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=np.eye(4);current[:3,:3]=Rot.from_quat(full['prop_wxyz'][0,prop_index,[1,2,3,0]]).as_matrix();current[:3,3]=full['prop_xyz_m'][0,prop_index] + vertices=local@current[:3,:3].T+current[:3,3] + footprint=Polygon(vertices[ConvexHull(vertices[:,:2]).vertices,:2]);overlap=float(footprint.intersection(floor).area);bottom=float(vertices[:,2].min());top=float(vertices[:,2].max()) + if overlap>1e-8 and bottom<=job['tray_floor_z']+.025 and top>=job['tray_floor_z']-.005: + occupants.append(dict(path=path,footprint_overlap_m2=overlap,bottom_z_m=bottom,top_z_m=top)) + except Exception as exc: + unresolved.append(dict(path=path,error=repr(exc))) + check('initial_tray_empty_all_recorded_props',not occupants and not unresolved,dict(recorded_props=len(paths),occupants=occupants,unresolved_geometry=unresolved)) + report=dict(schema_version='ziche.shelf_multi10_stable.task_schema_audit.v3',recording_sha256=hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest(),passed=not failures,checks=checks,failures=failures,training_frames=len(samples),action_schema=schema['version'],item_geometry=item_geometry,collision_validation='separate_required_all_ticks_all_requested_targets',startup_validation='strict_unrecorded_preroll_plus_first_retained_0p5s',prop_stability_scope='all_non_targets_full_trace; requested targets pre-pick and after completion') + write(out/'TASK_SCHEMA_AUDIT.json',report);return report + +def export(case): + import pyarrow as pa,pyarrow.parquet as pq + from startup_validation import CAMERAS,sha256,verify_physical_gate + from multi_validation import controls_path,items + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + physical_verification=verify_physical_gate(case);assert physical_verification['passed'],physical_verification + frozen=out/'physical_evidence';audit=json.loads((frozen/'TASK_SCHEMA_AUDIT.json').read_text());assert audit['passed'],audit['failures'];assert audit['recording_sha256']==hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest() + for file,field,value in [('SELF_COLLISION_AUDIT.json','passed',True),('WORLD_COLLISION_AUDIT.json','geometry_status','CLEAR_AT_CHECKED_SAMPLES'),('WRIST_AUDIT.json','passed',True),('VISIBILITY_AUDIT.json','passed',True)]: + assert json.loads((frozen/file).read_text())[field]==value,file + schema=json.loads((W/'action_space.schema.json').read_text());z=np.load(out/'recording_60hz.npz');samples,action,state=pack(z,schema);n=len(samples) + decode=json.loads((frozen/'VIDEO_DECODE_AUDIT.json').read_text());assert decode['passed'] and decode['expected_frames']==n + cameras=CAMERAS;image_stats={camera:decode['videos'][camera]['image_stats'] for camera in cameras} + for camera in cameras:assert decode['videos'][camera]['sha256']==sha256(out/(camera+'.mp4')) + destination=W/'staged_datasets'/f"layout_{job['layout_id']:02d}";temp=destination.with_name(destination.name+'.pending');assert not destination.exists() + if temp.exists(): + import time + archive=W/'history/incomplete_exports';archive.mkdir(parents=True,exist_ok=True);temp.rename(archive/(temp.name+'_'+str(time.time_ns()))) + temp.mkdir(parents=True,exist_ok=False) + meta=temp/'meta';meta.mkdir();data=temp/'data/chunk-000';data.mkdir(parents=True) + phase_names=list(dict.fromkeys(z['phase'][samples].tolist()));products=', '.join(row['product'] for row in requested);task=f"Starting with an empty tray, pick up {products} from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + clock=json.loads((out/'PHYSICS_CLOCK.json').read_text());preroll_duration=float(clock['unrecorded_preroll_duration_s']) + columns={'action':pa.array(action.tolist(),type=pa.list_(pa.float32(),22)),'observation.state':pa.array(state.tolist(),type=pa.list_(pa.float32(),23)),'timestamp':pa.array(np.arange(n,dtype=np.float32)/20),'simulator_time_s':pa.array((preroll_duration+(samples+1)/60).astype(np.float32)),'source_control_tick':pa.array(samples+1),'frame_index':pa.array(np.arange(n)),'index':pa.array(np.arange(n)),'episode_index':pa.array(np.zeros(n,dtype=np.int64)),'task_index':pa.array(np.zeros(n,dtype=np.int64)),'phase_index':pa.array([phase_names.index(p) for p in z['phase'][samples]]),'item_index':pa.array(z['item_index'][samples].astype(np.int64)),'next.done':pa.array(np.arange(n)==n-1)} + parquet=data/'episode_000000.parquet';pq.write_table(pa.table(columns),parquet,compression='zstd');read=pq.read_table(parquet) + assert np.array_equal(np.array(read['action'].to_pylist(),np.float32),action) and np.array_equal(np.array(read['observation.state'].to_pylist(),np.float32),state) + assert np.array_equal(read['source_control_tick'].to_numpy(),samples+1) + assert np.array_equal(read['item_index'].to_numpy(),z['item_index'][samples]) + assert np.array_equal(read['phase_index'].to_numpy(),np.array([phase_names.index(p) for p in z['phase'][samples]])) + def statistics(a):return {k:v.tolist() for k,v in dict(min=a.min(0),max=a.max(0),mean=a.mean(0),std=a.std(0),count=np.array([len(a)])).items()} + stats={'action':statistics(action.astype(float)),'observation.state':statistics(state.astype(float))};features={k:dict(dtype='float32',shape=[len(schema[n])],names=schema[n]) for k,n in [('action','action_names'),('observation.state','state_names')]} + for key in columns: + if key not in features:features[key]=dict(dtype='bool' if key=='next.done' else 'float32' if 'time' in key else 'int64',shape=[1],names=None) + for camera,(width,height) in cameras.items(): + key='observation.images.'+camera;p=temp/'videos/chunk-000'/key;p.mkdir(parents=True);link_or_copy(out/(camera+'.mp4'),p/'episode_000000.mp4') + features[key]=dict(dtype='video',shape=[height,width,3],names=['height','width','channel'],video_info={'video.fps':20,'video.codec':'h264','video.pix_fmt':'yuv420p','video.is_depth_map':False,'has_audio':False});stats[key]=image_stats[camera] + write(meta/'info.json',dict(codebase_version='v2.1',robot_type='G1_omnipicker',total_episodes=1,total_frames=n,total_tasks=1,total_videos=3,total_chunks=1,chunks_size=1000,fps=20,splits={'train':'0:1'},features=features,data_path='data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet',video_path='videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4')) + write(meta/'stats.json',stats) + for name,row in [('tasks',dict(task_index=0,task=task)),('episodes',dict(episode_index=0,tasks=[task],length=n)),('episodes_stats',dict(episode_index=0,stats=stats))]:(meta/(name+'.jsonl')).write_text(json.dumps(row)+'\n') + sim=temp/'sim_info/episode_000000';sim.mkdir(parents=True) + for root in [out,case]: + for p in root.iterdir(): + if p.is_file() and p.suffix in ['.json','.npz','.usda'] and not (sim/p.name).exists():link_or_copy(p,sim/p.name) + if (out/'contacts.jsonl.gz').exists():link_or_copy(out/'contacts.jsonl.gz',sim/'contacts.jsonl.gz') + shutil.copytree(out/'physical_evidence',sim/'physical_evidence',copy_function=link_or_copy) + if (out/'startup_frames').exists():shutil.copytree(out/'startup_frames',sim/'startup_frames',copy_function=link_or_copy) + shutil.copytree(case/'code_snapshot',sim/'replay_code');shutil.copy2(W/'action_space.schema.json',sim/'action_space.schema.json') + validation_code=sim/'validation_code';validation_code.mkdir();validation_hashes={} + for name in ['validate_case.py','validate_export.py','audit_geometry.py','audit_views.py','grasp_stability.py','parallel_world_audit.py','task_collision_scope.py','multi_validation.py','startup_validation.py','prepare_visual_qa.py','official_lerobot_reader_qa.py','record_manual_review.py','validate_staged.py']: + source=W/name;shutil.copy2(source,validation_code/name);validation_hashes[name]=hashlib.sha256(source.read_bytes()).hexdigest() + write(sim/'VALIDATION_CODE_HASHES.json',validation_hashes) + # Planning repairs are part of the native execution history. Keep the + # producer-authored files byte-for-byte, and add a portable manifest because + # PLANNING_WAITS records the producer's absolute repair path. + repairs=case/'repairs';repair_evidence=[] + if repairs.exists(): + exported_repairs=sim/'repairs';exported_repairs.mkdir() + for source in sorted(p for p in repairs.rglob('*') if p.is_file()): + relative=source.relative_to(repairs);destination=exported_repairs/relative + destination.parent.mkdir(parents=True,exist_ok=True);link_or_copy(source,destination) + repair_evidence.append(dict(source_case_relative=str(Path('repairs')/relative), + exported_file=str(Path('repairs')/relative), + sha256=hashlib.sha256(destination.read_bytes()).hexdigest(), + bytes=destination.stat().st_size)) + waits=[] + waits_path=out/'PLANNING_WAITS.json' + if waits_path.exists(): + for row in json.loads(waits_path.read_text()): + source_path=Path(row['repair_file']) if row.get('repair_file') else None + # A later retry may overwrite the ordinary filename after archiving the + # applied bytes as repairs/applied/.json. The native receipt digest + # is authoritative; filenames are only a fallback for legacy receipts. + recorded_hash=row.get('repair_sha256') + match=next((entry for entry in repair_evidence if recorded_hash and entry['sha256']==recorded_hash),None) + if match is None and not recorded_hash and source_path is not None: + match=next((entry for entry in repair_evidence + if Path(entry['source_case_relative']).name==source_path.name),None) + waits.append(dict(item_index=row.get('item_index'),kind=row.get('kind'),tick=row.get('tick'), + native_repair_file=row.get('repair_file'),native_repair_sha256=row.get('repair_sha256'), + exported_file=match['exported_file'] if match else None, + portable_match=match is not None)) + manifest=dict(schema='ziche.repair_evidence.v1', + source_case=str(case),files=repair_evidence,planning_wait_references=waits, + native_planning_waits_preserved=True,all_referenced_repairs_portable=all(row['portable_match'] for row in waits)) + write(sim/'REPAIR_EVIDENCE_MANIFEST.json',manifest) + assert manifest['all_referenced_repairs_portable'],waits + control_sources=[] + for i,row in enumerate(requested): + source=controls_path(case,row);destination=sim/f'item_{i:02d}_controls.npz';link_or_copy(source,destination) + control_sources.append(dict(item_index=i,target=row['target'],source=str(source),exported_file=destination.name,sha256=hashlib.sha256(destination.read_bytes()).hexdigest())) + write(sim/'MULTI_ITEM_CONTROLS.json',dict(items=control_sources,all_controls_preserved=True)) + for name in ['collision_readback','collision_readback_nonrobot','world_geometry']: + if (out/name).exists():shutil.copytree(out/name,sim/name,copy_function=link_or_copy) + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());actual=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;actual.append([float(runtime[name]['physics:lowerLimit'])*unit,float(runtime[name]['physics:upperLimit'])*unit]) + write(sim/'ROBOT_CONFIGURATION_DIFFERENCES.json',dict(fields_units_timing_match_reference=True,authored_robot_parameters_preserved_except_requested_gripper_effort=True,runtime_gripper_effort_Nm={'left':80,'right':80},joint_names=schema['action_names'][:20],actual_joint_limits=actual,reference_joint_limits=np.c_[LOWER,UPPER].tolist(),joint_limits_match_reference=bool(np.allclose(actual,np.c_[LOWER,UPPER],atol=2e-5)),note='The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training.')) + + write(sim/'sim_info.json',dict(action_schema=schema['version'],physics_hz=240,control_hz=60,training_hz=20,action_names=schema['action_names'],state_names=schema['state_names'],phase_names=phase_names,item_index_semantics='0..M-1 identify the active requested target; initial_upper_shelf_posture may authentically use either -1 with an empty active path or 0 with target0, as disambiguated by phase',requested_items=[dict(item_index=i,target=row['target'],product=row['product'],hand=row['hand'],pick_source=row['pick_source'],controls_file=row['controls_file'],destination_xyz=row['destination_xyz']) for i,row in enumerate(requested)],initial_tray_items=0,continuous_native_episode=True,action_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['action_names'][:20]]+['m/s','rad/s'],state_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['state_names'][:20]]+['m','m','rad'],normalization=None,time_semantics='same-step applied command and post-step measured state; training samples arange(2,N,3); dataset timestamp begins at zero while simulator_time_s includes the unrecorded stable-start preroll',unrecorded_preroll_duration_s=preroll_duration,image_generation_mode='native_live_three_view',manual_visual_review_required=True,gripper_max_effort_Nm={'left':80,'right':80},base_policy='stationary_turn_or_straight_body_forward_v1',source_layout=job['layout'])) + alignment=dict(passed=True,checked_frames=n,action_exact_float32=True,state_exact_float32=True,item_index_exact=True,phase_index_exact=True,source_ticks=(samples+1).tolist(),simulator_time_includes_preroll=True,unrecorded_preroll_duration_s=preroll_duration) + write(sim/'PARQUET_ALIGNMENT_CHECK.json',alignment) + provenance_files=['PHYSICAL_GATE_RESULT.json','PHYSICS_CLOCK.json','PREROLL_EVIDENCE.json','PREROLL_EVIDENCE.npz','PASSIVE_FINGER_PROJECTION.json','CAMERA_WARMUP.json','camera_extrinsics_20hz.npz','VIDEO_DECODE_AUDIT.json','TASK_SCHEMA_AUDIT.json','NON_TARGET_PROP_STABILITY_AUDIT.json','STARTUP_STABILITY_AUDIT.json','CAMERA_WARMUP_AUDIT.json','CAMERA_EXTRINSICS_AUDIT.json'] + provenance=dict(schema='ziche.multi10_stable_start_provenance.v1',passed=True,image_generation_mode='native_live_three_view',source_case=str(case),continuous_native_episode=True,actual_physics_hz=240,all_original_command_rows_retained=True,unrecorded_preroll_duration_s=preroll_duration,physical_gate_verification=physical_verification,evidence_sha256={name:sha256(sim/name) for name in provenance_files},video_sha256={camera:sha256(out/(camera+'.mp4')) for camera in cameras},parquet_sha256=sha256(parquet),validation_code_sha256=validation_hashes,visual_acceptance_pending=True,official_reader_pending=True) + write(sim/'STARTUP_PREROLL_PROVENANCE.json',provenance) + temp.rename(destination);return destination +if __name__=='__main__': + case=Path(sys.argv[1]);print(task_audit(case) if '--audit-only' in sys.argv else export(case)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_staged.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_staged.py new file mode 100644 index 0000000000000000000000000000000000000000..88d5f8ee86d702f799a7b69c4d5b66d63e51f97c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/replay_code/validate_staged.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 +"""Admit a staged candidate to VALIDATION_READY after independent QA only.""" +import argparse +import hashlib +import json +import time +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq + +from startup_validation import sha256, verify_physical_gate, write_json + +W = Path(__file__).resolve().parent +CAMERAS = ("top_head", "hand_left", "hand_right") + + +def load(path): + return json.loads(Path(path).read_text()) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + args = parser.parse_args() + lid = f"{args.layout:02d}" + case = (W / "cases" / f"layout_{lid}").resolve() + out = case / "rollout" + dataset = W / "staged_datasets" / f"layout_{lid}" + sim = dataset / "sim_info/episode_000000" + evidence_dir = W / "qa" / f"layout_{lid}" / "visual_evidence" + panels_path = evidence_dir / "PANELS.json" + manual_path = W / "qa" / f"layout_{lid}" / "ROOT_MANUAL_REVIEW.json" + reader_path = W / "qa" / f"layout_{lid}" / "OFFICIAL_LEROBOT_READER_QA.json" + failures = [] + + physical = verify_physical_gate(case) + if not physical["passed"]: + failures.append("immutable_physical_gate") + provenance = load(sim / "STARTUP_PREROLL_PROVENANCE.json") + evidence_hashes = provenance.get("evidence_sha256", {}) + bad_evidence = [name for name, digest in evidence_hashes.items() + if not (sim / name).is_file() or sha256(sim / name) != digest] + if bad_evidence: + failures.append("exported_provenance:" + ",".join(bad_evidence)) + + panels = load(panels_path) + panel_hashes = {Path(row["path"]).name: row["sha256"] for row in panels["panels"]} + if any(not (evidence_dir / name).is_file() or sha256(evidence_dir / name) != digest + for name, digest in panel_hashes.items()): + failures.append("visual_panel_hashes") + manual = load(manual_path) + manual_ok = (manual.get("schema") == "ziche.multi10.root_manual_visual_review.v1" + and manual.get("layout_id") == args.layout and manual.get("passed") is True + and manual.get("panels") == panel_hashes + and manual.get("reviewed_all_three_views") is True + and manual.get("reviewed_first_retained_0p5s") is True + and manual.get("reviewed_every_phase_midpoint") is True) + if not manual_ok: + failures.append("manual_visual_review") + + reader = load(reader_path) + parquet = dataset / "data/chunk-000/episode_000000.parquet" + reader_ok = (reader.get("passed") is True and reader.get("layout_id") == args.layout + and reader.get("parquet_sha256") == sha256(parquet)) + if not reader_ok: + failures.append("official_lerobot_reader") + + decode = load(sim / "VIDEO_DECODE_AUDIT.json") + video_hashes = {} + for camera in CAMERAS: + video = dataset / "videos/chunk-000" / f"observation.images.{camera}" / "episode_000000.mp4" + video_hashes[camera] = sha256(video) + if (video_hashes[camera] != provenance["video_sha256"].get(camera) + or video_hashes[camera] != decode["videos"][camera]["sha256"] + or decode["videos"][camera].get("passed") is not True): + failures.append("video:" + camera) + + table = pq.read_table(parquet) + recording = np.load(out / "recording_60hz.npz", allow_pickle=False) + samples = np.arange(2, len(recording["q"]), 3) + ticks = np.asarray(table["source_control_tick"].to_numpy(), dtype=np.int64) + items = np.asarray(table["item_index"].to_numpy(), dtype=np.int64) + clock = load(out / "PHYSICS_CLOCK.json") + sim_time = np.asarray(table["simulator_time_s"].to_numpy(), dtype=np.float64) + alignment = (len(table) == len(samples) and np.array_equal(ticks, samples + 1) + and np.array_equal(items, recording["item_index"][samples]) + and np.allclose(sim_time, float(clock["unrecorded_preroll_duration_s"]) + + (samples + 1) / 60.0, atol=2e-6, rtol=0)) + if not alignment: + failures.append("staged_source_alignment") + + report = {"schema": "ziche.multi10.staged_final_qa.v1", "layout_id": args.layout, + "passed": not failures, "failures": failures, "case": str(case), + "dataset": str(dataset), "physical_gate_verification": physical, + "provenance_sha256": sha256(sim / "STARTUP_PREROLL_PROVENANCE.json"), + "manual_review": {"path": str(manual_path), "sha256": sha256(manual_path), "passed": manual_ok}, + "official_reader": {"path": str(reader_path), "sha256": sha256(reader_path), "passed": reader_ok}, + "panels_receipt_sha256": sha256(panels_path), "video_sha256": video_hashes, + "parquet_sha256": sha256(parquet), "staged_source_alignment": alignment, + "status_semantics": "VALIDATION_READY is review complete but not publication or ACCEPTED", + "completed_unix": time.time()} + qa_path = W / "qa" / f"layout_{lid}.json" + write_json(qa_path, report) + if not report["passed"]: + raise SystemExit(1) + write_json(case / "STATUS.json", {"status": "VALIDATION_READY", "phase": "review_complete", + "accepted": False, "dataset": str(dataset), "qa": str(qa_path), + "qa_sha256": sha256(qa_path), "updated": time.time()}) + print(qa_path) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..2800a90fde1b7b42cc1e778e62dad6c3604e9273 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_00.json @@ -0,0 +1,51 @@ +[ + { + "kind": "drive", + "goal": [ + -1.8155560036257765, + 1.2960764031631178, + -1.5445591623760397 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + { + "kind": "turn", + "goal": [ + -1.8155560036257765, + 1.2960764031631178, + -2.5843837417367643 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.396176105163997, + 0.9343105119890491, + -2.5843837417367643 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -2.396176105163997, + 0.9343105119890491, + -4.779138008609497 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.369496315844963, + 1.3334197562341454, + 1.5040472985700897 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..a94dbe7e841a66e04e95a6bc0142cddc02d9ee84 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_01.json @@ -0,0 +1,51 @@ +[ + { + "kind": "drive", + "goal": [ + -1.6927761346940808, + 1.3375817183846843, + -1.5678043212995798 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + { + "kind": "turn", + "goal": [ + -1.6927761346940808, + 1.3375817183846843, + -2.5573507103452875 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.355046613619906, + 0.8996565821015674, + -2.5573507103452875 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -2.355046613619906, + 0.8996565821015674, + -4.690496071079645 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.363803077808022, + 1.2995607260347384, + 1.5926892360999416 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..5c7025c1cd73397aca46da6b6b21a36c0eb5e57f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/return_primitives.item_02.json @@ -0,0 +1,70 @@ +[ + { + "kind": "drive", + "goal": [ + -1.1390571912160854, + 1.2616257067943186, + -1.8841909877886502 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + { + "kind": "turn", + "goal": [ + -1.1390571912160854, + 1.2616257067943186, + 3.6135961559934877 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -1.4413569278956517, + 1.1073050367482589, + 3.6135961559934877 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -1.4413569278956517, + 1.1073050367482589, + -3.0040797958480447 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.3885735994677826, + 0.9762232791923044, + -3.0040797958480447 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -2.3885735994677826, + 0.9762232791923044, + -4.7211112857765505 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.3850847215495956, + 1.3762080635665004, + 1.5620740214030364 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/robot_and_camera_parameters.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/robot_and_camera_parameters.json new file mode 100644 index 0000000000000000000000000000000000000000..36de1e272be6213d9a3e39131f9110b8eea303cf --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/robot_and_camera_parameters.json @@ -0,0 +1,1272 @@ +{ + "FixedJoint": { + "physics:breakForce": "inf", + "physics:breakTorque": "inf", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "True", + "physics:jointEnabled": "False", + "physics:localPos0": "(3.4284093, -0.9437317, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-0.6862651, 0, 0, 0.7273515)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx01_body_joint1": { + "drive:linear:physics:damping": "50000.0", + "drive:linear:physics:maxForce": "5000000.0", + "drive:linear:physics:stiffness": "2000000.0", + "drive:linear:physics:targetPosition": "0.36000001430511475", + "drive:linear:physics:targetVelocity": "0.0", + "drive:linear:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "8.613970756530762", + "physics:localPos0": "(0, 0, 0.6485)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "0.0", + "physics:upperLimit": "0.550000011920929", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "0.10000000149011612" + }, + "idx02_body_joint2": { + "drive:angular:physics:damping": "50000.0", + "drive:angular:physics:maxForce": "5000000.0", + "drive:angular:physics:stiffness": "2000000.0", + "drive:angular:physics:targetPosition": "25.0", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "3.421401262283325", + "physics:localPos0": "(0.131, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, -0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "0.0", + "physics:upperLimit": "90.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "28.64788818359375" + }, + "idx11_head_joint1": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.3685135841369629", + "physics:localPos0": "(0, -0.441, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-90.0", + "physics:upperLimit": "90.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "57.2957763671875" + }, + "idx12_head_joint2": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "25.0", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.009547523222863674", + "physics:localPos0": "(0.050238, 0, 0.060065)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, -0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-19.999998092651367", + "physics:upperLimit": "30.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "57.2957763671875" + }, + "idx20_arm_base_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "2.7795965671539307", + "physics:localPos0": "(0, -0.305, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx20_arm_l_base_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.2799789905548096", + "physics:localPos0": "(0, 0.025, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, -0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx21_arm_l_joint1": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-78.65318298339844", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.2060062885284424", + "physics:localPos0": "(0, 0, 0.1859)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "179.9087371826172" + }, + "idx22_arm_l_joint2": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-16.23535919189453", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.6516954302787781", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.49999997, -0.49999997, -0.49999997, 0.49999997)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "179.9087371826172" + }, + "idx23_arm_l_joint3": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "70.79375457763672", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.6410121917724609", + "physics:localPos0": "(0, -0.305, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-0.5, -0.49999994, -0.5, 0.49999994)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx24_arm_l_joint4": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-116.52540588378906", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.16277006268501282", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-3.090862e-8, 3.090862e-8, -0.70710677, 0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx25_arm_l_joint5": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-7.702810287475586", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.1609647125005722", + "physics:localPos0": "(0, -0.1975, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-3.090862e-8, 3.090862e-8, 0.70710677, -0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx26_arm_l_joint6": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "60.49121856689453", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.03911826014518738", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, -0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx27_arm_l_joint7": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "20.792598724365234", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.03598153218626976", + "physics:localPos0": "(0, -0.1805, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx51_ee_l_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0030393442139029503", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.49999997, -0.49999997, 0.49999997, 0.49999997)", + "physics:localRot1": "(0.70710677, 0, 0.70710677, 0)" + }, + "idx31_gripper_l_inner_joint1": { + "drive:angular:physics:damping": "0.01745329238474369", + "drive:angular:physics:maxForce": "10.0", + "drive:angular:physics:stiffness": "1.7453292608261108", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0010556462220847607", + "physics:localPos0": "(0, -0.0195, 0.0565)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70709145, -0.004648257, -0.70709145, -0.004648257)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-45.0", + "physics:upperLimit": "0.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0", + "physxMimicJoint:rotX:gearing": "1.0", + "physxMimicJoint:rotX:offset": "0.0", + "physxMimicJoint:rotX:referenceJointAxis": "rotX" + }, + "idx32_gripper_l_inner_joint3": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "2.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0002471126790624112", + "physics:localPos0": "(0.030852, -0.018551, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-4.371139e-8, 1, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-10.0", + "physics:upperLimit": "10.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx33_gripper_l_inner_joint4": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "0.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00010785380436573178", + "physics:localPos0": "(0.018118, -0.01574, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-2.0", + "physics:upperLimit": "2.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx39_gripper_l_inner_joint0": { + "drive:angular:physics:damping": "0.01745329238474369", + "drive:angular:physics:maxForce": "10.0", + "drive:angular:physics:stiffness": "1.7453292608261108", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.7545482478453778e-05", + "physics:localPos0": "(0, -0.01, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-114.591552734375", + "physics:upperLimit": "114.591552734375", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx41_gripper_l_outer_joint1": { + "drive:angular:physics:damping": "100.0", + "drive:angular:physics:maxForce": "80.0", + "drive:angular:physics:stiffness": "500.0", + "drive:angular:physics:targetPosition": "28.647890090942383", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0015318413497880101", + "physics:localPos0": "(0, 0.0195, 0.0565)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70709145, -0.004648257, -0.70709145, -0.004648257)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "0.0", + "physics:upperLimit": "45.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx42_gripper_l_outer_joint3": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "2.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00039845670107752085", + "physics:localPos0": "(0.030852, 0.018551, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-4.371139e-8, 1, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-10.0", + "physics:upperLimit": "10.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx43_gripper_l_outer_joint4": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "100.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00018224382074549794", + "physics:localPos0": "(0.018118, 0.01574, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-2.0", + "physics:upperLimit": "2.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx49_gripper_l_outer_joint0": { + "drive:angular:physics:damping": "0.01745329238474369", + "drive:angular:physics:maxForce": "10.0", + "drive:angular:physics:stiffness": "1.7453292608261108", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "2.2422220354201272e-05", + "physics:localPos0": "(0, 0.01, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-114.591552734375", + "physics:upperLimit": "114.591552734375", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx52_gripper_l_center_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0", + "physics:localPos0": "(0, 0, 0.14308)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0, 0, -0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx60_arm_r_base_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.2816920280456543", + "physics:localPos0": "(0, -0.025, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-3.090862e-8, 3.090862e-8, -0.70710677, 0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx61_arm_r_joint1": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "74.96571350097656", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.2064682245254517", + "physics:localPos0": "(0, 0, 0.188)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "179.9087371826172" + }, + "idx62_arm_r_joint2": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "18.84002113342285", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.6506583094596863", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.49999997, -0.49999997, 0.49999997, -0.49999997)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "179.9087371826172" + }, + "idx63_arm_r_joint3": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-70.89258575439453", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.6510235071182251", + "physics:localPos0": "(0, -0.305, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.49999994, 0.5, -0.49999994, 0.5)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx64_arm_r_joint4": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "115.99494934082031", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.16353274881839752", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-3.090862e-8, 3.090862e-8, -0.70710677, 0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx65_arm_r_joint5": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "9.146787643432617", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.1618347018957138", + "physics:localPos0": "(0, -0.1975, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-3.090862e-8, 3.090862e-8, 0.70710677, -0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx66_arm_r_joint6": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-68.12995910644531", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.03916878625750542", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, -0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx67_arm_r_joint7": { + "drive:angular:physics:damping": "2500.0", + "drive:angular:physics:maxForce": "10000.0", + "drive:angular:physics:stiffness": "80000.0", + "drive:angular:physics:targetPosition": "-27.748699188232422", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.03602167218923569", + "physics:localPos0": "(0, -0.1805, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0.70710677, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-180.0", + "physics:upperLimit": "180.0", + "physxJoint:armature": "0.0", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "224.88592529296875" + }, + "idx91_ee_r_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.003039669245481491", + "physics:localPos0": "(0, 0, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.49999997, 0.49999997, 0.49999997, -0.49999997)", + "physics:localRot1": "(0.70710677, 0, 0.70710677, 0)" + }, + "idx71_gripper_r_inner_joint1": { + "drive:angular:physics:damping": "50.0", + "drive:angular:physics:maxForce": "80.0", + "drive:angular:physics:stiffness": "200.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0010556719498708844", + "physics:localPos0": "(0, -0.0195, 0.0565)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70709145, -0.004648257, -0.70709145, -0.004648257)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-45.0", + "physics:upperLimit": "0.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0", + "physxMimicJoint:rotX:gearing": "1.0", + "physxMimicJoint:rotX:offset": "0.0", + "physxMimicJoint:rotX:referenceJointAxis": "rotX" + }, + "idx72_gripper_r_inner_joint3": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "2.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0002471144834998995", + "physics:localPos0": "(0.030852, -0.018551, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-4.371139e-8, 1, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-10.0", + "physics:upperLimit": "10.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx73_gripper_r_inner_joint4": { + "drive:angular:physics:damping": "1.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "10.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00010785416088765487", + "physics:localPos0": "(0.018118, -0.01574, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-2.0", + "physics:upperLimit": "2.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx79_gripper_r_inner_joint0": { + "drive:angular:physics:damping": "0.01745329238474369", + "drive:angular:physics:maxForce": "10.0", + "drive:angular:physics:stiffness": "1.7453292608261108", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "1.7545491573400795e-05", + "physics:localPos0": "(0, -0.01, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-114.591552734375", + "physics:upperLimit": "114.591552734375", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx81_gripper_r_outer_joint1": { + "drive:angular:physics:damping": "100.0", + "drive:angular:physics:maxForce": "80.0", + "drive:angular:physics:stiffness": "500.0", + "drive:angular:physics:targetPosition": "28.647890090942383", + "drive:angular:physics:targetVelocity": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0015318942023441195", + "physics:localPos0": "(0, 0.0195, 0.0565)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70709145, -0.004648257, -0.70709145, -0.004648257)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "0.0", + "physics:upperLimit": "45.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx82_gripper_r_outer_joint3": { + "drive:angular:physics:damping": "0.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "1.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00039846132858656347", + "physics:localPos0": "(0.030852, 0.018551, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(-4.371139e-8, 1, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-10.0", + "physics:upperLimit": "10.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx83_gripper_r_outer_joint4": { + "drive:angular:physics:damping": "1.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "10.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:targetVelocity": "None", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.00018224485393147916", + "physics:localPos0": "(0.018118, 0.01574, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-2.0", + "physics:upperLimit": "2.0", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx89_gripper_r_outer_joint0": { + "drive:angular:physics:damping": "1.0", + "drive:angular:physics:maxForce": "inf", + "drive:angular:physics:stiffness": "10.0", + "drive:angular:physics:targetPosition": "0.0", + "drive:angular:physics:type": "force", + "physics:axis": "Z", + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "2.2422236725105904e-05", + "physics:localPos0": "(0, 0.01, 0)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(1, 0, 0, 0)", + "physics:localRot1": "(1, 0, 0, 0)", + "physics:lowerLimit": "-114.591552734375", + "physics:upperLimit": "114.591552734375", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:angular:bounceThreshold": "0.0", + "physxLimit:angular:damping": "0.0", + "physxLimit:angular:restitution": "0.10000000149011612", + "physxLimit:angular:stiffness": "0.0" + }, + "idx92_gripper_r_center_joint": { + "physics:breakForce": "3.4028234663852886e+38", + "physics:breakTorque": "3.4028234663852886e+38", + "physics:collisionEnabled": "False", + "physics:excludeFromArticulation": "False", + "physics:jointEnabled": "True", + "physics:JointEquivalentInertia": "0.0", + "physics:localPos0": "(0, 0, 0.14308)", + "physics:localPos1": "(0, 0, 0)", + "physics:localRot0": "(0.70710677, 0, 0, -0.70710677)", + "physics:localRot1": "(1, 0, 0, 0)" + }, + "idx53_gripper_l_outer_joint2": { + "physics:axis": "Z", + "physics:breakForce": "inf", + "physics:breakTorque": "inf", + "physics:collisionEnabled": "False", + "physics:coneAngle0Limit": "-1.0", + "physics:coneAngle1Limit": "-1.0", + "physics:excludeFromArticulation": "True", + "physics:jointEnabled": "True", + "physics:localPos0": "(0, 0.022, 0.073)", + "physics:localPos1": "(-0.032, -0.01, 0)", + "physics:localRot0": "(0.0046482855, 0.7070915, -0.004648252, 0.7070915)", + "physics:localRot1": "(1, 2.5377787e-8, -8.560052e-8, -1.27006e-7)", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:cone:bounceThreshold": "0.0", + "physxLimit:cone:damping": "0.0", + "physxLimit:cone:restitution": "1.0", + "physxLimit:cone:stiffness": "0.0" + }, + "idx54_gripper_l_inner_joint2": { + "physics:axis": "Z", + "physics:breakForce": "inf", + "physics:breakTorque": "inf", + "physics:collisionEnabled": "False", + "physics:coneAngle0Limit": "-1.0", + "physics:coneAngle1Limit": "-1.0", + "physics:excludeFromArticulation": "True", + "physics:jointEnabled": "True", + "physics:localPos0": "(0, -0.022, 0.073)", + "physics:localPos1": "(-0.032, 0.01, 0)", + "physics:localRot0": "(0.0046482855, 0.7070915, -0.004648252, 0.7070915)", + "physics:localRot1": "(1, 2.5377787e-8, -8.560052e-8, -1.27006e-7)", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:cone:bounceThreshold": "0.0", + "physxLimit:cone:damping": "0.0", + "physxLimit:cone:restitution": "1.0", + "physxLimit:cone:stiffness": "0.0" + }, + "idx93_gripper_r_outer_joint2": { + "physics:axis": "Z", + "physics:breakForce": "inf", + "physics:breakTorque": "inf", + "physics:collisionEnabled": "False", + "physics:coneAngle0Limit": "-1.0", + "physics:coneAngle1Limit": "-1.0", + "physics:excludeFromArticulation": "True", + "physics:jointEnabled": "True", + "physics:localPos0": "(0, 0.022, 0.073)", + "physics:localPos1": "(-0.032, -0.01, 0)", + "physics:localRot0": "(0.004648279, 0.7070915, -0.0046482584, 0.7070915)", + "physics:localRot1": "(1, 3.778885e-8, 1.02719035e-7, 4.0319208e-7)", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:cone:bounceThreshold": "0.0", + "physxLimit:cone:damping": "0.0", + "physxLimit:cone:restitution": "1.0", + "physxLimit:cone:stiffness": "0.0" + }, + "idx94_gripper_r_inner_joint2": { + "physics:axis": "Z", + "physics:breakForce": "inf", + "physics:breakTorque": "inf", + "physics:collisionEnabled": "False", + "physics:coneAngle0Limit": "-1.0", + "physics:coneAngle1Limit": "-1.0", + "physics:excludeFromArticulation": "True", + "physics:jointEnabled": "True", + "physics:localPos0": "(0, -0.022, 0.073)", + "physics:localPos1": "(-0.032, 0.01, 0)", + "physics:localRot0": "(0.0046464815, 0.7070915, -0.0046464815, 0.7070915)", + "physics:localRot1": "(1, 0, 0, 0)", + "physxJoint:armature": "0.0010000000474974513", + "physxJoint:jointFriction": "0.0", + "physxJoint:maxJointVelocity": "10000.0", + "physxLimit:cone:bounceThreshold": "0.0", + "physxLimit:cone:damping": "0.0", + "physxLimit:cone:restitution": "1.0", + "physxLimit:cone:stiffness": "0.0" + }, + "dof_names": [ + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx21_arm_l_joint1", + "idx61_arm_r_joint1", + "idx22_arm_l_joint2", + "idx62_arm_r_joint2", + "idx23_arm_l_joint3", + "idx63_arm_r_joint3", + "idx24_arm_l_joint4", + "idx64_arm_r_joint4", + "idx25_arm_l_joint5", + "idx65_arm_r_joint5", + "idx26_arm_l_joint6", + "idx66_arm_r_joint6", + "idx27_arm_l_joint7", + "idx67_arm_r_joint7", + "idx31_gripper_l_inner_joint1", + "idx41_gripper_l_outer_joint1", + "idx71_gripper_r_inner_joint1", + "idx81_gripper_r_outer_joint1", + "idx32_gripper_l_inner_joint3", + "idx42_gripper_l_outer_joint3", + "idx72_gripper_r_inner_joint3", + "idx82_gripper_r_outer_joint3", + "idx33_gripper_l_inner_joint4", + "idx43_gripper_l_outer_joint4", + "idx73_gripper_r_inner_joint4", + "idx83_gripper_r_outer_joint4", + "idx39_gripper_l_inner_joint0", + "idx49_gripper_l_outer_joint0", + "idx79_gripper_r_inner_joint0", + "idx89_gripper_r_outer_joint0" + ], + "action_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ], + "runtime_gripper_max_effort_Nm": { + "idx41_gripper_l_outer_joint1": 80.0, + "idx81_gripper_r_outer_joint1": 80.0 + }, + "cameras": { + "top_head": { + "path": "/World/Robot/head_link2/Head_Camera", + "attributes": { + "cameraSensorType": "camera", + "clippingPlanes": "[]", + "clippingRange": "(0.01, 10000000)", + "exposure": "0.0", + "focalLength": "1.9299999475479126", + "focusDistance": "400.0", + "fStop": "0.0", + "horizontalAperture": "3.8959999084472656", + "horizontalApertureOffset": "0.0", + "omni:kit:cameraLock": "True", + "omni:lensdistortion:model": "opencvPinhole", + "omni:lensdistortion:opencvPinhole:cx": "640.0", + "omni:lensdistortion:opencvPinhole:cy": "400.0", + "omni:lensdistortion:opencvPinhole:fx": "646.0", + "omni:lensdistortion:opencvPinhole:fy": "646.0", + "omni:lensdistortion:opencvPinhole:imageSize": "(1280, 800)", + "omni:lensdistortion:opencvPinhole:k1": "-0.051394399255514145", + "omni:lensdistortion:opencvPinhole:k2": "0.05811314284801483", + "omni:lensdistortion:opencvPinhole:k3": "-0.017540574073791504", + "omni:lensdistortion:opencvPinhole:k4": "0.0", + "omni:lensdistortion:opencvPinhole:k5": "0.0", + "omni:lensdistortion:opencvPinhole:k6": "0.0", + "omni:lensdistortion:opencvPinhole:p1": "-0.0012259036302566528", + "omni:lensdistortion:opencvPinhole:p2": "0.0006320750107988715", + "omni:lensdistortion:opencvPinhole:s1": "0.0", + "omni:lensdistortion:opencvPinhole:s2": "0.0", + "omni:lensdistortion:opencvPinhole:s3": "0.0", + "omni:lensdistortion:opencvPinhole:s4": "0.0", + "projection": "perspective", + "purpose": "default", + "shutter:close": "0.0", + "shutter:open": "0.0", + "stereoRole": "mono", + "verticalAperture": "2.453000068664551", + "verticalApertureOffset": "0.0", + "visibility": "invisible", + "xformOp:orient": "(6.123233995736766e-17, 0.7071067811865476, -4.329780281177467e-17, -0.7071067811865476)", + "xformOp:scale": "(1, 1, 1)", + "xformOp:translate": "(0.0858, -0.04119, 0)", + "xformOpOrder": "[xformOp:translate, xformOp:orient, xformOp:scale]" + }, + "world_extrinsics": "camera_extrinsics_20hz.npz" + }, + "hand_left": { + "path": "/World/Robot/gripper_l_base_link/Left_Camera", + "attributes": { + "cameraProjectionType": "pinhole", + "clippingPlanes": "[]", + "clippingRange": "(0.01, 10000000)", + "exposure": "0.0", + "fisheyeResolutionBudget": "1.5", + "focalLength": "1.9299999475479126", + "focusDistance": "400.0", + "fStop": "0.0", + "horizontalAperture": "3.7601311206817627", + "horizontalApertureOffset": "0.0", + "omni:kit:cameraLock": "True", + "omni:kit:centerOfInterest": "(0, 0, -400)", + "omni:lensdistortion:model": "opencvPinhole", + "omni:lensdistortion:opencvPinhole:cx": "424.9142150878906", + "omni:lensdistortion:opencvPinhole:cy": "241.9685516357422", + "omni:lensdistortion:opencvPinhole:fx": "433.967041015625", + "omni:lensdistortion:opencvPinhole:fy": "433.44677734375", + "omni:lensdistortion:opencvPinhole:imageSize": "(848, 480)", + "omni:lensdistortion:opencvPinhole:k1": "-0.05225364863872528", + "omni:lensdistortion:opencvPinhole:k2": "0.0581255704164505", + "omni:lensdistortion:opencvPinhole:k3": "-0.018849309533834457", + "omni:lensdistortion:opencvPinhole:k4": "0.0", + "omni:lensdistortion:opencvPinhole:k5": "0.0", + "omni:lensdistortion:opencvPinhole:k6": "0.0", + "omni:lensdistortion:opencvPinhole:p1": "0.0002689115353859961", + "omni:lensdistortion:opencvPinhole:p2": "0.0001695405662758276", + "omni:lensdistortion:opencvPinhole:s1": "0.0", + "omni:lensdistortion:opencvPinhole:s2": "0.0", + "omni:lensdistortion:opencvPinhole:s3": "0.0", + "omni:lensdistortion:opencvPinhole:s4": "0.0", + "p0": "-0.0003672190650831908", + "projection": "perspective", + "purpose": "default", + "shutter:close": "0.0", + "shutter:open": "0.0", + "stereoRole": "mono", + "verticalAperture": "2.130786657333374", + "verticalApertureOffset": "0.0", + "visibility": "invisible", + "xformOp:orient": "(0.14219926877000713, 0.6868383037850345, -0.6989317357080853, -0.13973883223733854)", + "xformOp:scale": "(1, 1, 1)", + "xformOp:translate": "(-0.07593376119019446, 0.009, 0.0205)", + "xformOpOrder": "[xformOp:translate, xformOp:orient, xformOp:scale]" + }, + "world_extrinsics": "camera_extrinsics_20hz.npz" + }, + "hand_right": { + "path": "/World/Robot/gripper_r_base_link/Right_Camera", + "attributes": { + "cameraProjectionType": "pinhole", + "clippingPlanes": "[]", + "clippingRange": "(0.01, 10000000)", + "exposure": "0.0", + "fisheyeResolutionBudget": "1.5", + "focalLength": "1.9299999475479126", + "focusDistance": "400.0", + "fStop": "0.0", + "horizontalAperture": "3.7601311206817627", + "horizontalApertureOffset": "0.0", + "omni:kit:cameraLock": "True", + "omni:kit:centerOfInterest": "(0, 0, -0.252056884844326)", + "omni:lensdistortion:model": "opencvPinhole", + "omni:lensdistortion:opencvPinhole:cx": "425.91937255859375", + "omni:lensdistortion:opencvPinhole:cy": "236.65130615234375", + "omni:lensdistortion:opencvPinhole:fx": "433.7381286621094", + "omni:lensdistortion:opencvPinhole:fy": "433.2144470214844", + "omni:lensdistortion:opencvPinhole:imageSize": "(848, 480)", + "omni:lensdistortion:opencvPinhole:k1": "-0.053031452000141144", + "omni:lensdistortion:opencvPinhole:k2": "0.05992193520069122", + "omni:lensdistortion:opencvPinhole:k3": "-0.019611800089478493", + "omni:lensdistortion:opencvPinhole:k4": "0.0", + "omni:lensdistortion:opencvPinhole:k5": "0.0", + "omni:lensdistortion:opencvPinhole:k6": "0.0", + "omni:lensdistortion:opencvPinhole:p1": "-0.00033373627229593694", + "omni:lensdistortion:opencvPinhole:p2": "6.050317460903898e-05", + "omni:lensdistortion:opencvPinhole:s1": "0.0", + "omni:lensdistortion:opencvPinhole:s2": "0.0", + "omni:lensdistortion:opencvPinhole:s3": "0.0", + "omni:lensdistortion:opencvPinhole:s4": "0.0", + "p0": "-0.0003672190650831908", + "projection": "perspective", + "purpose": "default", + "shutter:close": "0.0", + "shutter:open": "0.0", + "stereoRole": "mono", + "verticalAperture": "2.130786657333374", + "verticalApertureOffset": "0.0", + "visibility": "invisible", + "xformOp:orient": "(-0.1397388322373386, -0.6989317357080854, -0.6868383037850344, -0.14219926877000738)", + "xformOp:scale": "(1, 1, 1)", + "xformOp:translate": "(0.07593, -0.009, 0.021)", + "xformOpOrder": "[xformOp:translate, xformOp:orient, xformOp:scale]" + }, + "world_extrinsics": "camera_extrinsics_20hz.npz" + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene.usda b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene.usda new file mode 100644 index 0000000000000000000000000000000000000000..e68857ececb67533bc5bcd635fbe50e20ddfd559 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene.usda @@ -0,0 +1,1182 @@ +#usda 1.0 +( + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/collision_profile.usda@, + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "World" +{ + over "Robot" ( + delete apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + over "gripper_r_outer_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.43595356, -3.2037253, 7.0589514) + vector3f physics:velocity = (0.327278, 2.2110062, 2.6981163) + float physxContactReport:threshold = 0 + float physxRigidBody:sleepThreshold = 0 + quatf xformOp:orient = (-0.43228978, 0.008423179, 0.0033886041, 0.90168905) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08190028, -0.98622644, 0.9647515) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_inner_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.41005558, -3.2275527, 5.121199) + vector3f physics:velocity = (-0.3428983, 2.0834355, 2.6340885) + float physxContactReport:threshold = 0 + float physxRigidBody:sleepThreshold = 0 + quatf xformOp:orient = (0.90647817, -0.008659038, 0.0027302597, -0.42215502) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19057572, -0.9843686, 0.96390665) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_inner_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.60064816, 3.2400928, -5.0000935) + vector3f physics:velocity = (0.34369633, 2.0495138, 2.6426427) + float physxContactReport:threshold = 0 + float physxRigidBody:sleepThreshold = 0 + quatf xformOp:orient = (-0.0030813208, 0.91012365, 0.41422835, 0.008964904) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19029126, 0.98226136, 0.96487594) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_outer_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.6274458, 3.2685342, -7.0609794) + vector3f physics:velocity = (-0.3285824, 2.18236, 2.73308) + float physxContactReport:threshold = 0 + float physxRigidBody:sleepThreshold = 0 + quatf xformOp:orient = (0.003420787, 0.4290156, 0.90324736, 0.008840663) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08195379, 0.9841407, 0.96392167) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "base_link" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI", "PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0.09987862, -0.00084567274, 0.0039404184) + vector3f physics:velocity = (-0.0038165848, 0.0111183375, 0.065326005) + bool physxArticulation:enabledSelfCollisions = 1 + float physxContactReport:threshold = 0 + quatf xformOp:orient = (1, -8.0400446e-7, -0.0000520039, -9.940796e-8) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.00000990442, -5.813914e-7, 0.0000014230609) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over "FixedJoint" + { + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 + } + } + + over "body_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0.09987862, -0.00084567274, 0.0039404184) + vector3f physics:velocity = (-0.004579632, -0.057005875, 0.17444807) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (1, -8.0427793e-7, -0.000052031864, -9.951254e-8) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-0.000057570825, 4.4074847e-7, 0.64927423) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "body_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.29706043, 0.00015431439, 0.0039397925) + vector3f physics:velocity = (-0.0057250485, -0.056867383, 0.12660159) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.707106, 0.7071072, -0.0005287661, -0.0005288029) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1309424, 4.3142663e-7, 0.6492878) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "head_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.29706037, 0.00019859552, 0.033544) + vector3f physics:velocity = (-0.006385029, 0.08967049, 0.17067987) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9999997, -8.828208e-7, 0.00074778567, -0.00002095253) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13160199, 0.0000011391143, 1.0902878) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "head_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.6122555, 0.0010058733, 0.033543434) + vector3f physics:velocity = (-0.0074628443, 0.0724812, 0.15333888) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.707105, 0.70710635, -0.001276537, -0.0012467509) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1819297, -0.0000010802135, 1.1502776) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_base_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.29706043, 0.00015431439, 0.0039397925) + vector3f physics:velocity = (-0.0049165525, 0.03367145, 0.184016) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9999997, -8.1005874e-7, 0.0007477914, 9.717784e-9) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13139862, 8.6528223e-7, 0.95428777) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_base_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.29706043, 0.00015431439, 0.0039397925) + vector3f physics:velocity = (-0.0049163927, 0.03327501, 0.18404354) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.707106, 0.7071072, -0.00052878715, -0.0005287924) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1313986, 0.025000801, 0.95428765) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.5421503, -0.006998243, 0.0039437264) + vector3f physics:velocity = (-0.0049164216, 0.03183446, 0.18067285) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.7070961, 0.7070973, 0.0037794544, 0.0037794115) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1313986, 0.21090089, 0.9542874) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.5500598, 3.132927, 0.03751175) + vector3f physics:velocity = (-0.0018870243, 0.027575066, 0.41755593) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.0045700534, 0.71086115, 0.0046188505, -0.7033023) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1313986, 0.21090089, 0.9542875) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.9287086, 3.141208, 0.08271901) + vector3f physics:velocity = (0.0026101938, 0.014393823, 0.9689064) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.711683, -0.7024951, 0.001932755, 0.0020567593) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1313563, 0.51587534, 0.95825076) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.95650536, 3.1292188, -2.0541053) + vector3f physics:velocity = (0.018295765, 0.14275885, 1.336435) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.0002463575, 0.0028232876, -0.006495951, 0.9999749) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13135642, 0.51587534, 0.95825076) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link5" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.9681454, 3.117255, -2.1050913) + vector3f physics:velocity = (0.016312556, 0.36881807, 1.6830972) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.71165735, -0.7024753, -0.005782902, -0.0062352493) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13146089, 0.7133588, 0.96081626) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_link6" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.9184558, 3.1826782, -5.945305) + vector3f physics:velocity = (0.02271829, 0.93896157, 2.0396652) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.006563488, 0.9999051, -0.008680555, 0.008443562) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13146089, 0.7133588, 0.9608164) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_l_end_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.61232907, 3.2524905, -5.8984294) + vector3f physics:velocity = (0.04325665, 1.3867284, 2.2892408) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.71175605, -0.7023737, 0.0059208455, -0.0062786415) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13457417, 0.893816, 0.963212) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_base_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.61232907, 3.2524905, -5.8984294) + vector3f physics:velocity = (0.051223256, 1.6814638, 2.4509356) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.50772727, -0.49246648, 0.5008399, 0.49884787) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1345743, 0.89381623, 0.963212) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_inner_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.59429294, 3.233348, -4.5113645) + vector3f physics:velocity = (0.17937294, 1.8687569, 2.54926) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9259915, 0.0034380734, -0.008834258, 0.37742543) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1550459, 0.94996643, 0.9639696) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_inner_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.60171735, 3.2412274, -5.082314) + vector3f physics:velocity = (0.33310178, 1.911244, 2.5549834) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.0031170305, 0.91176647, 0.41059968, 0.008952545) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19007131, 0.9582644, 0.96456003) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_inner_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.5907404, 3.2295775, -4.238165) + vector3f physics:velocity = (0.34542587, 2.049069, 2.6457274) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.004901262, 0.97697514, 0.21314259, 0.008114254) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.18275067, 0.9888297, 0.9648577) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_outer_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.6304127, 3.271683, -7.2891364) + vector3f physics:velocity = (-0.07130723, 1.9058496, 2.578507) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.3933934, -0.0037636808, -0.008700285, 0.91932136) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.116051786, 0.9506393, 0.9639543) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_outer_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.62249666, 3.2632816, -6.6803684) + vector3f physics:velocity = (-0.31490347, 1.9662336, 2.6296682) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.0034445433, 0.42658898, 0.90439594, 0.008831452) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08133293, 0.9601506, 0.9636003) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_outer_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.6337952, 3.2752726, -7.549266) + vector3f physics:velocity = (-0.35037744, 2.1783483, 2.7302892) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.005198273, 0.23011225, 0.97311795, 0.00792705) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08970331, 0.9904581, 0.96411073) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_l_center_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.61232907, 3.2524905, -5.8984294) + vector3f physics:velocity = (0.06843053, 2.3301015, 2.806819) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.71175605, -0.7023737, 0.0059208884, -0.006278654) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13704212, 1.0368624, 0.965111) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_base_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.29706043, 0.00015431439, 0.0039397925) + vector3f physics:velocity = (-0.004915064, 0.034076355, 0.18411233) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.00052879745, 0.0005288032, -0.7071061, 0.70710707) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13139865, -0.02499907, 0.9542879) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.7001426, -0.007394852, 0.0039438456) + vector3f physics:velocity = (-0.0049106744, 0.034051158, 0.18070361) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.0039937748, -0.0039936136, -0.70709497, 0.70709604) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1313987, -0.21299915, 0.954288) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.6923044, -3.1192594, -0.031207636) + vector3f physics:velocity = (-0.0068546645, 0.030278713, 0.43974367) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.7030872, 0.004589005, 0.71107435, -0.004537558) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13139857, -0.21299915, 0.9542881) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.93465954, -3.1095936, -0.078022316) + vector3f physics:velocity = (-0.014916406, 0.018061128, 0.9595661) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.002010771, 0.0018825043, -0.70252645, 0.7116523) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13135408, -0.51797384, 0.95822453) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link4" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.9634526, -3.0972207, 2.1552916) + vector3f physics:velocity = (-0.027424617, 0.15219563, 1.3267071) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9999753, -0.0064516333, 0.0027562117, 0.0004022788) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13135408, -0.51797384, 0.9582244) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link5" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.961225, -3.10381, 2.2059278) + vector3f physics:velocity = (-0.024218183, 0.38946906, 1.6703836) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.006428103, -0.0057557146, -0.7025073, 0.7116242) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13151987, -0.7154573, 0.9607724) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_link6" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (2.9125226, -3.1686184, 5.9723334) + vector3f physics:velocity = (-0.027762383, 0.9644732, 2.023798) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.008562152, -0.008665792, 0.9999046, -0.0065170033) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13151987, -0.7154573, 0.9607724) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "arm_r_end_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.42084387, -3.217627, 5.9283876) + vector3f physics:velocity = (-0.0468492, 1.4143213, 2.2710848) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.0063622305, 0.0058170813, -0.7024071, 0.7117232) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13462766, -0.895915, 0.9631516) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_base_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.42084387, -3.217627, 5.9283876) + vector3f physics:velocity = (-0.0515647, 1.7103935, 2.4314432) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.49876553, 0.50079006, -0.49256337, 0.5077633) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13462777, -0.895915, 0.96315145) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_inner_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.4025146, -3.234491, 4.5569377) + vector3f physics:velocity = (-0.17973812, 1.8994905, 2.5336125) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.008515765, 0.9259667, -0.37749612, -0.0031488582) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.15509768, -0.95206577, 0.96390903) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_inner_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.4100557, -3.2275527, 5.1212077) + vector3f physics:velocity = (-0.3330407, 1.9426682, 2.5461614) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.91370773, -0.008610044, 0.0028809514, -0.40627053) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19012392, -0.9603748, 0.96359086) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_inner_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.39884192, -3.2378702, 4.2821326) + vector3f physics:velocity = (-0.34600323, 2.081447, 2.6370018) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9775304, -0.007837848, 0.0045826626, -0.21059887) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.18292269, -0.9908028, 0.9640868) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_outer_link1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.4392201, -3.2007198, 7.303376) + vector3f physics:velocity = (0.07217617, 1.9350082, 2.553153) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.008270377, -0.39327523, 0.91937596, -0.0037462045) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.1161035, -0.9527376, 0.9638834) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_outer_link3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.43105876, -3.2082288, 6.6927013) + vector3f physics:velocity = (0.3137314, 1.9946581, 2.5969286) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.42456007, 0.0083939135, 0.0034605362, 0.90535426) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08138316, -0.9622338, 0.96443653) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_outer_link2" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.44265303, -3.1975615, 7.5602417) + vector3f physics:velocity = (0.34823498, 2.206489, 2.6945155) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.22883345, 0.007500397, 0.00511632, 0.97342324) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.08969676, -0.9924887, 0.9647398) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gripper_r_center_link" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.42084387, -3.217627, 5.9283876) + vector3f physics:velocity = (-0.06631831, 2.3622131, 2.7841702) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.7117233, 0.702407, 0.0058171656, 0.0063623977) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.13709141, -1.0389613, 0.96503747) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "joints" + { + over "idx41_gripper_l_outer_joint1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:maxForce = 80 + float state:angular:physics:position = 44.65972 + float state:angular:physics:velocity = -79.69595 + } + + over "idx81_gripper_r_outer_joint1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:maxForce = 80 + float state:angular:physics:position = 44.663033 + float state:angular:physics:velocity = -78.79404 + } + + over "idx01_body_joint1" + { + float state:linear:physics:position = 0.0007726025 + float state:linear:physics:velocity = 0.10440404 + } + + over "idx02_body_joint2" + { + float state:angular:physics:position = 0.09165983 + float state:angular:physics:velocity = 22.743004 + } + + over "idx11_head_joint1" + { + float state:angular:physics:position = -0.0024116938 + float state:angular:physics:velocity = 1.6961975 + } + + over "idx12_head_joint2" + { + float state:angular:physics:position = 0.118761994 + float state:angular:physics:velocity = 18.059402 + } + + over "idx21_arm_l_joint1" + { + float state:angular:physics:position = -0.6981864 + float state:angular:physics:velocity = -162.67526 + } + + over "idx61_arm_r_joint1" + { + float state:angular:physics:position = 0.7328922 + float state:angular:physics:velocity = 171.72763 + } + + over "idx22_arm_l_joint2" + { + float state:angular:physics:position = -0.74466795 + float state:angular:physics:velocity = -179.91533 + } + + over "idx62_arm_r_joint2" + { + float state:angular:physics:position = 0.7394407 + float state:angular:physics:velocity = 178.30864 + } + + over "idx23_arm_l_joint3" + { + float state:angular:physics:position = 0.9357607 + float state:angular:physics:velocity = 199.33609 + } + + over "idx63_arm_r_joint3" + { + float state:angular:physics:position = -0.9626776 + float state:angular:physics:velocity = -207.82774 + } + + over "idx24_arm_l_joint4" + { + float state:angular:physics:position = -0.03827116 + float state:angular:physics:velocity = -122.44328 + } + + over "idx64_arm_r_joint4" + { + float state:angular:physics:position = 0.056483716 + float state:angular:physics:velocity = 127.97205 + } + + over "idx25_arm_l_joint5" + { + float state:angular:physics:position = -1.2973745 + float state:angular:physics:velocity = -224.88594 + } + + over "idx65_arm_r_joint5" + { + float state:angular:physics:position = 1.3031209 + float state:angular:physics:velocity = 224.88647 + } + + over "idx26_arm_l_joint6" + { + float state:angular:physics:position = 0.95814025 + float state:angular:physics:velocity = 220.07837 + } + + over "idx66_arm_r_joint6" + { + float state:angular:physics:position = -0.93860525 + float state:angular:physics:velocity = -215.8491 + } + + over "idx27_arm_l_joint7" + { + float state:angular:physics:position = 0.93863297 + float state:angular:physics:velocity = 202.3564 + } + + over "idx67_arm_r_joint7" + { + float state:angular:physics:position = -0.9370307 + float state:angular:physics:velocity = -191.02504 + } + + over "idx31_gripper_l_inner_joint1" + { + float state:angular:physics:position = -44.655773 + float state:angular:physics:velocity = 79.48727 + } + + over "idx71_gripper_r_inner_joint1" + { + float state:angular:physics:position = -44.658768 + float state:angular:physics:velocity = 78.591255 + } + + over "idx32_gripper_l_inner_joint3" + { + float state:angular:physics:position = -4.136663 + float state:angular:physics:velocity = 32.718876 + } + + over "idx42_gripper_l_outer_joint3" + { + float state:angular:physics:position = 4.171175 + float state:angular:physics:velocity = -34.8861 + } + + over "idx72_gripper_r_inner_joint3" + { + float state:angular:physics:position = -3.5843754 + float state:angular:physics:velocity = 32.33561 + } + + over "idx82_gripper_r_outer_joint3" + { + float state:angular:physics:position = 3.9289455 + float state:angular:physics:velocity = -34.994858 + } + + over "idx33_gripper_l_inner_joint4" + { + float state:angular:physics:position = -0.45646998 + float state:angular:physics:velocity = -4.7117305 + } + + over "idx43_gripper_l_outer_joint4" + { + float state:angular:physics:position = 0.3076653 + float state:angular:physics:velocity = 21.811308 + } + + over "idx73_gripper_r_inner_joint4" + { + float state:angular:physics:position = -2 + float state:angular:physics:velocity = -0.0004889419 + } + + over "idx83_gripper_r_outer_joint4" + { + float state:angular:physics:position = 0.9803314 + float state:angular:physics:velocity = 20.988035 + } + + over "idx39_gripper_l_inner_joint0" + { + float state:angular:physics:position = 24.329527 + float state:angular:physics:velocity = -43.66313 + } + + over "idx49_gripper_l_outer_joint0" + { + float state:angular:physics:position = -24.20408 + float state:angular:physics:velocity = 27.981773 + } + + over "idx79_gripper_r_inner_joint0" + { + float state:angular:physics:position = 25.627716 + float state:angular:physics:velocity = -48.0829 + } + + over "idx89_gripper_r_outer_joint0" + { + float state:angular:physics:position = -24.770271 + float state:angular:physics:velocity = 28.72655 + } + } + } + + over "PhysicsScene" ( + prepend apiSchemas = ["PhysxSceneAPI"] + ) + { + vector3f physics:gravityDirection = (0, 0, -1) + float physics:gravityMagnitude = 9.81 + uniform token physxScene:broadphaseType = "MBP" + bool physxScene:enableCCD = 1 + bool physxScene:enableGPUDynamics = 0 + bool physxScene:enableStabilization = 0 + uniform token physxScene:solverType = "TGS" + uint physxScene:timeStepsPerSecond = 240 + } + + over "Assets" + { + over "LivingRoomRug" + { + over "Surface" + { + bool physics:collisionEnabled = 0 + } + + over "OuterBorder" + { + over "West" + { + bool physics:collisionEnabled = 0 + } + + over "East" + { + bool physics:collisionEnabled = 0 + } + + over "South" + { + bool physics:collisionEnabled = 0 + } + + over "North" + { + bool physics:collisionEnabled = 0 + } + } + + over "InnerBorder" + { + over "West" + { + bool physics:collisionEnabled = 0 + } + + over "East" + { + bool physics:collisionEnabled = 0 + } + + over "South" + { + bool physics:collisionEnabled = 0 + } + + over "North" + { + bool physics:collisionEnabled = 0 + } + } + } + + over "ShelfItems" + { + over "gatorade_m" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9955082, 1.1368684e-13, 3.410605e-13, -0.094675645) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.6978629, 1.5846586, 1.1828284) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "gatorade_t" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (4.828853e-9, -2.379752e-12, -6.3857516e-11) + vector3f physics:velocity = (7.869416e-14, 1.604909e-10, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.9147097, 9.322321e-12, 3.662848e-12, -0.40411165) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.0334027, 1.5827384, 1.1828283) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "starbucks" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.4434614, -1.8025202e-27, -5.0022205e-11, 0.89629346) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.8086274, 1.4380789, 1.1828284) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "good2grow" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.24428934, -2.7284839e-12, -5.8975043e-12, 0.96970236) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.6767488, 1.709192, 1.1828284) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "grapefruit_can" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0.000018186702, -0.0000042094175, -2.6565827e-9) + vector3f physics:velocity = (1.03845906e-7, 4.4866587e-7, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.33734003, -2.108251e-8, -3.277795e-8, 0.9413829) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.4020011, 1.4380076, 1.1829593) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "coke_c3" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.0000112763355, 0.000011217964, 1.0633591e-8) + vector3f physics:velocity = (-2.7735152e-7, -2.7879435e-7, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (-0.49124342, 3.1967303e-8, 8.998677e-9, 0.87102234) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.2068331, 1.5019827, 1.1829593) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "sprite_c1" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.33761418, 0, 0, 0.9412846) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-1.9161274, 1.4346921, 1.1829593) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + over "Tier2Items" + { + over "chomps_r" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-4.534212e-8, 2.1528965e-9, 2.670583e-9) + vector3f physics:velocity = (1.0592451e-10, -2.0850013e-9, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.85485816, -1.1641532e-10, -1.0786039e-11, -0.5188617) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.253015, 1.5901287, 0.7513302) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "zbar_t" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.8789169, 0, 0, 0.47697484) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.5654244, 1.6127975, 0.7513302) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "honeymaid_copy_01" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + vector3f physics:velocity = (0, 0, -0.040875003) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (0.8858394, 0, 0, -0.463992) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-2.2414734, 1.7373877, 0.7513302) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + over "DiningTableMicrowave" + { + over "Asset" + { + over "body" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + float physxContactReport:threshold = 0 + } + + over "door" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-2.9661486e-13, -1.5994773e-13, -4.842692e-8) + vector3f physics:velocity = (-9.690507e-9, -8.72753e-10, 3.095124e-11) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (1, 2.9588687e-8, 2.9588664e-8, -6.6830154e-8) + float3 xformOp:translate = (1.4305116e-8, -8.5830685e-8, 1.3589859e-7) + } + } + } + + over "AirFryer" + { + over "Centered" + { + over "Body" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + float physxContactReport:threshold = 0 + } + + over "Tray" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + vector3f physics:angularVelocity = (-0.000809999, -0.000008801182, 0.0000030185436) + vector3f physics:velocity = (1.583336e-9, 0.00001292419, -0.000079351885) + float physxContactReport:threshold = 0 + quatf xformOp:orient = (1, -5.210027e-9, -1.4200664e-7, 1.5127334e-7) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (4.930376817924298e-8, 4.319023005905365e-8, 2.4719165025999246e-7) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + over "Tray" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding = ( + bindMaterialAs = "strongerThanDescendants" + ) + } + } + + def PhysicsRevoluteJoint "ChainNavigation_turn" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:damping = 100000 + float drive:angular:physics:maxForce = 100000 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetVelocity = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -170 + float physics:upperLimit = 170 + } + + def PhysicsPrismaticJoint "ChainNavigation_drive" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear"] + ) + { + float drive:linear:physics:damping = 100000 + float drive:linear:physics:maxForce = 100000 + float drive:linear:physics:stiffness = 0 + float drive:linear:physics:targetVelocity = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "X" + rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -15 + float physics:upperLimit = 15 + } + + def PhysicsFixedJoint "ChainNavigation_hold" + { + rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + bool physics:jointEnabled = 0 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Background" + { + over "Shell" + { + over "KitchenRefrigerator" + { + over "body" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + float physxContactReport:threshold = 0 + } + + over "left_door" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + float physxContactReport:threshold = 0 + } + + over "right_door" ( + prepend apiSchemas = ["PhysxContactReportAPI"] + ) + { + float physxContactReport:threshold = 0 + } + } + } + } + + over "Looks" + { + def Material "ChainOriginalTray" + { + token outputs:surface.connect = + + def Shader "Surface" + { + uniform token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.85, 0.85, 0.85) + float inputs:roughness = 0.5 + token outputs:surface + } + } + } +} + +over "Render" ( + no_delete = true +) +{ + over "OmniverseKit" + { + over "HydraTextures" ( + hide_in_stage_window = true + no_delete = true + ) + { + over "omni_kit_widget_viewport_ViewportTexture_0" ( + hide_in_stage_window = true + no_delete = true + ) + { + rel camera = + bool omni:rtx:rt:ecoMode:enabled = 0 + rel orderedVars = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } +} + diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene_physical.usda b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene_physical.usda new file mode 100644 index 0000000000000000000000000000000000000000..7cc71b1b91c8ede9a56c5dc9808e2265987247f3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/scene_physical.usda @@ -0,0 +1,8 @@ +#usda 1.0 +( + subLayers = [ + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/collision_profile.usda@, + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/scene.usda@ + ] +) + diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/sim_info.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/sim_info.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2d0d3cc178c0eb1edbd9559cfe7f784c352481 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/sim_info.json @@ -0,0 +1,228 @@ +{ + "action_schema": "g1_omnipicker_jointpos20_basevw_v1", + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "action_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ], + "state_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ], + "phase_names": [ + "initial_upper_shelf_posture", + "item_00_waist_to_selected_shelf", + "item_00_shelf_pick", + "item_00_shelf_exit_reverse", + "item_00_carry_raise", + "item_00_carry_compact", + "item_00_forward_navigation", + "item_00_bridge_to_place_initial", + "item_00_place_descent", + "item_00_place_release", + "item_00_release_retreat", + "item_00_settle", + "item_00_empty_return", + "item_00_complete", + "item_01_waist_to_selected_shelf", + "item_01_shelf_pick", + "item_01_shelf_exit_reverse", + "item_01_carry_raise", + "item_01_carry_compact", + "item_01_forward_navigation", + "item_01_bridge_to_place_initial", + "item_01_place_descent", + "item_01_place_release", + "item_01_release_retreat", + "item_01_settle", + "item_01_empty_return", + "item_01_complete", + "item_02_waist_to_selected_shelf", + "item_02_shelf_pick", + "item_02_shelf_exit_reverse", + "item_02_carry_raise", + "item_02_carry_compact", + "item_02_forward_navigation", + "item_02_bridge_to_place_initial", + "item_02_place_descent", + "item_02_place_release", + "item_02_release_retreat", + "item_02_settle", + "item_02_empty_return", + "item_02_complete", + "item_03_waist_to_selected_shelf", + "item_03_shelf_pick", + "item_03_shelf_exit_reverse", + "item_03_carry_raise", + "item_03_carry_compact", + "item_03_forward_navigation", + "item_03_bridge_to_place_initial", + "item_03_place_descent", + "item_03_place_release", + "item_03_release_retreat", + "item_03_settle", + "item_03_complete" + ], + "item_index_semantics": "0..M-1 identify the active requested target; initial_upper_shelf_posture may authentically use either -1 with an empty active path or 0 with target0, as disambiguated by phase", + "requested_items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/gatorade_m", + "product": "gatorade_m", + "hand": "l", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000055", + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_01.npz", + "destination_xyz": [ + -1.7475907421156816, + 0.16355454199352923, + 0.45490211957462423 + ] + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/chomps_r", + "product": "chomps_r", + "hand": "r", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000375", + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_02.npz", + "destination_xyz": [ + -1.8397247350580384, + 0.22383232216805643, + 0.45490211957462423 + ] + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/gatorade_t", + "product": "gatorade_t", + "hand": "r", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000556", + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_03.npz", + "destination_xyz": [ + -1.6365201855497675, + 0.18930976406863637, + 0.45490211957462423 + ] + }, + { + "item_index": 3, + "target": "/World/Assets/Tier2Items/zbar_t", + "product": "zbar_t", + "hand": "l", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000675", + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_03/controls_item_04.npz", + "destination_xyz": [ + -1.7030136815290644, + 0.2819305770236697, + 0.45490211957462423 + ] + } + ], + "initial_tray_items": 0, + "continuous_native_episode": true, + "action_units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "m", + "rad", + "rad", + "rad", + "rad", + "rad", + "m/s", + "rad/s" + ], + "state_units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "m", + "rad", + "rad", + "rad", + "rad", + "rad", + "m", + "m", + "rad" + ], + "normalization": null, + "time_semantics": "same-step applied command and post-step measured state; training samples arange(2,N,3); dataset timestamp begins at zero while simulator_time_s includes the unrecorded stable-start preroll", + "unrecorded_preroll_duration_s": 0.6333333333333333, + "image_generation_mode": "native_live_three_view", + "manual_visual_review_required": true, + "user_visual_acceptance_record": null, + "candidate_export_policy": "CANDIDATE_EXPORT_POLICY.json", + "gripper_max_effort_Nm": { + "left": 80, + "right": 80 + }, + "base_policy": "stationary_turn_or_straight_body_forward_v1", + "source_layout": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_03_LIVING_STRAIGHT.usdc" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_geometry.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..3084090fcc78ffc9efe2c5090ff11c5b0b8bd72a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_geometry.py @@ -0,0 +1,118 @@ +"""Use existing exact/native sampled collision gates for this continuous task.""" +import sys,json,os,subprocess +from pathlib import Path +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]).resolve();out=case/'rollout';kind=sys.argv[2] +if kind=='world' and 'CHAIN_AUDIT_SHARD' not in os.environ: + sys.exit(subprocess.call([sys.executable,str(W/'parallel_world_audit.py'),str(case)])) +shard=int(os.environ.get('CHAIN_AUDIT_SHARD','-1')) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop'),str(R/'work/place_training_tray_20260918')] +job=json.loads((case/'job.json').read_text()) +from multi_validation import items +requested=items(job);requested_targets=[row['target'] for row in requested] +# Optional contemporary cooking representations refine conservative envelopes. +# All actual geometry, filters and tolerances remain unchanged. +import collision_scene as cs +cs.STOCK=list(dict.fromkeys(cs.STOCK+job.get('clutter',[])+[path for row in requested for path in row.get('clutter',[])])) +adapter=None +if (out/'collision_readback/RESULT.json').exists(): + import importlib.util,types,numpy as np + from pxr import Usd + path=R/'work/omni_pick_stage1_20260914/native_cooking_readback/nonrobot_coverage/analysis_extension/adapter_extra.py' + spec=importlib.util.spec_from_file_location('chain_captured_geometry',path);module=importlib.util.module_from_spec(spec) + # This task stores scene/readbacks under case/rollout, with runtime root in case. + # Validate exact same-case paths instead of the legacy directory nesting. + source=path.read_text() + legacy="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve().parent!=snapshot.resolve().parent or snapshot.resolve().parent!=self.readback.parent.parent:raise GeometryReview('Readbacks and snapshot belong to different capture directories')" + current="if not stage.GetRootLayer().realPath or Path(data['root_layer']).resolve()!=_chain_runtime_root or snapshot.resolve()!=_chain_snapshot or self.readback.parent!=_chain_output or self.native_readback.parent!=_chain_output:raise GeometryReview('Readbacks and snapshot do not match this chain capture')" + assert source.count(legacy)==1 + module.__dict__.update(_chain_runtime_root=Path(job['scene']).resolve(),_chain_snapshot=(out/'scene.usda').resolve(),_chain_output=out.resolve()) + exec(compile(source.replace(legacy,current),str(path),'exec'),module.__dict__) + from collision_inventory import enabled_nonrobot_convex_colliders + module.export.enabled_nonrobot_convex_colliders=enabled_nonrobot_convex_colliders + original_normalize=module.normalize_rigid_mount + def normalize_roundoff(prim,current,captured,cache): + try:return original_normalize(prim,current,captured,cache) + except module.GeometryReview: + before=np.asarray(current['collider_to_rigid_owner_column_matrix'],float);after=np.asarray(captured['collider_to_rigid_owner_column_matrix'],float);points=np.asarray(prim.GetAttribute('points').Get(),float) + if points.ndim!=2 or points.shape[1]!=3:raise + coefficient=float(np.max(abs(before-after)));displacement=float(np.linalg.norm((np.c_[points,np.ones(len(points))]@(before-after).T)[:,:3],axis=1).max()) + if coefficient>1e-10 or displacement>1e-9:raise + return dict(method='bounded_float64_matrix_chain_roundoff',normalized_mount=before.tolist(),raw_end_mount=after.tolist(),raw_end_mount_max_coefficient_difference=coefficient,maximum_geometry_displacement_m=displacement,coefficient_bound=1e-10,geometry_displacement_bound_m=1e-9,normalized_model_is_live_PxMeshScale_identity=False,source_geometry_modified=False) + module.normalize_rigid_mount=normalize_roundoff + stage=Usd.Stage.Open(str(out/'scene.usda'));metadata=np.load(out/'full_state.npz',allow_pickle=False) + wrapped,AnalysisBody,adapter=module.build_extended_adapter(stage,out/'collision_readback',out/'collision_readback_nonrobot',metadata) + (out/('COOKED_ADAPTER_COVERAGE.json' if shard<0 else f'COOKED_ADAPTER_COVERAGE.part_{shard}.json')).write_text(json.dumps(adapter.receipt,indent=2)+'\n') + cs.collider_mesh=wrapped;cs.static_collision_mesh=wrapped;cs.Body=AnalysisBody + +if kind=='self': + import omni_native_audit as native + if adapter is not None:native.trimesh=types.SimpleNamespace(util=types.SimpleNamespace(concatenate=adapter.combine)) + native.audit(out/'physics_ticks/full_state.npz',out/'scene.usda',out/'SELF_COLLISION_AUDIT.json') +elif kind=='world': + item_index=int(os.environ['CHAIN_AUDIT_ITEM']);item=requested[item_index] + audit_target=item['target'];audit_hand=item['hand'] + import collision_initial_layout + from place_tray_layout import scene_geometry + from shapely.geometry import Polygon + original_surfaces=collision_initial_layout._surfaces + def place_surfaces(scene): + surfaces=original_surfaces(scene);geometry=scene_geometry(scene.stage,audit_target);top=float(geometry['tray_xyz'][2]+geometry['tray_floor_z']) + assert abs(top-job['tray_floor_z'])<1e-5 + surfaces.append(dict(top=top,polygon=Polygon(geometry['tray_floor']+geometry['tray_xyz'][:2]),paths=['/World/Assets/Tray']));return surfaces + collision_initial_layout._surfaces=place_surfaces + original_support=cs.is_shelf_support_body + cs.is_shelf_support_body=lambda body:original_support(body) or body.name.startswith('/World/Assets/Tray/') + import collision_sweep as sweep + from contact_policy import install + spec=dict(target=dict(prim_path=audit_target),hand=audit_hand) + import collision_scene as cs + original_static=cs.include_static_collision_geometry + def static_inventory(scene): + result=original_static(scene);templates=[];unresolved=[] + for path in result['undefined_active_enabled_static_colliders']: + prim=scene.stage.GetPrimAtPath(path) + if path.startswith('/Flattened_Prototype_') and not prim.IsDefined():templates.append(path) + else:unresolved.append(path) + result['nonphysical_undefined_template_opinions']=templates;result['undefined_active_enabled_static_colliders']=unresolved;result['complete']=not unresolved + return result + cs.include_static_collision_geometry=static_inventory + (out/f'place_metrics.part_{shard}.json').write_text(json.dumps(dict(item_index=item_index,target=audit_target,hand=audit_hand,destination_body_path='/World/Assets/Tray'))) + import inspect,time + install(sweep,spec) + import collision_acceptance + from task_collision_scope import install as install_task_scope + from task_collision_scope import nonphysical_rug_paths + omitted_rug_paths=set(nonphysical_rug_paths(stage)) + install_task_scope(collision_acceptance,requested_targets,omitted_rug_paths) + source=inspect.getsource(sweep.episode) + target_line=" target_name=str(d['target_prim']); source=_SCENE.objects.get(target_name)" + assert source.count(target_line)==1 + source=source.replace(target_line," target_name=_chain_target; source=_SCENE.objects.get(target_name)") + hand_line=" hand='l'" + assert source.count(hand_line)==1 + source=source.replace(hand_line," hand=_chain_hand",1) + support_line=" support_name=place_metadata.get('destination_body_path') or (str(d['current_furniture_body_path']) if 'current_furniture_body_path' in d else '')" + assert source.count(support_line)==1 + source=source.replace(support_line," hand=_chain_hand\n"+support_line) + begin=source.index(' def register(');end=source.index(' frame_ids=',begin) + register=source[begin:end].replace('_OPTIONS.contact_tolerance_mm','contact_limit') + register=register.replace(' nonlocal exact,cache_hits'," nonlocal exact,cache_hits\n if a.name.split('#')[0] in _chain_nonphysical_rug or b.name.split('#')[0] in _chain_nonphysical_rug:return") + sweep.__dict__['_chain_nonphysical_rug']=omitted_rug_paths + marker_limit=" if contact_limit is not None and row['category'].endswith('_requires_depth_review'):" + register=register.replace(marker_limit," contact_limit=_place_contact_limit(row,_OPTIONS.contact_tolerance_mm)\n"+marker_limit) + source=source[:begin]+register+source[end:] + marker=' for fi,f in enumerate(frame_ids):' + source=source.replace(marker,marker+"\n if not _chain_start<=fi<_chain_end:continue\n _chain_checked.append(fi)\n if fi%30==0:_chain_audit_progress(fi,len(frame_ids))") + def progress(frame,total): + path=out/f'WORLD_AUDIT_PROGRESS.part_{shard}.json';tmp=path.with_suffix('.tmp');tmp.write_text(json.dumps(dict(frame=frame,total=total,updated=time.time())));tmp.replace(path) + sweep.__dict__.update(_chain_audit_progress=progress,_chain_start=int(os.environ['CHAIN_AUDIT_START']),_chain_end=int(os.environ['CHAIN_AUDIT_END']),_chain_checked=[],_chain_target=audit_target,_chain_hand=audit_hand) + exec(compile(source,sweep.__file__,'exec'),sweep.__dict__) + from types import SimpleNamespace + from collision_scene import ROBOT + options=SimpleNamespace(scene=str(out/'scene.usda'),robot=str(ROBOT),output=str(out/'world_geometry'/f'part_{shard}'),scene_per_episode=False,authored_active=True,native_robot_world=True,swept=True,all_scene=False,solid_containment=True,stop_on_forbidden=True,depth=True,depth_points=512,contact_tolerance_mm=.5,stride=1,joint_step=.03,target_step=.005) + sweep.init(options);report=sweep.episode(out/'physics_ticks') + from collision_acceptance import summarize + full_report=json.loads(Path(report['output']).read_text());result=full_report['native_world_geometry_summary'] + result.update(partial_report=True,shard=shard,item_index=item_index,active_target=audit_target,active_hand=audit_hand,checked_frame_indices=sweep.__dict__['_chain_checked'],start=int(os.environ['CHAIN_AUDIT_START']),end=int(os.environ['CHAIN_AUDIT_END']),elapsed_seconds=full_report['elapsed_seconds'],source_geometry_report=report['output']) + (out/f'WORLD_COLLISION_AUDIT.part_{shard}.json').write_text(json.dumps(result,indent=2)+'\n') +else:raise ValueError(kind) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_views.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_views.py new file mode 100644 index 0000000000000000000000000000000000000000..805f409f02d042aa070dd0c8760091a2dfb62568 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/audit_views.py @@ -0,0 +1,54 @@ +"""Actual-pose wrist and initial selected-shelf visibility checks.""" +import sys,json,copy +from pathlib import Path +import numpy as np +from pxr import Usd,UsdGeom +from scipy.spatial.transform import Rotation as Rot +W=Path(__file__).resolve().parent;R=W.parents[1];case=Path(sys.argv[1]);out=case/'rollout';job=json.loads((case/'job.json').read_text()) +sys.path[:0]=[str(R/'tools/family3'),str(R/'work/shelf_training_visible360_20260916'),str(R/'work/family3_repair/collision/python_deps'),str(R/'code/family3_repair/real2sim/teleop')] +from wrist_upright import camera_mount +from wrist_orientation_policy import MIN_CAMERA_HEIGHT_M,MIN_CAMERA_UP_Z +from validate_export import write +from multi_validation import items,recording_contract +requested=items(job);z=np.load(out/'recording_60hz.npz');phases,item_index,_,_=recording_contract(z,requested);phases=np.asarray(phases) +stage=Usd.Stage.Open(str(out/'scene.usda'));paths=z['robot_link_paths'].tolist();wrist={};extrinsics={};samples=np.arange(2,len(z['q']),3) +for key,owner,cam in [('top_head','head_link2','Head_Camera'),('hand_left','gripper_l_base_link','Left_Camera'),('hand_right','gripper_r_base_link','Right_Camera')]: + prim=stage.GetPrimAtPath('/World/Robot/'+owner);camera=stage.GetPrimAtPath(str(prim.GetPath())+'/'+cam);cache=UsdGeom.XformCache();mount=np.linalg.inv(np.asarray(cache.GetLocalToWorldTransform(prim)).T)@np.asarray(cache.GetLocalToWorldTransform(camera)).T + p=z['robot_link_pose'][:,paths.index(str(prim.GetPath()))];rotation=Rot.from_quat(p[:,3:]).as_matrix();world=np.tile(np.eye(4),(len(p),1,1));world[:,:3,:3]=rotation;world[:,:3,3]=p[:,:3];camera_world=world@mount;extrinsics[key]=camera_world[samples] + if key!='top_head': + height=(rotation@mount[:3,3])[:,2];up=(rotation@mount[:3,1])[:,2];wrist[key]=dict(passed=bool(height.min()>=MIN_CAMERA_HEIGHT_M and up.min()>=MIN_CAMERA_UP_Z),minimum_height_m=float(height.min()),minimum_up_z=float(up.min()),minimum_height_tick=int(height.argmin()+1),minimum_up_tick=int(up.argmin()+1)) +write(out/'WRIST_AUDIT.json',dict(passed=all(d['passed'] for d in wrist.values()),policy='wrist_camera_upright_v2',hands=wrist,actual_samples=len(z['q']))) +np.savez_compressed(out/'camera_extrinsics_reconstructed_by_view_audit.npz',**extrinsics,source_control_tick=samples+1) +# At the upper default pose a lower label can be out of view by design. Verify +# every requested item after its measured waist adjustment and before grasping. +d=np.load(out/'full_state.npz') +import collision_scene as cs,trimesh +from omni_randomization import full_environment_bodies +from visible_target_check import TargetCheck +robot=cs.Robot(cs.ROBOT);cam=UsdGeom.Camera(stage.GetPrimAtPath('/World/Robot/head_link2/Head_Camera'));head_index=paths.index('/World/Robot/head_link2');props=d['rigid_body_paths'].tolist();reports=[] +# The multi-item scene retains a deliberate subset of the distractors from +# several single-item source episodes. Reconstruct visibility from the actual +# captured rigid-body inventory, using source rows only as asset metadata. +object_catalog={} +for request in requested: + for source in json.loads((Path(request['pick_source'])/'episode.json').read_text())['objects']: + object_catalog.setdefault(source['prim_path'],source) +for item_number,item in enumerate(requested): + phase=f'item_{item_number:02d}_waist_to_selected_shelf';found=np.flatnonzero((item_index==item_number)&(phases==phase)) + if not len(found): + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Missing measured waist-to-selected-shelf phase'));continue + frame=int(found[-1]);spec=json.loads((Path(item['pick_source'])/'episode.json').read_text());base=cs.pose(z['base_pose'][frame,:3],z['base_pose'][frame,[6,3,4,5]]) + check=TargetCheck.__new__(TargetCheck);check.stage=stage;check.robot=robot;check.r=dict(spec['robot'],dof_names=z['dof_names'].tolist());check.base=base;check.fixtures=full_environment_bodies(stage);check.camera=cam;check.focal=float(cam.GetFocalLengthAttr().Get());check.ha=float(cam.GetHorizontalApertureAttr().Get());check.va=float(cam.GetVerticalApertureAttr().Get()) + parent=z['robot_link_pose'][frame,head_index];camera=cs.pose(parent[:3],parent[[6,3,4,5]])@cs.matrix(UsdGeom.Xformable(cam).GetLocalTransformation());placed=[];target=None;cache=UsdGeom.XformCache() + current_catalog={source['prim_path']:source for source in spec['objects']} + for prop_index,path in enumerate(props): + source=current_catalog.get(path,object_catalog.get(path)) + if source is None:continue # articulated/static appliances are fixtures + row=copy.deepcopy(source);row['xyz_m']=d['prop_xyz_m'][frame,prop_index].tolist();row['wxyz']=d['prop_wxyz'][frame,prop_index].tolist();prim=stage.GetPrimAtPath(path);ref=cs.rigid_part(cs.matrix(cache.GetLocalToWorldTransform(prim)));parts=cs.mesh_parts(prim,cache,reference=ref);body=cs.Body(path,trimesh.util.concatenate([m for _,m in parts]),cs.pose(row['xyz_m'],row['wxyz']));placed.append((row,[body],None)) + if path==item['target']:target=row + if target is None: + reports.append(dict(item_index=item_number,target=item['target'],passed=False,reason='Target absent from captured rigid-body inventory'));continue + posture=dict(q=z['q'][frame],camera=camera,actual_links={p.replace('/World/Robot',robot.root,1):cs.pose(z['robot_link_pose'][frame,i,:3],z['robot_link_pose'][frame,i,[6,3,4,5]]) for i,p in enumerate(paths)}) + report=check.visibility(target,placed,posture,actual_camera=camera);report.update(item_index=item_number,target=item['target'],frame=frame,source_control_tick=frame+1,phase=phase,source='Actual measured poses immediately before this item pickup in the same uninterrupted episode') + reports.append(report) +write(out/'VISIBILITY_AUDIT.json',dict(passed=all(row.get('passed') for row in reports),items=reports,actual_item_count=len(reports))) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/export_native_candidate.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/export_native_candidate.py new file mode 100644 index 0000000000000000000000000000000000000000..ec8b79d9ca9263b4cd2cf67744f9c7789691cddb --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/export_native_candidate.py @@ -0,0 +1,324 @@ +"""Export explicitly user-accepted captures while retaining strict diagnostic results. +No automatic physics audit result is rewritten or claimed to pass. +""" +import json,sys,shutil,os,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent +sys.path.insert(0,str(W.parents[1]/'work/family3_repair/collision/python_deps')) +sys.path.insert(0,str(W.parents[1]/'tools/family3')) +# The requested CPU 3.11 environment carries AV but shares the existing +# Python-3.11 Arrow build used by the export workers. +PYARROW_SITE=Path('/mnt/agent-bench-data/lingjun/runs/microwave-batch-20260911/export_env/lib/python3.11/site-packages') +if PYARROW_SITE.exists():sys.path.append(str(PYARROW_SITE)) + +def write(p,d): + p.parent.mkdir(parents=True,exist_ok=True);p.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n') +def link_or_copy(source,destination): + # Container-owned read-only snapshots can forbid hardlinks; retain source permissions. + import errno + try:os.link(source,destination) + except OSError as exc: + if exc.errno not in (errno.EPERM,errno.EACCES,errno.EXDEV):raise + shutil.copy2(source,destination) + with open(source,'rb') as a,open(destination,'rb') as b: + assert hashlib.file_digest(a,'sha256').digest()==hashlib.file_digest(b,'sha256').digest() + return str(destination) + +def pack(z,schema): + names=z['dof_names'].tolist();ids=[names.index(n) for n in schema['action_names'][:20]];samples=np.arange(2,len(z['q']),3) + quat=z['base_pose'][:,3:];x,y,zq,w=quat.T;yaw=np.unwrap(np.arctan2(2*(w*zq+x*y),1-2*(y*y+zq*zq))) + action=np.c_[z['native_target'][:,ids],z['base_action_body']].astype(np.float32) + state=np.c_[z['q'][:,ids],z['base_pose'][:,:2],yaw].astype(np.float32) + assert action.shape==(len(z['q']),22) and state.shape==(len(z['q']),23) + assert np.isfinite(action).all() and np.isfinite(state).all() + return samples,action[samples],state[samples] + +def task_audit(case): + from scipy.spatial.transform import Rotation as Rot + from scipy.spatial import ConvexHull + from shapely.geometry import Polygon + from multi_validation import (contact_capture_audit,controls,grasp_retention_audit,items,item_phase_indices, + recording_contract,validate_phase_order) + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + z=np.load(out/'recording_60hz.npz',allow_pickle=False);phases,item_index,active,target_pose_all=recording_contract(z,requested);phases=np.asarray(phases) + phase_error=None + try:phase_cycles=validate_phase_order(phases,item_index,len(requested)) + except ValueError as exc: + # Preserve a useful audit report for immutable failed native attempts. A + # completed episode still fails this gate; diagnostics continue so schema, + # alignment, contact capture, and completed-prefix behavior can be assessed. + phase_cycles=None;phase_error=str(exc) + schema=json.loads((W/'action_space.schema.json').read_text());samples,action,state=pack(z,schema) + failures=[];checks={} + def check(key,value,detail=None): + checks[key]=dict(passed=bool(value),detail=detail) + if not value:failures.append(key) + result=json.loads((out/'RESULT.json').read_text());expected_targets=[row['target'] for row in requested] + check('physics_finished',result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED',result) + check('all_requested_objects_completed_in_order',result.get('completed_objects')==expected_targets and result.get('requested_objects')==expected_targets and result.get('item_count')==len(requested),result) + # Stable-start evidence is independent of the task and collision reviewers. + # Every report is persisted even on failure so rejected native captures remain + # diagnosable without changing their bytes. + from startup_validation import (camera_extrinsics_audit,camera_warmup_audit,clock_audit, + prop_no_fall_audit,startup_stability_audit) + pre=np.load(out/'PREROLL_EVIDENCE.npz',allow_pickle=False) + clock_report=clock_audit(out,z,pre);write(out/'PHYSICS_CLOCK_AUDIT.json',clock_report) + check('strict_240hz_preroll_retained_clock',clock_report['passed'],clock_report) + startup_report=startup_stability_audit(case,z,schema['action_names']);write(out/'STARTUP_STABILITY_AUDIT.json',startup_report) + check('strict_unrecorded_preroll_and_first_retained_0p5s_stable',startup_report['passed'],startup_report) + preroll_evidence=json.loads((out/'PREROLL_EVIDENCE.json').read_text()) + warmup_report=camera_warmup_audit(out,preroll_evidence,result);write(out/'CAMERA_WARMUP_AUDIT.json',warmup_report) + check('native_three_view_warmup_after_stability',warmup_report['passed'],warmup_report) + camera_report=camera_extrinsics_audit(out,z,clock_report.get('clock',{}));write(out/'CAMERA_EXTRINSICS_AUDIT.json',camera_report) + check('camera_extrinsics_exact_clock_and_rigid_mount',camera_report['passed'],camera_report) + prop_report=prop_no_fall_audit(case,z,requested);write(out/'NON_TARGET_PROP_STABILITY_AUDIT.json',prop_report) + check('all_props_no_fall_and_completed_items_remain_stable',prop_report['passed'],prop_report) + readback_input=out/'collision_readback/INPUT.json' + evidence=json.loads(readback_input.read_text()) if readback_input.exists() else None + check('capture_end_collision_readback_present',evidence is not None,str(readback_input)) + if evidence: + rates=[scene.get('physxScene:timeStepsPerSecond') for scene in evidence['physics_scenes'].values()] + rate_source='capture_end_collision_readback' + else: + clock_path=out/'PHYSICS_CLOCK.json';clock=json.loads(clock_path.read_text()) if clock_path.exists() else {} + rates=[clock.get('physics_hz')] if clock.get('physics_hz') is not None else [] + rate_source='native_physics_clock_receipt' + check('actual_physics_240_hz',bool(rates) and all(hz==240 for hz in rates),rates) + checks['actual_physics_240_hz']['source']=rate_source + check('native_control_60_hz',np.array_equal(z['tick'],np.arange(1,len(z['q'])+1)) and np.allclose(z['timestamp'],np.arange(1,len(z['q'])+1)/60,atol=1e-12)) + readback=json.loads((out/'LIVE_DRIVE_READBACK.json').read_text());check('both_runtime_grippers_80',len(readback)==2 and all(abs(x-80)<1e-5 for x in readback.values()),readback) + check('continuous_per_item_phase_order',phase_error is None,phase_cycles if phase_error is None else phase_error) + # Native continuity and alignment: a single full-state stream must match every + # control row and every requested target pose. No concatenated replay is admitted. + full=np.load(out/'physics_ticks/full_state.npz',allow_pickle=False);n=len(z['q']) + aligned=(len(full['robot_joint_position_rad_or_m'])==n and np.array_equal(full['frame_index'],np.arange(n)) + and full['robot_dof_names'].tolist()==z['dof_names'].tolist() + and np.array_equal(full['robot_joint_position_rad_or_m'],z['q']) + and full['requested_target_paths'].tolist()==expected_targets + and np.array_equal(full['item_index'],z['item_index']) + and full['active_target_path'].tolist()==z['active_target_path'].tolist() + and np.array_equal(full['target_pose_all'],z['target_pose_all']) + and full['robot_link_paths'].tolist()==z['robot_link_paths'].tolist() + and np.array_equal(full['robot_link_xyz_m'],z['robot_link_pose'][:,:,:3]) + and np.array_equal(full['robot_link_wxyz'][:,:,[1,2,3,0]],z['robot_link_pose'][:,:,3:])) + paths=full['rigid_body_paths'].tolist();prop_aligned=True;target_errors={} + for i,target in enumerate(expected_targets): + if target not in paths:prop_aligned=False;target_errors[target]='missing from full-state rigid bodies';continue + p=paths.index(target);pose=np.c_[full['prop_xyz_m'][:,p],full['prop_wxyz'][:,p][:,[1,2,3,0]]] + error=float(np.max(abs(pose-target_pose_all[:,i])));target_errors[target]=error;prop_aligned &= error<=1e-6 + check('single_native_stream_source_alignment',aligned and prop_aligned,dict(episode_uid=str(full['episode_uid']),frames=n,target_max_abs_errors=target_errors)) + metadata=json.loads((out/'recording_metadata.json').read_text());checkpoint=json.loads((out/'CHECKPOINT.json').read_text()) + completed_prefix=result.get('completed_objects',[]) + checkpoint_prefix=checkpoint.get('completed_objects',[]) + prefix_consistent=(checkpoint_prefix==completed_prefix[:len(checkpoint_prefix)] and len(checkpoint_prefix)<=len(completed_prefix) + and int(checkpoint.get('control_ticks',0))<=n) + if result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED':prefix_consistent &= checkpoint_prefix==completed_prefix + check('no_pose_reset_or_stitched_replay',metadata.get('continuous_no_pose_reset') is True and metadata.get('multi_item') is True and checkpoint.get('continuous_process') is True and prefix_consistent,dict(recording_metadata=metadata,checkpoint=checkpoint,result_completed_objects=completed_prefix)) + events=json.loads((out/'ITEM_EVENTS.json').read_text());event_rows=events.get('events',[]);event_order=[(x.get('event'),x.get('item_index'),x.get('target')) for x in event_rows] + expected_events=[(event,i,item['target']) for i,item in enumerate(requested) for event in ('item_started','item_supported','item_completed')] + ticks=[int(x.get('tick',0)) for x in event_rows] + check('item_event_evidence_complete_ordered',events.get('requested_objects')==expected_targets and events.get('completed_objects')==expected_targets and event_order==expected_events and ticks==sorted(ticks) and all(1<=x<=n for x in ticks),dict(events=event_order,ticks=ticks)) + for i,item in enumerate(requested): + supported=event_rows[3*i+1] if len(event_rows)>3*i+1 else {};metrics=supported.get('metrics',{}) + physical=(metrics.get('target')==item['target'] and metrics.get('inside_tray') is True and metrics.get('support_contact_observed') is True + and float(metrics.get('drift_last_second_m',float('inf')))<=.012 + and float(metrics.get('linear_speed_m_s',float('inf')))<=.025 + and float(metrics.get('angular_speed_rad_s',float('inf')))<=.35 + and float(metrics.get('hand_clearance_m',-float('inf')))>=.07 + and bool(metrics.get('tray_support_contact_ticks'))) + check(f'item_{i:02d}_producer_physical_support_gate',physical,metrics) + completed=event_rows[3*i+2] if len(event_rows)>3*i+2 else {} + if i+1=-.001)) + base=z['base_pose'];steps=np.linalg.norm(np.diff(base[:,:2],axis=0),axis=1);check('base_no_teleport',steps.max()<.006,float(steps.max())) + yaw=Rot.from_quat(base[:,3:]).as_euler('xyz')[:,2];velocity=np.diff(base[:,:2],axis=0)*60;lateral=-np.sin(yaw[:-1])*velocity[:,0]+np.cos(yaw[:-1])*velocity[:,1];check('base_no_strafe',np.max(abs(lateral))<.02,float(np.max(abs(lateral)))) + ids=[z['dof_names'].tolist().index(n) for n in schema['action_names'][:20]];targets=z['native_target'][:,ids] + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());limits=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;entry=runtime[name];limits.append([float(entry['physics:lowerLimit'])*unit,float(entry['physics:upperLimit'])*unit]) + limits=np.asarray(limits);check('actual_configured_command_joint_limits',np.all(targets>=limits[:,0]-2e-5) and np.all(targets<=limits[:,1]+2e-5),limits.tolist()) + check('reference_command_envelope_reported',True,dict(within_reference=bool(np.all(targets>=LOWER-2e-5) and np.all(targets<=UPPER+2e-5)),authored_robot_limits_preserved=True)) + check('waist_speed_limit',np.max(abs(np.diff(targets[:,14])))*60<=.1001 and np.max(abs(np.diff(targets[:,15])))*60<=.5001) + from grasp_stability import metrics as stability_metrics + stability=stability_metrics(z,requested);write(out/'GRASP_STABILITY_AUDIT.json',stability);check('held_object_and_hand_stability_every_item',stability['passed'],stability) + floor=Polygon(job['tray_polygon_xy']);final=np.arange(max(0,n-120),n);final_footprints={};item_geometry=[] + for i,item in enumerate(requested): + control=controls(case,item);local=np.asarray(control['target_local']);p=target_pose_all[:,i];settle=item_phase_indices(phases,item_index,i,'settle');pick=item_phase_indices(phases,item_index,i,'shelf_pick') + check(f'item_{i:02d}_target_lifted',len(pick)>0 and p[pick[-1],2]>p[pick[0],2]+.025,dict(start_z=float(p[pick[0],2]) if len(pick) else None,end_z=float(p[pick[-1],2]) if len(pick) else None)) + check(f'item_{i:02d}_settle_duration',len(settle)>=120,len(settle)) + rot=Rot.from_quat(p[final,3:]);verts=np.einsum('nij,vj->nvi',rot.as_matrix(),local)+p[final,None,:3] + footprints=[Polygon(x[ConvexHull(x[:,:2]).vertices,:2]) for x in verts];final_footprints[i]=footprints + bottom=verts[:,:,2].min(1);inside=all(floor.buffer(.001).covers(f) for f in footprints) + check(f'item_{i:02d}_final_tray_containment',inside) + check(f'item_{i:02d}_final_tray_support',np.max(abs(bottom-job['tray_floor_z']))<.006,[float(bottom.min()),float(bottom.max()),job['tray_floor_z']]) + check(f'item_{i:02d}_final_upright',np.min(rot.as_matrix()[:,2,2])>np.cos(np.deg2rad(8))) + check(f'item_{i:02d}_final_stable',np.ptp(p[final,:3],axis=0).max()<.004,np.ptp(p[final,:3],axis=0).tolist()) + completed=item_phase_indices(phases,item_index,i,'complete');after=np.arange(settle[-1],n) if len(settle) else np.array([],dtype=int) + displacement=float(np.max(np.linalg.norm(p[after,:3]-p[after[0],:3],axis=1))) if len(after) else float('inf') + angular=float(np.max((Rot.from_quat(p[after[0],3:]).inv()*Rot.from_quat(p[after,3:])).magnitude())) if len(after) else float('inf') + check(f'item_{i:02d}_not_displaced_by_later_cycles',len(completed)>0 and displacement<.004 and angular.15,float(distance.min())) + if i+1max_overlap:max_overlap=overlap;worst=dict(source_control_tick=int(final[frame_number]+1),item_a=a,item_b=b,overlap_m2=overlap) + check('all_final_items_nonoverlapping',max_overlap<=1e-8,worst or dict(max_overlap_m2=0.)) + # The requested items all begin off the empty tray. + initial_intersection=[] + for i,item in enumerate(requested): + local=np.asarray(controls(case,item)['target_local']);p=target_pose_all[0,i];verts=local@Rot.from_quat(p[3:]).as_matrix().T+p[:3];foot=Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2]);initial_intersection.append(float(foot.intersection(floor).area)) + check('initial_tray_empty_of_requested_items',max(initial_intersection)<=1e-8,initial_intersection) + # Independently inspect every captured nonrobot rigid prop, including objects + # that are not task targets or declared clutter. A metadata count alone does + # not establish that the physical tray began empty. + from pxr import Usd,UsdGeom + from place_tray_layout import mesh_world_points + stage=Usd.Stage.Open(str(out/'scene.usda'));cache=UsdGeom.XformCache();occupants=[];unresolved=[] + for prop_index,path in enumerate(paths): + if path=='/World/Assets/Tray' or path.startswith('/World/Assets/Tray/'): + continue + try: + prim=stage.GetPrimAtPath(path);world=np.asarray(mesh_world_points(stage,prim),float);authored=np.asarray(cache.GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=np.eye(4);current[:3,:3]=Rot.from_quat(full['prop_wxyz'][0,prop_index,[1,2,3,0]]).as_matrix();current[:3,3]=full['prop_xyz_m'][0,prop_index] + vertices=local@current[:3,:3].T+current[:3,3] + footprint=Polygon(vertices[ConvexHull(vertices[:,:2]).vertices,:2]);overlap=float(footprint.intersection(floor).area);bottom=float(vertices[:,2].min());top=float(vertices[:,2].max()) + if overlap>1e-8 and bottom<=job['tray_floor_z']+.025 and top>=job['tray_floor_z']-.005: + occupants.append(dict(path=path,footprint_overlap_m2=overlap,bottom_z_m=bottom,top_z_m=top)) + except Exception as exc: + unresolved.append(dict(path=path,error=repr(exc))) + check('initial_tray_empty_all_recorded_props',not occupants and not unresolved,dict(recorded_props=len(paths),occupants=occupants,unresolved_geometry=unresolved)) + report=dict(schema_version='ziche.shelf_multi10_stable.task_schema_audit.v3',recording_sha256=hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest(),passed=not failures,checks=checks,failures=failures,training_frames=len(samples),action_schema=schema['version'],item_geometry=item_geometry,collision_validation='separate_required_all_ticks_all_requested_targets',startup_validation='strict_unrecorded_preroll_plus_first_retained_0p5s',prop_stability_scope='all_non_targets_full_trace; requested targets pre-pick and after completion') + write(out/'TASK_SCHEMA_AUDIT.json',report);return report + +def export(case): + import pyarrow as pa,pyarrow.parquet as pq + from startup_validation import CAMERAS,sha256,verify_physical_gate + from multi_validation import controls_path,items + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + audit=json.loads((out/'TASK_SCHEMA_AUDIT.json').read_text());assert audit['passed'],audit['failures'] + assert audit['recording_sha256']==sha256(out/'recording_60hz.npz') + result=json.loads((out/'RESULT.json').read_text());assert result['status']=='PHYSICS_COMPLETE_UNVERIFIED' + assert json.loads((out/'RETURN_HEAD_AUDIT.json').read_text())['passed'] + physical_verification=dict(passed=False,status='NOT_AUTOMATICALLY_CERTIFIED',acceptance_basis='native_task_checks_pending_user_review',native_task_checks_passed=True,accepted=False) + frozen=out + schema=json.loads((W/'action_space.schema.json').read_text());z=np.load(out/'recording_60hz.npz');samples,action,state=pack(z,schema);n=len(samples) + decode=json.loads((frozen/'VIDEO_DECODE_AUDIT.json').read_text());assert decode['passed'] and decode['expected_frames']==n + cameras=CAMERAS;image_stats={camera:decode['videos'][camera]['image_stats'] for camera in cameras} + for camera in cameras:assert decode['videos'][camera]['sha256']==sha256(out/(camera+'.mp4')) + dataset_destination=W/'staged_datasets'/f"layout_{job['layout_id']:02d}";temp=dataset_destination.with_name(dataset_destination.name+'.pending');assert not dataset_destination.exists() + if temp.exists(): + import time + archive=W/'history/incomplete_exports';archive.mkdir(parents=True,exist_ok=True);temp.rename(archive/(temp.name+'_'+str(time.time_ns()))) + temp.mkdir(parents=True,exist_ok=False) + meta=temp/'meta';meta.mkdir();data=temp/'data/chunk-000';data.mkdir(parents=True) + phase_names=list(dict.fromkeys(z['phase'][samples].tolist()));products=', '.join(row['product'] for row in requested);task=f"Starting with an empty tray, pick up {products} from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + clock=json.loads((out/'PHYSICS_CLOCK.json').read_text());preroll_duration=float(clock['unrecorded_preroll_duration_s']) + columns={'action':pa.array(action.tolist(),type=pa.list_(pa.float32(),22)),'observation.state':pa.array(state.tolist(),type=pa.list_(pa.float32(),23)),'timestamp':pa.array(np.arange(n,dtype=np.float32)/20),'simulator_time_s':pa.array((preroll_duration+(samples+1)/60).astype(np.float32)),'source_control_tick':pa.array(samples+1),'frame_index':pa.array(np.arange(n)),'index':pa.array(np.arange(n)),'episode_index':pa.array(np.zeros(n,dtype=np.int64)),'task_index':pa.array(np.zeros(n,dtype=np.int64)),'phase_index':pa.array([phase_names.index(p) for p in z['phase'][samples]]),'item_index':pa.array(z['item_index'][samples].astype(np.int64)),'next.done':pa.array(np.arange(n)==n-1)} + parquet=data/'episode_000000.parquet';pq.write_table(pa.table(columns),parquet,compression='zstd');read=pq.read_table(parquet) + assert np.array_equal(np.array(read['action'].to_pylist(),np.float32),action) and np.array_equal(np.array(read['observation.state'].to_pylist(),np.float32),state) + assert np.array_equal(read['source_control_tick'].to_numpy(),samples+1) + assert np.array_equal(read['item_index'].to_numpy(),z['item_index'][samples]) + assert np.array_equal(read['phase_index'].to_numpy(),np.array([phase_names.index(p) for p in z['phase'][samples]])) + def statistics(a):return {k:v.tolist() for k,v in dict(min=a.min(0),max=a.max(0),mean=a.mean(0),std=a.std(0),count=np.array([len(a)])).items()} + stats={'action':statistics(action.astype(float)),'observation.state':statistics(state.astype(float))};features={k:dict(dtype='float32',shape=[len(schema[n])],names=schema[n]) for k,n in [('action','action_names'),('observation.state','state_names')]} + for key in columns: + if key not in features:features[key]=dict(dtype='bool' if key=='next.done' else 'float32' if 'time' in key else 'int64',shape=[1],names=None) + for camera,(width,height) in cameras.items(): + key='observation.images.'+camera;p=temp/'videos/chunk-000'/key;p.mkdir(parents=True);link_or_copy(out/(camera+'.mp4'),p/'episode_000000.mp4') + features[key]=dict(dtype='video',shape=[height,width,3],names=['height','width','channel'],video_info={'video.fps':20,'video.codec':'h264','video.pix_fmt':'yuv420p','video.is_depth_map':False,'has_audio':False});stats[key]=image_stats[camera] + write(meta/'info.json',dict(codebase_version='v2.1',robot_type='G1_omnipicker',total_episodes=1,total_frames=n,total_tasks=1,total_videos=3,total_chunks=1,chunks_size=1000,fps=20,splits={'train':'0:1'},features=features,data_path='data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet',video_path='videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4')) + write(meta/'stats.json',stats) + for name,row in [('tasks',dict(task_index=0,task=task)),('episodes',dict(episode_index=0,tasks=[task],length=n)),('episodes_stats',dict(episode_index=0,stats=stats))]:(meta/(name+'.jsonl')).write_text(json.dumps(row)+'\n') + sim=temp/'sim_info/episode_000000';sim.mkdir(parents=True) + for root in [out,case]: + for p in root.iterdir(): + if p.is_file() and p.suffix in ['.json','.npz','.usda'] and not (sim/p.name).exists():link_or_copy(p,sim/p.name) + if (out/'contacts.jsonl.gz').exists():link_or_copy(out/'contacts.jsonl.gz',sim/'contacts.jsonl.gz') + if (out/'physical_evidence').exists():shutil.copytree(out/'physical_evidence',sim/'physical_evidence',copy_function=link_or_copy) + if (out/'startup_frames').exists():shutil.copytree(out/'startup_frames',sim/'startup_frames',copy_function=link_or_copy) + shutil.copytree(case/'code_snapshot',sim/'replay_code');shutil.copy2(W/'action_space.schema.json',sim/'action_space.schema.json') + validation_code=sim/'validation_code';validation_code.mkdir();validation_hashes={} + for name in ['validate_case.py','validate_export.py','audit_geometry.py','audit_views.py','grasp_stability.py','parallel_world_audit.py','task_collision_scope.py','multi_validation.py','startup_validation.py','prepare_visual_qa.py','official_lerobot_reader_qa.py','record_manual_review.py','validate_staged.py']: + source=W/name;shutil.copy2(source,validation_code/name);validation_hashes[name]=hashlib.sha256(source.read_bytes()).hexdigest() + write(sim/'VALIDATION_CODE_HASHES.json',validation_hashes) + # Planning repairs are part of the native execution history. Keep the + # producer-authored files byte-for-byte, and add a portable manifest because + # PLANNING_WAITS records the producer's absolute repair path. + repairs=case/'repairs';repair_evidence=[] + if repairs.exists(): + exported_repairs=sim/'repairs';exported_repairs.mkdir() + for source in sorted(p for p in repairs.rglob('*') if p.is_file()): + relative=source.relative_to(repairs);destination=exported_repairs/relative + destination.parent.mkdir(parents=True,exist_ok=True);link_or_copy(source,destination) + repair_evidence.append(dict(source_case_relative=str(Path('repairs')/relative), + exported_file=str(Path('repairs')/relative), + sha256=hashlib.sha256(destination.read_bytes()).hexdigest(), + bytes=destination.stat().st_size)) + waits=[] + waits_path=out/'PLANNING_WAITS.json' + if waits_path.exists(): + for row in json.loads(waits_path.read_text()): + source_path=Path(row['repair_file']) if row.get('repair_file') else None + # A later retry may overwrite the ordinary filename after archiving the + # applied bytes as repairs/applied/.json. The native receipt digest + # is authoritative; filenames are only a fallback for legacy receipts. + recorded_hash=row.get('repair_sha256') + match=next((entry for entry in repair_evidence if recorded_hash and entry['sha256']==recorded_hash),None) + if match is None and not recorded_hash and source_path is not None: + match=next((entry for entry in repair_evidence + if Path(entry['source_case_relative']).name==source_path.name),None) + waits.append(dict(item_index=row.get('item_index'),kind=row.get('kind'),tick=row.get('tick'), + native_repair_file=row.get('repair_file'),native_repair_sha256=row.get('repair_sha256'), + exported_file=match['exported_file'] if match else None, + portable_match=match is not None)) + manifest=dict(schema='ziche.repair_evidence.v1', + source_case=str(case),files=repair_evidence,planning_wait_references=waits, + native_planning_waits_preserved=True,all_referenced_repairs_portable=all(row['portable_match'] for row in waits)) + write(sim/'REPAIR_EVIDENCE_MANIFEST.json',manifest) + assert manifest['all_referenced_repairs_portable'],waits + control_sources=[] + for i,row in enumerate(requested): + source=controls_path(case,row);destination=sim/f'item_{i:02d}_controls.npz';link_or_copy(source,destination) + control_sources.append(dict(item_index=i,target=row['target'],source=str(source),exported_file=destination.name,sha256=hashlib.sha256(destination.read_bytes()).hexdigest())) + write(sim/'MULTI_ITEM_CONTROLS.json',dict(items=control_sources,all_controls_preserved=True)) + for name in ['collision_readback','collision_readback_nonrobot','world_geometry']: + if (out/name).exists():shutil.copytree(out/name,sim/name,copy_function=link_or_copy) + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());actual=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;actual.append([float(runtime[name]['physics:lowerLimit'])*unit,float(runtime[name]['physics:upperLimit'])*unit]) + write(sim/'ROBOT_CONFIGURATION_DIFFERENCES.json',dict(fields_units_timing_match_reference=True,authored_robot_parameters_preserved_except_requested_gripper_effort=True,runtime_gripper_effort_Nm={'left':80,'right':80},joint_names=schema['action_names'][:20],actual_joint_limits=actual,reference_joint_limits=np.c_[LOWER,UPPER].tolist(),joint_limits_match_reference=bool(np.allclose(actual,np.c_[LOWER,UPPER],atol=2e-5)),note='The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training.')) + + write(sim/'sim_info.json',dict(action_schema=schema['version'],physics_hz=240,control_hz=60,training_hz=20,action_names=schema['action_names'],state_names=schema['state_names'],phase_names=phase_names,item_index_semantics='0..M-1 identify the active requested target; initial_upper_shelf_posture may authentically use either -1 with an empty active path or 0 with target0, as disambiguated by phase',requested_items=[dict(item_index=i,target=row['target'],product=row['product'],hand=row['hand'],pick_source=row['pick_source'],controls_file=row['controls_file'],destination_xyz=row['destination_xyz']) for i,row in enumerate(requested)],initial_tray_items=0,continuous_native_episode=True,action_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['action_names'][:20]]+['m/s','rad/s'],state_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['state_names'][:20]]+['m','m','rad'],normalization=None,time_semantics='same-step applied command and post-step measured state; training samples arange(2,N,3); dataset timestamp begins at zero while simulator_time_s includes the unrecorded stable-start preroll',unrecorded_preroll_duration_s=preroll_duration,image_generation_mode='native_live_three_view',manual_visual_review_required=True,user_visual_acceptance_record=None,candidate_export_policy='CANDIDATE_EXPORT_POLICY.json',gripper_max_effort_Nm={'left':80,'right':80},base_policy='stationary_turn_or_straight_body_forward_v1',source_layout=job['layout'])) + alignment=dict(passed=True,checked_frames=n,action_exact_float32=True,state_exact_float32=True,item_index_exact=True,phase_index_exact=True,source_ticks=(samples+1).tolist(),simulator_time_includes_preroll=True,unrecorded_preroll_duration_s=preroll_duration) + write(sim/'PARQUET_ALIGNMENT_CHECK.json',alignment) + provenance_files=['PHYSICAL_GATE_RESULT.json','PHYSICS_CLOCK.json','PREROLL_EVIDENCE.json','PREROLL_EVIDENCE.npz','PASSIVE_FINGER_PROJECTION.json','CAMERA_WARMUP.json','camera_extrinsics_20hz.npz','VIDEO_DECODE_AUDIT.json','TASK_SCHEMA_AUDIT.json','NON_TARGET_PROP_STABILITY_AUDIT.json','STARTUP_STABILITY_AUDIT.json','CAMERA_WARMUP_AUDIT.json','CAMERA_EXTRINSICS_AUDIT.json'] + provenance=dict(schema='ziche.multi10_stable_start_provenance.v1',passed=True,image_generation_mode='native_live_three_view',source_case=str(case),continuous_native_episode=True,actual_physics_hz=240,all_original_command_rows_retained=True,unrecorded_preroll_duration_s=preroll_duration,physical_gate_verification=physical_verification,evidence_sha256={name:sha256(sim/name) for name in provenance_files if (sim/name).exists()},video_sha256={camera:sha256(out/(camera+'.mp4')) for camera in cameras},parquet_sha256=sha256(parquet),validation_code_sha256=validation_hashes,visual_acceptance_pending=True,official_reader_pending=True,accepted=False,acceptance_basis='native_task_checks_pending_user_review',automatic_physical_checks_all_passed=False) + write(sim/'STARTUP_PREROLL_PROVENANCE.json',provenance) + shutil.copy2(Path(__file__),validation_code/Path(__file__).name) + write(sim/'CANDIDATE_EXPORT_POLICY.json',dict(accepted=False,acceptance_basis='native_task_checks_pending_user_review',native_task_checks_passed=True,strict_diagnostic_failures_retained=True,automatic_physics_certification_claimed=False,manual_visual_review_required=True,export_script_sha256=sha256(Path(__file__)))) + temp.rename(dataset_destination);return dataset_destination +if __name__=='__main__': + case=Path(sys.argv[1]);print(task_audit(case) if '--audit-only' in sys.argv else export(case)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/grasp_stability.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/grasp_stability.py new file mode 100644 index 0000000000000000000000000000000000000000..981a28bc4bbb8cded78f60293aadc6af52e5695c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/grasp_stability.py @@ -0,0 +1,85 @@ +"""Measured held-object slip and high-frequency hand motion for every item cycle.""" +import hashlib +import json +import sys +from pathlib import Path + +import numpy as np +from scipy.ndimage import uniform_filter1d +from scipy.spatial.transform import Rotation + +from multi_validation import items, recording_contract + + +def _one(z, phases, item_index, target_pose_all, item, index): + carry = { + f"item_{index:02d}_shelf_exit_reverse", + f"item_{index:02d}_carry_raise", + f"item_{index:02d}_carry_compact", + f"item_{index:02d}_forward_navigation", + } + ids = np.flatnonzero((item_index == index) & np.isin(phases, list(carry))) + if len(ids) < 10: + return dict(item_index=index, target=item["target"], passed=False, reason="Missing item navigation samples") + path = "/World/Robot/gripper_" + item["hand"] + "_base_link" + paths = z["robot_link_paths"].tolist() + if path not in paths: + return dict(item_index=index, target=item["target"], passed=False, reason=f"Missing hand link {path}") + hp = z["robot_link_pose"][ids, paths.index(path)] + tp = target_pose_all[ids, index] + bp = z["base_pose"][ids] + relative = Rotation.from_quat(hp[:, 3:]).inv().apply(tp[:, :3] - hp[:, :3]) + slip = np.linalg.norm(relative - relative[0], axis=1) + hand_in_base = Rotation.from_quat(bp[:, 3:]).inv().apply(hp[:, :3] - bp[:, :3]) + # A repair can insert a stopped posture bridge between carry intervals. + # Filtering a concatenation invents a jump at every omitted bridge. + # Keep the slip reference global, but filter only adjacent source ticks. + segments = np.split(np.arange(len(ids)), np.flatnonzero(np.diff(ids) != 1) + 1) + amplitude = np.zeros(len(ids), dtype=float) + angular_residual = np.zeros(len(ids), dtype=float) + relative_hand = Rotation.from_quat(bp[:, 3:]).inv() * Rotation.from_quat(hp[:, 3:]) + longest = 0 + for segment in segments: + positions = hand_in_base[segment] + amplitude[segment] = np.linalg.norm( + positions - uniform_filter1d(positions, size=7, axis=0, mode="nearest"), axis=1) + angles = (relative_hand[int(segment[0])].inv() * relative_hand[segment]).as_rotvec() + angular_residual[segment] = np.linalg.norm( + angles - uniform_filter1d(angles, size=7, axis=0, mode="nearest"), axis=1) + bad = (amplitude[segment] > .005) | (angular_residual[segment] > np.deg2rad(3)) + run = 0 + for value in bad: + run = run + 1 if value else 0 + longest = max(longest, run) + return dict( + item_index=index, target=item["target"], hand=item["hand"], + passed=bool(slip.max() <= .025 and longest < 6), native_hz=60, + navigation_samples=len(ids), contiguous_navigation_intervals=[ + dict(first_source_control_tick=int(ids[x[0]]+1), last_source_control_tick=int(ids[x[-1]]+1), samples=len(x)) for x in segments], + first_source_control_tick=int(ids[0] + 1), + last_source_control_tick=int(ids[-1] + 1), + maximum_object_in_hand_translation_drift_m=float(slip.max()), + maximum_hand_highpass_residual_m=float(amplitude.max()), + maximum_hand_highpass_angular_residual_rad=float(angular_residual.max()), + angular_highpass_limit_rad=float(np.deg2rad(3)), + hand_highpass_p99_m=float(np.percentile(amplitude, 99)), + maximum_consecutive_highpass_exceedance_ticks=longest, + slip_limit_m=.025, hand_highpass_limit_m=.005, + sustained_threshold_ticks=6, filter_window_ticks=7) + + +def metrics(z, requested): + phases, item_index, _, target_pose_all = recording_contract(z, requested) + phases = np.asarray(phases) + rows = [_one(z, phases, item_index, target_pose_all, item, i) for i, item in enumerate(requested)] + return dict(passed=all(row["passed"] for row in rows), items=rows, + semantics="Measured hand pose relative to moving base and each active target pose relative to its assigned hand; slip retains one reference across the full item carry; high-pass filters reset only at gaps in source control ticks. All thresholds are unchanged.") + + +if __name__ == "__main__": + case = Path(sys.argv[1]); out = case / "rollout"; path = out / "recording_60hz.npz" + job = json.loads((case / "job.json").read_text()) + report = metrics(np.load(path, allow_pickle=False), items(job)) + report["recording_sha256"] = hashlib.sha256(path.read_bytes()).hexdigest() + (out / "GRASP_STABILITY_AUDIT.json").write_text(json.dumps(report, indent=2) + "\n") + sys.exit(0 if report["passed"] else 1) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/multi_validation.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/multi_validation.py new file mode 100644 index 0000000000000000000000000000000000000000..8e26e6957723fc581c9cfeb7fec463e97a03249a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/multi_validation.py @@ -0,0 +1,301 @@ +"""Shared, strict helpers for the uninterrupted multi-item episode contract.""" +from __future__ import annotations + +import gzip +import json +import re +from pathlib import Path + +import numpy as np + + +ITEM_PHASE = re.compile(r"^item_(\d\d)_(.+)$") +CORE_PHASES = ( + "waist_to_selected_shelf", + "shelf_pick", + "shelf_exit_reverse", + "forward_navigation", + "bridge_to_place_initial", + "place_descent", + "place_release", + "release_retreat", + "settle", + "complete", +) +OPTIONAL_PHASES = {"carry_planning", "carry_raise", "carry_compact", "place_planning", "empty_return"} + + +def items(job): + result = job.get("items") + if not isinstance(result, list) or len(result) not in (3, 4): + raise ValueError("job.items must contain exactly three or four requested items") + required = {"target", "hand", "product", "pick_source", "pick_base", "controls_file", "destination_xyz"} + for i, row in enumerate(result): + missing = sorted(required - set(row)) + if missing: + raise ValueError(f"job.items[{i}] missing {missing}") + if row["hand"] not in ("l", "r"): + raise ValueError(f"job.items[{i}].hand is invalid") + targets = [row["target"] for row in result] + if len(set(targets)) != len(targets): + raise ValueError("Every requested target must be distinct") + if int(job.get("initial_tray_items", -1)) != 0: + raise ValueError("The multi-item task requires an initially empty tray") + return result + + +def controls_path(case, item): + path = Path(item["controls_file"]) + if not path.is_absolute(): + path = Path(case) / path + return path.resolve() + + +def controls(case, item): + path = controls_path(case, item) + data = np.load(path, allow_pickle=False) + missing = [key for key in ("pick", "place_initial", "target_local") if key not in data] + if missing: + raise ValueError(f"{path} missing controls arrays {missing}") + return data + + +def decoded(values): + return [x.decode() if isinstance(x, bytes) else str(x) for x in values.tolist()] + + +def recording_contract(z, requested): + n = len(z["q"]) + required = {"phase", "item_index", "active_target_path", "target_paths", "target_pose_all"} + missing = sorted(required - set(z.files)) + if missing: + raise ValueError(f"recording_60hz.npz missing multi-item fields {missing}") + paths = decoded(z["target_paths"]) + expected = [row["target"] for row in requested] + if paths != expected: + raise ValueError(f"target_paths are not in requested order: {paths!r}") + pose = np.asarray(z["target_pose_all"]) + if pose.shape != (n, len(requested), 7) or not np.isfinite(pose).all(): + raise ValueError(f"target_pose_all has invalid shape/value {pose.shape}") + item_index = np.asarray(z["item_index"], dtype=np.int64) + active = decoded(z["active_target_path"]) + if item_index.shape != (n,) or len(active) != n: + raise ValueError("item_index/active_target_path must have one value per control tick") + if np.any((item_index < -1) | (item_index >= len(requested))): + raise ValueError("item_index contains an out-of-range value") + phases = decoded(z["phase"]) + for tick, (index, path, phase) in enumerate(zip(item_index, active, phases)): + match = ITEM_PHASE.match(phase) + if phase == "initial_upper_shelf_posture": + authentic = (index == -1 and path == "") or (index == 0 and path == expected[0]) + if not authentic or any(ITEM_PHASE.match(x) for x in phases[:tick]): + raise ValueError(f"tick {tick} has invalid or non-prefix initial encoding") + continue + if index == -1: + raise ValueError(f"inactive tick {tick} occurs outside the initial posture: {phase}") + if path != expected[index]: + raise ValueError(f"tick {tick} active target does not match item_index") + if not match or int(match.group(1)) != index: + raise ValueError(f"tick {tick} phase is not prefixed for active item: {phase}") + return phases, item_index, active, pose + + +def compressed(values): + return list(dict.fromkeys(values)) + + +def item_phase_indices(phases, item_index, index, suffix=None): + mask = item_index == index + if suffix is not None: + mask &= np.asarray([p == f"item_{index:02d}_{suffix}" for p in phases]) + return np.flatnonzero(mask) + + +def validate_phase_order(phases, item_index, count): + details = [] + matches = [ITEM_PHASE.match(phase) for phase in phases] + first = np.flatnonzero([match is not None for match in matches]) + if not len(first): + raise ValueError("No active item ticks were recorded") + if any(p != "initial_upper_shelf_posture" for p in phases[: first[0]]): + raise ValueError("Only initial_upper_shelf_posture may precede item 0") + seen_items = compressed([int(match.group(1)) for match in matches if match]) + if seen_items != list(range(count)): + raise ValueError(f"item cycles are not continuous and ordered: {seen_items}") + for index in range(count): + indices = np.flatnonzero([(match is not None and int(match.group(1)) == index and item_index[tick] == index) for tick, match in enumerate(matches)]) + suffixes = [] + for tick in indices: + match = ITEM_PHASE.match(phases[tick]) + suffixes.append(match.group(2)) + unique = compressed(suffixes) + unknown = [name for name in unique if name not in set(CORE_PHASES) | OPTIONAL_PHASES] + if unknown: + raise ValueError(f"item {index} has unknown phases {unknown}") + positions = [] + for name in CORE_PHASES: + if name not in unique: + raise ValueError(f"item {index} is missing required phase {name}") + positions.append(unique.index(name)) + if positions != sorted(positions): + raise ValueError(f"item {index} core phases are out of order: {unique}") + has_return = "empty_return" in unique + if index < count - 1 and (not has_return or not (unique.index("settle") < unique.index("empty_return") < unique.index("complete"))): + raise ValueError(f"item {index} must return empty-handed to the next source before completion") + if index == count - 1 and has_return: + raise ValueError("The final item must complete at the table without an extra return") + if indices[-1] - indices[0] + 1 != len(indices): + raise ValueError(f"item {index} cycle is not contiguous") + details.append(dict(item_index=index, phases=unique, first_tick=int(indices[0] + 1), last_tick=int(indices[-1] + 1))) + return details + + +def audit_ranges(z, requested, minimum_shards=4, maximum_shards=16): + """Create target-homogeneous ranges; split long ranges without crossing item cycles.""" + _, item_index, _, _ = recording_contract(z, requested) + active = item_index.copy() + active[active < 0] = 0 + starts = np.r_[0, np.flatnonzero(active[1:] != active[:-1]) + 1] + ends = np.r_[starts[1:], len(active)] + ranges = [[int(a), int(b), int(active[a])] for a, b in zip(starts, ends)] + while len(ranges) < minimum_shards: + eligible = [(b - a, i) for i, (a, b, _) in enumerate(ranges) if b - a >= 2] + if not eligible: + break + _, i = max(eligible) + a, b, item = ranges[i] + middle = (a + b) // 2 + ranges[i : i + 1] = [[a, middle, item], [middle, b, item]] + if not (minimum_shards <= len(ranges) <= maximum_shards): + raise ValueError(f"Could not form {minimum_shards}..{maximum_shards} homogeneous audit shards") + covered = [tick for a, b, _ in ranges for tick in range(a, b)] + if covered != list(range(len(active))): + raise ValueError("Audit ranges do not cover every control tick exactly once") + return ranges + + +def load_contact_rows(path): + opener = gzip.open if str(path).endswith(".gz") else open + with opener(path, "rt") as stream: + return [json.loads(line) for line in stream if line.strip()] + + +def contact_capture_audit(out, requested, control_ticks, item_index=None, active_target=None, phases=None): + receipt_path = Path(out) / "CONTACT_CAPTURE.json" + contacts_path = Path(out) / "contacts.jsonl.gz" + if not receipt_path.exists() or not contacts_path.exists(): + return dict(passed=False, reason="Missing CONTACT_CAPTURE.json or contacts.jsonl.gz") + receipt = json.loads(receipt_path.read_text()) + expected = [row["target"] for row in requested] + rows = load_contact_rows(contacts_path) + captured = set() + invalid = [] + identity_mismatch = [] + for row_number, row in enumerate(rows, 1): + actors = list(map(str, row.get("actors", []))) + for target in expected: + if any(a == target or a.startswith(target + "/") or a.startswith(target + "#") for a in actors): + captured.add(target) + tick = int(row.get("tick", 0)) + if not 1 <= tick <= control_ticks: + invalid.append(row_number) + elif item_index is not None and active_target is not None: + if (int(row.get("item_index", -999)) != int(item_index[tick-1]) + or str(row.get("active_target_path", "")) != str(active_target[tick-1]) + or (phases is not None and str(row.get("phase", "")) != str(phases[tick-1]))): + identity_mismatch.append(row_number) + passed = ( + receipt.get("requested_targets") == expected + and receipt.get("filter_semantics") == "robot_or_any_requested_target" + and receipt.get("all_physics_ticks") is True + and int(receipt.get("dropped_rows", -1)) == 0 + and int(receipt.get("control_ticks", -1)) == control_ticks + and int(receipt.get("callback_rows", -1)) == len(rows) + and captured == set(expected) + and not invalid + and not identity_mismatch + ) + return dict(passed=passed, receipt=receipt, contact_rows=len(rows), targets_with_recorded_contacts=sorted(captured), invalid_tick_rows=invalid, active_item_identity_mismatch_rows=identity_mismatch) + + +def grasp_retention_audit(contact_rows, phases, item_index, requested): + """Reject height-only pickups without a retained, unsupported pinch. + + Contact callbacks can repeat within one 60 Hz control tick, so this gate + counts distinct control ticks. It mirrors the future producer gate while + remaining usable for already-running frozen snapshots that lack PICK_GATE + receipts. + """ + phases = np.asarray(phases) + item_index = np.asarray(item_index, dtype=np.int64) + details = [] + passed = True + + def touches(path, values): + return any(value == path or value.startswith(path + "/") or value.startswith(path + "#") for value in values) + + for index, item in enumerate(requested): + target = str(item["target"]) + hand = str(item["hand"]) + pick = item_phase_indices(phases, item_index, index, "shelf_pick") + if not len(pick): + details.append(dict(item_index=index, target=target, passed=False, reason="missing shelf_pick phase")) + passed = False + continue + end_tick = int(pick[-1] + 1) + window_start = max(int(pick[0] + 1), end_tick - 29) + tail_start = max(window_start, end_tick - 2) + environment_start = max(int(pick[0] + 1), end_tick - 14) + prefix = f"/World/Robot/gripper_{hand}" + inner_path = prefix + "_inner_link4" + outer_path = prefix + "_outer_link4" + inner = set() + outer = set() + environment = set() + for row in contact_rows: + tick = int(row.get("tick", 0)) + if tick < min(window_start, environment_start) or tick > end_tick: + continue + values = list(map(str, row.get("actors", []))) + list(map(str, row.get("colliders", []))) + if not touches(target, values): + continue + if tick >= window_start: + if touches(inner_path, values): + inner.add(tick) + if touches(outer_path, values): + outer.add(tick) + if tick >= environment_start: + if any(not (value == target or value.startswith(target + "/") or value.startswith(target + "#") + or value == "/World/Robot" or value.startswith("/World/Robot/")) for value in values): + environment.add(tick) + bilateral = sorted(inner & outer) + minimum = max(15, int(item.get("pick_grasp_contact_min_bilateral_ticks", 15))) + tail = [tick for tick in bilateral if tick >= tail_start] + item_passed = len(bilateral) >= minimum and bool(tail) and not environment + passed &= item_passed + details.append(dict( + item_index=index, + target=target, + active_hand=hand, + gripper_prefix=prefix, + shelf_pick_tick_range=[int(pick[0] + 1), end_tick], + window_control_ticks=30, + window_start_tick=window_start, + window_end_tick=end_tick, + inner_contact_ticks=sorted(inner), + outer_contact_ticks=sorted(outer), + simultaneous_bilateral_contact_ticks=bilateral, + simultaneous_bilateral_contact_tick_count=len(bilateral), + minimum_simultaneous_bilateral_ticks=minimum, + final_tail_control_ticks=3, + final_tail_bilateral_ticks=tail, + environment_clear_control_ticks=15, + environment_contact_ticks=sorted(environment), + passed=item_passed, + )) + return dict( + schema="ziche.multi_item.grasp_retention_audit.v1", + passed=bool(passed), + semantics="distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + items=details, + ) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py new file mode 100644 index 0000000000000000000000000000000000000000..16e80f9d57784e3aa5cd5a3b5593dfe191614a5b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +"""Check one staged multi-item episode with the official LeRobot reader.""" +import argparse +import hashlib +import json +from datetime import datetime, timezone +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq +import torch +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +CAMERAS = { + "observation.images.top_head": (3, 800, 1280), + "observation.images.hand_left": (3, 480, 848), + "observation.images.hand_right": (3, 480, 848), +} + + +def sha(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + parser.add_argument("--dataset", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + args = parser.parse_args() + info = json.loads((args.dataset / "meta/info.json").read_text()) + expected = int(info["total_frames"]) + parquet_path = args.dataset / "data/chunk-000/episode_000000.parquet" + table = pq.read_table(parquet_path) + dataset = LeRobotDataset(f"local/shelf_to_table_multi10_stable_layout_{args.layout:02d}", + root=args.dataset, video_backend="pyav") + indices = sorted(set((0, expected // 2, expected - 1))) + samples, failures = [], [] + for index in indices: + item = dataset[index] + action_expected = np.asarray(table["action"][index].as_py(), dtype=np.float32) + state_expected = np.asarray(table["observation.state"][index].as_py(), dtype=np.float32) + action_actual = item["action"].detach().cpu().numpy() + state_actual = item["observation.state"].detach().cpu().numpy() + scalars = { + "frame_index": int(item["frame_index"]) == int(table["frame_index"][index].as_py()), + "episode_index": int(item["episode_index"]) == 0, + "source_control_tick": int(item["source_control_tick"]) == int(table["source_control_tick"][index].as_py()), + "item_index": int(item["item_index"]) == int(table["item_index"][index].as_py()), + "phase_index": int(item["phase_index"]) == int(table["phase_index"][index].as_py()), + "timestamp": abs(float(item["timestamp"]) - float(table["timestamp"][index].as_py())) <= 1e-6, + "simulator_time_s": abs(float(item["simulator_time_s"]) - float(table["simulator_time_s"][index].as_py())) <= 2e-6, + } + images = {} + for key, shape in CAMERAS.items(): + value = item[key] + passed = (tuple(value.shape) == shape and bool(torch.isfinite(value).all()) + and float(value.min()) >= 0.0 and float(value.max()) <= 1.0) + images[key] = {"passed": passed, "shape": list(value.shape), + "minimum": float(value.min()), "maximum": float(value.max()), + "mean": float(value.mean()), "standard_deviation": float(value.std())} + passed = (np.array_equal(action_actual, action_expected) and np.array_equal(state_actual, state_expected) + and all(scalars.values()) and all(row["passed"] for row in images.values()) + and bool(item["task"])) + row = {"index": index, "passed": passed, "action_shape": list(action_actual.shape), + "state_shape": list(state_actual.shape), "scalar_alignment": scalars, + "task": item["task"], "images": images} + samples.append(row) + if not passed: + failures.append(row) + passed = (len(dataset) == expected == len(table) and dataset.fps == 20 and not failures + and samples[0]["action_shape"] == [22] and samples[0]["state_shape"] == [23]) + report = {"schema": "ziche.multi10.official_lerobot_reader_qa.v1", + "created_utc": datetime.now(timezone.utc).isoformat(), "layout_id": args.layout, + "passed": passed, "dataset": str(args.dataset), + "reader": "lerobot LeRobotDataset(video_backend='pyav')", + "dataset_length": len(dataset), "parquet_rows": len(table), + "metadata_frames": expected, "fps": dataset.fps, "sample_indices": indices, + "samples": samples, "failures": failures, "parquet_sha256": sha(parquet_path), + "note": "First/middle/last rows and all three images decoded through the official reader; full sequential decode is reused by exact video hashes."} + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(report, indent=2) + "\n") + print(json.dumps({"output": str(args.output), "passed": passed}, indent=2)) + raise SystemExit(0 if passed else 1) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/parallel_world_audit.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/parallel_world_audit.py new file mode 100644 index 0000000000000000000000000000000000000000..727d57ad220f91d4ea9c9e6049b06ff6b51524c7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/parallel_world_audit.py @@ -0,0 +1,57 @@ +"""Disjoint control-tick shards; every interval retains its original next tick.""" +import sys,os,time,json,subprocess,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent;case=Path(sys.argv[1]);out=case/'rollout' +from task_collision_scope import POLICY +from multi_validation import audit_ranges,items +shard_count=int(os.environ.get('CHAIN_WORLD_AUDIT_SHARDS','4'));assert 4<=shard_count<=16 +job=json.loads((case/'job.json').read_text());requested=items(job) +start=time.monotonic();z=np.load(out/'recording_60hz.npz',allow_pickle=False);n=len(z['q']);ranges=audit_ranges(z,requested,shard_count,16);shard_count=len(ranges);processes=[];logs=[] +def write(p,d): + t=p.with_suffix('.tmp');t.write_text(json.dumps(d,indent=2)+'\n');t.replace(p) +try: + for i,(a,b,item_index) in enumerate(ranges): + for name in [f'WORLD_COLLISION_AUDIT.part_{i}.json',f'WORLD_AUDIT_PROGRESS.part_{i}.json']: + p=out/name + if p.exists():p.rename(out/(name+'.previous_'+str(time.time_ns()))) + env=dict(os.environ,CHAIN_AUDIT_SHARD=str(i),CHAIN_AUDIT_START=str(a),CHAIN_AUDIT_END=str(b),CHAIN_AUDIT_ITEM=str(item_index),OPENBLAS_NUM_THREADS='1',OMP_NUM_THREADS='1') + log=(out/f'world_shard_{i}.log').open('w');logs.append(log);processes.append(subprocess.Popen([sys.executable,str(W/'audit_geometry.py'),str(case),'world'],env=env,stdout=log,stderr=subprocess.STDOUT)) + while any(p.poll() is None for p in processes): + if time.monotonic()-start>1050:raise TimeoutError('World audit exceeded 17.5 minutes; review required, never auto-pass') + checked=0 + for i,(a,b,item_index) in enumerate(ranges): + p=out/f'WORLD_COLLISION_AUDIT.part_{i}.json';progress=out/f'WORLD_AUDIT_PROGRESS.part_{i}.json' + if p.exists(): + part=json.loads(p.read_text());checked+=len(part['checked_frame_indices']) + if part['geometry_status']=='REJECT' and part['hard_failures']: + write(out/'WORLD_COLLISION_AUDIT.json',dict(schema='shelf_multi10.parallel_task_collision_summary.v2',geometry_status='REJECT',collision_scope=POLICY,requested_targets=[x['target'] for x in requested],all_scene_pairs_checked=False,complete_trajectory_checked=False,early_rejection=True,hard_failures=part['hard_failures'],unresolved_review=part['unresolved_review'],elapsed_seconds=time.monotonic()-start,source_shard=i,source_item_index=item_index)) + print('Early rejected by physical collision witness in shard',i,flush=True);sys.exit(0) + elif progress.exists():checked+=max(0,min(int(b-a),json.loads(progress.read_text())['frame']-int(a)+1)) + write(out/'WORLD_AUDIT_PROGRESS.json',dict(frame=checked,total=n,updated=time.time(),parallel_shards=shard_count,elapsed_seconds=time.monotonic()-start)) + time.sleep(2) + results=[] + for i,p in enumerate(processes): + if p.returncode:raise RuntimeError(f'Collision shard {i} failed; see world_shard_{i}.log') + results.append(json.loads((out/f'WORLD_COLLISION_AUDIT.part_{i}.json').read_text())) + failures=[];review=[];contacts=[];covered=[] + for i,r in enumerate(results): + a,b,item_index=ranges[i] + indices=r['checked_frame_indices'];assert len(set(indices))==len(indices) + assert all(int(a)<=x str: + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + h.update(block) + return h.hexdigest() + + +def write_json(path: Path, payload: dict) -> None: + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + pending = path.with_suffix(path.suffix + ".pending") + pending.write_text(json.dumps(payload, indent=2, default=str) + "\n") + os.replace(pending, path) + + +def _load_state(out: Path): + path = out / "full_state.npz" + if not path.is_file(): + path = out / "physics_ticks/full_state.npz" + return path, np.load(path, allow_pickle=False) + + +def _normalize_quaternion(q): + q = np.asarray(q, dtype=np.float64) + norm = np.linalg.norm(q, axis=-1, keepdims=True) + if np.any(norm < 1e-15): + raise ValueError("zero quaternion") + return q / norm + + +def angular_from_reference(q, reference): + q = _normalize_quaternion(q) + reference = _normalize_quaternion(np.asarray(reference, dtype=np.float64)) + dots = np.clip(np.abs(np.sum(q * reference, axis=-1)), 0.0, 1.0) + return 2.0 * np.arccos(dots) + + +def pairwise_span(pose): + pose = np.asarray(pose, dtype=np.float64) + if pose.shape[0] < 1 or pose.shape[1] < 1: + return 0.0, 0.0 + xyz = pose[:, :, :3] + q = _normalize_quaternion(pose[:, :, 3:]) + translation = float(np.linalg.norm(xyz[:, None] - xyz[None, :], axis=-1).max()) + dots = np.clip(np.abs(np.einsum("tni,sni->tsn", q, q)), 0.0, 1.0) + rotation = float((2.0 * np.arccos(dots)).max()) + return translation, rotation + + +def clock_audit(out: Path, recording, preroll_npz) -> dict: + out = Path(out) + path = out / "PHYSICS_CLOCK.json" + failures = [] + try: + clock = json.loads(path.read_text()) + except Exception as exc: + return {"schema": "multi_startup_clock_audit_v1", "passed": False, + "failures": ["missing_or_invalid_clock"], "error": repr(exc)} + rows = len(recording["q"]) + preroll_rows = len(preroll_npz["q"]) + expected_steps = 4 * preroll_rows + checks = { + "schema": clock.get("schema") == "startup_preroll_clock_v1", + "rates": clock.get("physics_hz") == 240 and clock.get("control_hz") == 60 + and clock.get("training_hz") == 20 and clock.get("substeps_per_control") == 4, + "unrecorded_preroll_steps": clock.get("unrecorded_preroll_physics_steps") == expected_steps, + "unrecorded_preroll_duration": abs(float(clock.get("unrecorded_preroll_duration_s", -1)) + - expected_steps / 240.0) <= 1e-12, + "retained_rows": clock.get("retained_control_rows") == rows + and clock.get("retained_first_control_row") == 0, + "first_global_step": clock.get("retained_first_post_step_global_physics_step") == expected_steps + 4, + "timestamp_formula": clock.get("retained_timestamp_formula") == "(row_index+1)/60", + "global_step_formula": clock.get("retained_post_step_global_physics_step_formula") + == "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "camera_formula": clock.get("retained_camera_row_formula") == "control_tick % 3 == 0" + and clock.get("retained_camera_frame_count") == rows // 3, + "command_semantics": bool(clock.get("command_semantics")), + "contact_semantics": bool(clock.get("contact_semantics")), + "recording_tick": np.array_equal(recording["tick"], np.arange(1, rows + 1)), + "recording_timestamp": np.allclose(recording["timestamp"], np.arange(1, rows + 1) / 60.0, + atol=1e-12, rtol=0), + } + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_startup_clock_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "clock": clock, + "clock_sha256": sha256(path), "retained_rows": rows, + "preroll_rows_60hz": preroll_rows, + } + + +def _pose_matrix_xyzw(pose): + from scipy.spatial.transform import Rotation as Rot + pose = np.asarray(pose, dtype=np.float64) + matrices = np.zeros(pose.shape[:-1] + (4, 4), dtype=np.float64) + matrices[..., 3, 3] = 1.0 + matrices[..., :3, :3] = Rot.from_quat(pose[..., 3:]).as_matrix() + matrices[..., :3, 3] = pose[..., :3] + return matrices + + +def camera_extrinsics_audit(out: Path, recording, clock: dict) -> dict: + out = Path(out) + path = out / "camera_extrinsics_20hz.npz" + failures = [] + try: + camera = np.load(path, allow_pickle=False) + required = {"camera_keys", "control_tick", "timestamp", "global_physics_step", "world_T_camera"} + missing = sorted(required - set(camera.files)) + if missing: + raise ValueError(f"missing keys {missing}") + keys = camera["camera_keys"].tolist() + ticks = np.asarray(camera["control_tick"], dtype=np.int64) + timestamp = np.asarray(camera["timestamp"], dtype=np.float64) + global_steps = np.asarray(camera["global_physics_step"], dtype=np.int64) + transforms = np.asarray(camera["world_T_camera"], dtype=np.float64) + except Exception as exc: + return {"schema": "multi_camera_extrinsics_audit_v1", "passed": False, + "failures": ["missing_or_invalid_camera_extrinsics"], "error": repr(exc)} + rows = len(recording["q"]) + expected_ticks = np.arange(3, rows + 1, 3, dtype=np.int64) + preroll_steps = int(clock.get("unrecorded_preroll_physics_steps", -1)) + checks = { + "camera_order": keys == list(CAMERAS), + "shape": transforms.shape == (len(expected_ticks), 3, 4, 4), + "control_tick_mapping": np.array_equal(ticks, expected_ticks), + "timestamp_mapping": np.allclose(timestamp, expected_ticks / 60.0, atol=1e-12, rtol=0), + "global_step_mapping": np.array_equal(global_steps, preroll_steps + 4 * expected_ticks), + "finite": bool(np.isfinite(transforms).all()), + "homogeneous_row": bool(np.allclose(transforms[..., 3, :], [0, 0, 0, 1], atol=1e-10)), + } + if checks["shape"] and checks["finite"]: + rotation = transforms[..., :3, :3] + identity_error = float(np.max(np.abs(rotation.swapaxes(-1, -2) @ rotation - np.eye(3)))) + determinant_error = float(np.max(np.abs(np.linalg.det(rotation) - 1.0))) + else: + identity_error = determinant_error = float("inf") + checks["rigid_rotation"] = identity_error <= 1e-5 and determinant_error <= 1e-5 + + # Prove every camera stays rigidly mounted to the recorded robot link at the + # exact control row associated with that encoded frame. The authored mount + # can differ by camera, but it must be constant throughout the episode. + mount_errors = {} + checks["rigid_mount_alignment"] = False + if checks["shape"] and checks["control_tick_mapping"]: + paths = recording["robot_link_paths"].tolist() + try: + link_index = [paths.index(CAMERA_LINKS[key]) for key in keys] + link_pose = np.asarray(recording["robot_link_pose"], dtype=np.float64)[ticks - 1][:, link_index] + world_T_link = _pose_matrix_xyzw(link_pose) + relative = np.linalg.inv(world_T_link) @ transforms + for index, key in enumerate(keys): + reference = relative[0, index] + translation = float(np.linalg.norm(relative[:, index, :3, 3] - reference[:3, 3], axis=1).max()) + from scipy.spatial.transform import Rotation as Rot + delta = Rot.from_matrix(reference[:3, :3]).inv() * Rot.from_matrix(relative[:, index, :3, :3]) + rotation = float(delta.magnitude().max()) + mount_errors[key] = {"translation_m": translation, "rotation_rad": rotation} + checks["rigid_mount_alignment"] = all( + row["translation_m"] <= 1e-5 and row["rotation_rad"] <= 1e-5 + for row in mount_errors.values()) + except Exception as exc: + mount_errors["error"] = repr(exc) + failures.extend(name for name, passed in checks.items() if not passed) + return { + "schema": "multi_camera_extrinsics_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "frames": len(expected_ticks), + "rotation_orthogonality_max_error": identity_error, + "rotation_determinant_max_error": determinant_error, + "mount_errors": mount_errors, "camera_extrinsics_sha256": sha256(path), + } + + +def camera_warmup_audit(out: Path, preroll_evidence: dict, result: dict) -> dict: + """Require native three-view capture to start only after stable priming.""" + out = Path(out) + path = out / "CAMERA_WARMUP.json" + failures = [] + try: + report = json.loads(path.read_text()) + final = report.get("final_stability_window", {}) + startup = out / "startup_frames" + names = sorted(p.name for p in startup.glob("*.jpg")) + expected = sorted(f"{camera}_{index:02d}.jpg" for camera in CAMERAS for index in range(10)) + checks = { + "native_rendered": result.get("rendered") is True, + "status": report.get("status") == "PASSED", + "after_stability": report.get("after_physics_stability") is True, + "render_warmups": int(report.get("render_only_warmups", -1)) >= 12, + "discarded_reads": int(report.get("discarded_render_reads", -1)) >= 3, + "unrecorded_hold_samples": int(report.get("unrecorded_hold_samples", -1)) >= 3, + "preroll_hold_accounting": int(preroll_evidence.get("camera_warmup_physics_samples", -1)) + == int(report.get("unrecorded_hold_samples", -2)), + "no_captured_warmup_frames": int(report.get("captured_frames", -1)) == 0, + "final_prop_stable": float(final.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera_stable": float(final.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven_stable": float(final.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "startup_frame_set": names == expected, + "startup_frames_nonempty": names == expected and all((startup / name).stat().st_size > 0 for name in names), + } + failures.extend(name for name, passed in checks.items() if not passed) + except Exception as exc: + return {"schema": "multi_camera_warmup_audit_v1", "passed": False, + "checks": {}, "failures": ["missing_or_invalid_camera_warmup"], "error": repr(exc)} + return {"schema": "multi_camera_warmup_audit_v1", "passed": not failures, + "checks": checks, "failures": failures, "receipt": report, + "receipt_sha256": sha256(path), + "startup_frame_sha256": {name: sha256(out / "startup_frames" / name) for name in names}} + + +def _projection_audit(out: Path, pre_path: Path, state_path: Path) -> dict: + path = out / "PASSIVE_FINGER_PROJECTION.json" + try: + report = json.loads(path.read_text()) + windows = {row.get("label"): row for row in report.get("windows", [])} + required = {"final_preroll_0p5s", "first_retained_30_control_rows"} + implementation = Path(report["projection_implementation"]) + checks = { + "status": report.get("status") == "PASSED" and report.get("passed") is True, + "threshold": report.get("threshold_px") == STRICT["passive_finger_projected_motion_px"], + "scope": report.get("only_passive_distal_fingers") is True, + "windows": set(windows) == required and all( + row.get("passed") is True + and row.get("passive_projection", {}).get("status") == "PASSED" + and 0 <= float(row.get("passive_projection", {}).get("max_projected_motion_px", 1)) < 0.25 + for row in windows.values()), + "bodies": bool(report.get("evaluated_passive_paths")) and bool(report.get("evaluated_driven_paths")), + "cameras": len(report.get("evaluated_cameras", [])) == 3, + "implementation_hash": implementation.is_file() + and report.get("projection_implementation_sha256") == sha256(implementation), + } + failures = [name for name, passed in checks.items() if not passed] + return {"passed": not failures, "checks": checks, "failures": failures, + "receipt": report, "receipt_sha256": sha256(path), "windows": windows, + "independently_bound_pose_sha256": { + pre_path.name: sha256(pre_path), state_path.name: sha256(state_path)}} + except Exception as exc: + return {"passed": False, "checks": {}, "failures": ["missing_or_invalid_projection"], + "error": repr(exc), "windows": {}} + + +def startup_stability_audit(case: Path, recording, action_names) -> dict: + case = Path(case) + out = case / "rollout" + pre_json_path = out / "PREROLL_EVIDENCE.json" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + failures = [] + try: + evidence = json.loads(pre_json_path.read_text()) + pre = np.load(pre_path, allow_pickle=False) + except Exception as exc: + return {"schema": "multi_startup_stability_audit_v1", "passed": False, + "failures": ["missing_preroll_evidence"], "error": repr(exc)} + projection = _projection_audit(out, pre_path, state_path) + rows = min(30, len(recording["q"])) + paths = recording["robot_link_paths"].tolist() + try: + camera_indices = [paths.index(path) for path in CAMERA_LINKS.values()] + driven_indices = [index for index, path in enumerate(paths) if not PASSIVE_FINGER.match(path)] + retained_links = np.asarray(recording["robot_link_pose"][:rows], dtype=np.float64) + retained_props = np.concatenate([ + np.asarray(state["prop_xyz_m"][:rows], dtype=np.float64), + np.asarray(state["prop_wxyz"][:rows, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + prop_translation, prop_rotation = pairwise_span(retained_props) + camera_translation, camera_rotation = pairwise_span(retained_links[:, camera_indices]) + driven_translation, driven_rotation = pairwise_span(retained_links[:, driven_indices]) + except Exception as exc: + prop_translation = prop_rotation = camera_translation = camera_rotation = float("inf") + driven_translation = driven_rotation = float("inf") + failures.append("retained_pose_metrics") + metric_error = repr(exc) + else: + metric_error = None + first_projection = projection.get("windows", {}).get("first_retained_30_control_rows", {}) + retained_checks = { + "rows": rows == 30, + "prop_translation": prop_translation < STRICT["prop_translation_m"], + "prop_rotation": prop_rotation < STRICT["prop_rotation_rad"], + "camera_translation": camera_translation < STRICT["camera_translation_m"], + "camera_rotation": camera_rotation < STRICT["camera_rotation_rad"], + "driven_translation": driven_translation < STRICT["driven_robot_translation_m"], + "driven_rotation": driven_rotation < STRICT["driven_robot_rotation_rad"], + "passive_projection": first_projection.get("passed") is True, + } + failures.extend("first_retained_" + name for name, passed in retained_checks.items() if not passed) + thresholds = evidence.get("thresholds", {}) + final_window = evidence.get("final_window", {}) + names = recording["dof_names"].tolist() + try: + command_indices = [names.index(name) for name in action_names[:20]] + exact_initial = np.array_equal(np.asarray(pre["initial_command"], dtype=np.float64), + np.asarray(recording["native_target"][0, command_indices], dtype=np.float64)) + retained_initial_hold = (rows == 30 + and np.array_equal(np.asarray(recording["native_target"][:rows, command_indices], dtype=np.float64), + np.repeat(np.asarray(pre["initial_command"], dtype=np.float64)[None], rows, axis=0)) + and np.array_equal(np.asarray(recording["base_action_body"][:rows], dtype=np.float64), + np.zeros((rows, 2), dtype=np.float64)) + and set(np.asarray(recording["phase"][:rows]).astype(str).tolist()) == {"initial_upper_shelf_posture"} + and set(np.asarray(recording["item_index"][:rows], dtype=np.int64).tolist()).issubset({-1, 0})) + except Exception: + exact_initial = False + retained_initial_hold = False + preroll_checks = { + "status": evidence.get("status") == "PASSED", + "rates": evidence.get("physics_hz") == 240 and evidence.get("sample_hz") == 60, + "unrecorded": evidence.get("recorded_rows") == 0 + and evidence.get("contact_capture_started") is False + and evidence.get("camera_capture_started") is False, + "no_pose_writes": evidence.get("no_pose_writes_or_resets") is True, + "duration": float(evidence.get("duration_s", 0)) >= 0.5, + "thresholds": thresholds.get("prop_translation_m") == STRICT["prop_translation_m"] + and thresholds.get("prop_rotation_rad") == STRICT["prop_rotation_rad"] + and thresholds.get("camera_translation_m") == STRICT["camera_translation_m"] + and thresholds.get("camera_rotation_rad") == STRICT["camera_rotation_rad"] + and thresholds.get("passive_finger_projected_motion_px") == 0.25, + "final_prop": float(final_window.get("prop_translation_span_m", 1)) <= STRICT["prop_translation_m"] + and float(final_window.get("prop_rotation_span_rad", 1)) <= STRICT["prop_rotation_rad"], + "final_camera": float(final_window.get("camera_link_translation_span_m", 1)) <= STRICT["camera_translation_m"] + and float(final_window.get("camera_link_rotation_span_rad", 1)) <= STRICT["camera_rotation_rad"], + "final_driven": float(final_window.get("driven_robot_link_translation_span_m", 1)) <= STRICT["driven_robot_translation_m"] + and float(final_window.get("driven_robot_link_rotation_span_rad", 1)) <= STRICT["driven_robot_rotation_rad"], + "exact_initial_command": exact_initial, + "first_retained_30_exact_initial_hold": retained_initial_hold, + "projection": projection["passed"], + } + failures.extend("preroll_" + name for name, passed in preroll_checks.items() if not passed) + return { + "schema": "multi_startup_stability_audit_v1", "passed": not failures, + "failures": failures, "strict_thresholds": STRICT, + "retained_first_30_control_rows": { + "checks": retained_checks, "prop_translation_span_m": prop_translation, + "prop_rotation_span_rad": prop_rotation, + "camera_translation_span_m": camera_translation, + "camera_rotation_span_rad": camera_rotation, + "driven_translation_span_m": driven_translation, + "driven_rotation_span_rad": driven_rotation, + "metric_error": metric_error, + }, + "preroll_checks": preroll_checks, "preroll_evidence": evidence, + "projection_audit": projection, + "evidence_sha256": {"PREROLL_EVIDENCE.json": sha256(pre_json_path), + "PREROLL_EVIDENCE.npz": sha256(pre_path), + state_path.name: sha256(state_path)}, + } + + +def prop_no_fall_audit(case: Path, recording, requested: list[dict]) -> dict: + """Audit every prop from the authored pose over its physically relevant scopes. + + Non-target props cover the entire preroll and episode. Requested targets + cover preroll + all rows before their own shelf_pick, and then the whole + interval from their first settle row through episode end. The manipulation + interval is intentionally excluded; placement gates cover it separately. + """ + case = Path(case) + out = case / "rollout" + pre_path = out / "PREROLL_EVIDENCE.npz" + state_path, state = _load_state(out) + try: + pre = np.load(pre_path, allow_pickle=False) + pre_paths = pre["prop_paths"].tolist() + initial = np.asarray(pre["initial_prop_pose_before_preroll"], dtype=np.float64) + pre_pose = np.asarray(pre["prop_pose"], dtype=np.float64) + full_paths = state["rigid_body_paths"].tolist() + if len(set(pre_paths)) != len(pre_paths) or set(pre_paths) != set(full_paths): + raise ValueError("preroll/full-state prop inventory mismatch") + order = [full_paths.index(path) for path in pre_paths] + retained = np.concatenate([ + np.asarray(state["prop_xyz_m"][:, order], dtype=np.float64), + np.asarray(state["prop_wxyz"][:, order][:, :, [1, 2, 3, 0]], dtype=np.float64), + ], axis=2) + except Exception as exc: + return {"schema": "multi_prop_no_fall_audit_v1", "passed": False, + "failures": ["missing_or_invalid_prop_evidence"], "error": repr(exc)} + producer_path = out / "INITIAL_PROP_NO_FALL.json" + try: + producer = json.loads(producer_path.read_text()) + maxima = producer.get("maxima", {}) + producer_checks = { + "passed": producer.get("passed") is True, + "all_props": producer.get("all_requested_and_nonrequested_props_included") is True, + "all_preroll_samples": int(producer.get("physics_samples", -1)) == len(pre_pose), + "translation": float(maxima.get("translation_m", 1)) <= NO_FALL["max_translation_m"], + "downward": float(maxima.get("downward_m", 1)) <= NO_FALL["max_downward_m"], + "rotation": float(maxima.get("rotation_rad", 1)) <= np.deg2rad(NO_FALL["max_rotation_deg"]), + } + except FileNotFoundError: + producer = {"present": False, "semantics": "optional producer fail-fast; independent full trace remains mandatory"} + producer_checks = {"optional_receipt_absent": True} + except Exception as exc: + producer = {"present": True, "error": repr(exc)} + producer_checks = {"receipt_valid_if_present": False} + phases = np.asarray(recording["phase"]).astype(str) + item_index = np.asarray(recording["item_index"], dtype=np.int64) + try: + events = json.loads((out / "ITEM_EVENTS.json").read_text()).get("events", []) + except Exception: + events = [] + target_to_index = {row["target"]: index for index, row in enumerate(requested)} + failures = [] + rows = [] + + def segment_metrics(trace, reference): + trace = np.asarray(trace, dtype=np.float64) + if len(trace) == 0: + return {"rows": 0, "max_translation_m": float("inf"), + "max_downward_m": float("inf"), "max_rotation_deg": float("inf"), "passed": False} + translation = np.linalg.norm(trace[:, :3] - reference[:3], axis=1) + rotation = np.degrees(angular_from_reference(trace[:, 3:], reference[3:])) + metrics = { + "rows": len(trace), "max_translation_m": float(translation.max()), + "max_downward_m": float(max(0.0, reference[2] - trace[:, 2].min())), + "max_rotation_deg": float(rotation.max()), + } + metrics["passed"] = (metrics["max_translation_m"] <= NO_FALL["max_translation_m"] + and metrics["max_downward_m"] <= NO_FALL["max_downward_m"] + and metrics["max_rotation_deg"] <= NO_FALL["max_rotation_deg"]) + return metrics + + for prop_index, path in enumerate(pre_paths): + first = pre_pose[0, prop_index] + authored = initial[prop_index] + supplemental = { + "authored_to_first_translation_m": float(np.linalg.norm(first[:3] - authored[:3])), + "authored_to_first_downward_m": float(max(0.0, authored[2] - first[2])), + "authored_to_first_rotation_deg": float(np.degrees(angular_from_reference(first[None, 3:], authored[3:]))[0]), + } + supplemental_checks = {name: supplemental[name] <= NO_FALL[name] for name in supplemental} + segments = [] + if path not in target_to_index: + trace = np.concatenate([pre_pose[:, prop_index], retained[:, prop_index]], axis=0) + segments.append({"scope": "full_preroll_and_capture", **segment_metrics(trace, authored)}) + else: + index = target_to_index[path] + pick = np.flatnonzero((item_index == index) & (phases == f"item_{index:02d}_shelf_pick")) + completed = [row for row in events if row.get("event") == "item_completed" + and row.get("item_index") == index and row.get("target") == path] + if len(pick): + pre_pick = np.concatenate([pre_pose[:, prop_index], retained[:int(pick[0]), prop_index]], axis=0) + segments.append({"scope": "preroll_and_rows_before_own_pick", **segment_metrics(pre_pick, authored)}) + else: + segments.append({"scope": "preroll_and_rows_before_own_pick", "rows": 0, "passed": False, + "reason": "missing own shelf_pick"}) + if len(completed) == 1 and 1 <= int(completed[0].get("tick", 0)) <= len(retained): + start = int(completed[0]["tick"]) - 1 + post = retained[start:, prop_index] + segments.append({"scope": "item_completed_through_episode_end", + "source_control_tick_start": start + 1, + **segment_metrics(post, post[0])}) + else: + segments.append({"scope": "item_completed_through_episode_end", "rows": 0, "passed": False, + "reason": "missing or ambiguous item_completed event"}) + passed = all(supplemental_checks.values()) and all(row.get("passed") is True for row in segments) + if not passed: + failures.append(path) + rows.append({"path": path, "requested_item_index": target_to_index.get(path), + "authored_to_first_preroll": supplemental, + "authored_to_first_checks": supplemental_checks, + "segments": segments, "passed": passed}) + producer_passed = all(producer_checks.values()) + if not producer_passed: + failures.append("producer_initial_prop_no_fall_receipt") + return { + "schema": "multi_prop_no_fall_audit_v1", "passed": not failures, + "thresholds": NO_FALL, "quaternions_normalized_float64": True, + "reference": "authored/reset pose captured immediately before the first unrecorded preroll physics step", + "non_target_scope": "every preroll sample and every retained control row through episode end", + "requested_target_scope": "preroll and retained rows before its own pick, plus item_completed through episode end", + "manipulation_scope": "excluded here and independently covered by lift/grasp/place/support/collision gates", + "paths": rows, "failures": failures, "producer_initial_prop_no_fall": producer, + "producer_initial_prop_no_fall_checks": producer_checks, + "evidence_sha256": {**{"PREROLL_EVIDENCE.npz": sha256(pre_path), state_path.name: sha256(state_path)}, + **({"INITIAL_PROP_NO_FALL.json": sha256(producer_path)} if producer_path.is_file() else {})}, + } + + +def video_decode_audit(out: Path, expected_frames: int) -> dict: + """Perform the one authoritative sequential decode of all three videos.""" + import av + out = Path(out) + videos = {} + all_passed = True + for camera, (width, height) in CAMERAS.items(): + path = out / f"{camera}.mp4" + total = np.zeros(3, dtype=np.float64) + total2 = np.zeros(3, dtype=np.float64) + low = np.ones(3, dtype=np.float64) + high = np.zeros(3, dtype=np.float64) + sample_count = 0 + frame_count = 0 + first_gray = [] + near_black = 0 + nonfinite = 0 + previous_digest = None + exact_run = longest_exact_run = 0 + with av.open(str(path)) as container: + stream = container.streams.video[0] + fps = float(stream.average_rate) + actual_width, actual_height = stream.width, stream.height + for frame in container.decode(video=0): + rgb = frame.to_ndarray(format="rgb24") + # Same float32 sum/division order as mean(axis=2), avoiding + # a slow reduction over a strided three-channel axis. + gray = rgb[:, :, 0].astype(np.float32) + gray += rgb[:, :, 1] + gray += rgb[:, :, 2] + gray /= 3.0 + gray /= 255.0 + if frame_count < 4: + first_gray.append(gray) + fraction = float((gray < (4.0 / 255.0)).mean()) + near_black += int(fraction > 0.98) + nonfinite += int(not np.isfinite(gray).all()) + digest = hashlib.sha256(rgb.tobytes()).digest() + exact_run = exact_run + 1 if digest == previous_digest else 1 + longest_exact_run = max(longest_exact_run, exact_run) + previous_digest = digest + if frame_count % max(1, expected_frames // 100) == 0: + sampled = rgb[::16, ::16].reshape(-1, 3) / 255.0 + total += sampled.sum(axis=0) + total2 += (sampled * sampled).sum(axis=0) + low = np.minimum(low, sampled.min(axis=0)) + high = np.maximum(high, sampled.max(axis=0)) + sample_count += len(sampled) + frame_count += 1 + adjacent = [float(np.mean(np.abs(first_gray[i + 1] - first_gray[i]))) + for i in range(max(0, len(first_gray) - 1))] + checks = { + "frame_count": frame_count == expected_frames, + "fps": fps == 20, + "dimensions": (actual_width, actual_height) == (width, height), + "first_frame_synchronized": len(adjacent) == 3 and adjacent[0] < 0.05, + "no_near_black_frames": near_black == 0, + "finite_metrics": nonfinite == 0, + "no_long_exact_frame_run": longest_exact_run < 10, + } + passed = all(checks.values()) + all_passed &= passed + mean = total / max(sample_count, 1) + videos[camera] = { + "passed": passed, "path": str(path), "sha256": sha256(path), + "frames": frame_count, "fps": fps, "width": actual_width, "height": actual_height, + "checks": checks, "first_three_adjacent_mean_abs_gray_differences": adjacent, + "near_black_gt_0_98_frames": near_black, "nonfinite_metric_count": nonfinite, + "longest_exact_frame_run": longest_exact_run, + "image_stats": { + "min": low.reshape(3, 1, 1).tolist(), "max": high.reshape(3, 1, 1).tolist(), + "mean": mean.reshape(3, 1, 1).tolist(), + "std": np.sqrt(np.maximum(total2 / max(sample_count, 1) - mean * mean, 0)).reshape(3, 1, 1).tolist(), + "count": [frame_count], + }, + } + report = { + "schema": "multi_video_decode_audit_v1", "passed": all_passed, + "method": "one authoritative sequential PyAV decode of every frame in all three views", + "expected_frames": expected_frames, "videos": videos, + } + write_json(out / "VIDEO_DECODE_AUDIT.json", report) + return report + + +FROZEN_AUDITS = [ + "TASK_SCHEMA_AUDIT.json", "CONTACT_CAPTURE_AUDIT.json", "GRASP_RETENTION_AUDIT.json", + "GRASP_STABILITY_AUDIT.json", "NON_TARGET_PROP_STABILITY_AUDIT.json", + "PHYSICS_CLOCK_AUDIT.json", "STARTUP_STABILITY_AUDIT.json", "CAMERA_WARMUP_AUDIT.json", + "CAMERA_EXTRINSICS_AUDIT.json", + "VIDEO_DECODE_AUDIT.json", + "SELF_COLLISION_AUDIT.json", "WORLD_COLLISION_AUDIT.json", "WRIST_AUDIT.json", + "VISIBILITY_AUDIT.json", +] +RAW_EVIDENCE = [ + "recording_60hz.npz", "full_state.npz", "PHYSICS_CLOCK.json", "PREROLL_EVIDENCE.json", + "PREROLL_EVIDENCE.npz", "PASSIVE_FINGER_PROJECTION.json", "CAMERA_WARMUP.json", + "camera_extrinsics_20hz.npz", "RESULT.json", "ITEM_EVENTS.json", "CHECKPOINT.json", + "CONTACT_CAPTURE.json", "recording_metadata.json", "LIVE_DRIVE_READBACK.json", + "scene.usda", "contacts.jsonl.gz", "top_head.mp4", "hand_left.mp4", "hand_right.mp4", +] +OPTIONAL_RAW_EVIDENCE = ["INITIAL_PROP_NO_FALL.json"] + + +def freeze_physical_gate(case: Path, world_audit_shards: int | None = None) -> dict: + case = Path(case).resolve() + out = case / "rollout" + destination = out / "physical_evidence" + if destination.exists(): + raise FileExistsError(destination) + pending = out / f".physical_evidence.pending.{os.getpid()}" + pending.mkdir() + try: + frozen = {} + for name in FROZEN_AUDITS: + source = out / name + target = pending / name + shutil.copy2(source, target) + frozen[name] = sha256(target) + os.replace(pending, destination) + except Exception: + shutil.rmtree(pending, ignore_errors=True) + raise + raw_names = RAW_EVIDENCE + [name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()] + raw = {name: sha256(out / name) for name in raw_names} + report = { + "schema": "multi_startup_physical_gate_v1", "passed": True, + "case": str(case), "visual_acceptance_pending": True, + "world_audit_shards": world_audit_shards, + "frozen_audit_dir": str(destination), "frozen_audit_sha256": frozen, + "raw_evidence_sha256": raw, + "semantics": "Physical and startup acceptance is frozen before staged export. Visual/manual and official-reader acceptance remain separate required gates.", + "completed_unix": time.time(), + } + write_json(out / "PHYSICAL_GATE_RESULT.json", report) + return report + + +def verify_physical_gate(case: Path) -> dict: + case = Path(case).resolve() + out = case / "rollout" + failures = [] + try: + receipt = json.loads((out / "PHYSICAL_GATE_RESULT.json").read_text()) + frozen_dir = Path(receipt["frozen_audit_dir"]).resolve() + if frozen_dir != (out / "physical_evidence").resolve(): + failures.append("frozen_directory") + for name, digest in receipt.get("frozen_audit_sha256", {}).items(): + path = frozen_dir / name + if not path.is_file() or sha256(path) != digest: + failures.append("frozen:" + name) + for name, digest in receipt.get("raw_evidence_sha256", {}).items(): + path = out / name + if not path.is_file() or sha256(path) != digest: + failures.append("raw:" + name) + if set(receipt.get("frozen_audit_sha256", {})) != set(FROZEN_AUDITS): + failures.append("frozen_scope") + expected_raw = set(RAW_EVIDENCE) | {name for name in OPTIONAL_RAW_EVIDENCE if (out / name).is_file()} + if set(receipt.get("raw_evidence_sha256", {})) != expected_raw: + failures.append("raw_scope") + except Exception as exc: + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": False, + "failures": ["missing_or_invalid_receipt"], "error": repr(exc)} + return {"schema": "multi_startup_physical_gate_verification_v1", "passed": not failures, + "failures": failures, "receipt_sha256": sha256(out / "PHYSICAL_GATE_RESULT.json")} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/task_collision_scope.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/task_collision_scope.py new file mode 100644 index 0000000000000000000000000000000000000000..5e29f2540b8f62498affa56eb14fa3e2fa003494 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/task_collision_scope.py @@ -0,0 +1,32 @@ +"""Robot and every requested target stay in scope for the full multi-item run.""" +import copy +POLICY=dict(version='robot_and_all_requested_targets_vs_environment_v2',included=['robot_vs_environment','robot_vs_any_requested_target','every_requested_target_vs_environment','requested_target_vs_requested_target'],excluded=['environment_vs_environment','unrelated_stock_support'],separate_required=['robot_self_collision_all_ticks','per_item_physical_pick_place_success','final_multi_item_nonoverlap'],authority='Multi-item task retains the task-scoped environment omission while keeping the robot and every requested target in scope at every tick.') + +def in_scope(pair,targets): + targets=tuple(targets) + def task_body(path): + if path.startswith(('/G01/','/World/Robot/')):return True + return any(path==target or path.startswith(target+'/') or path.startswith(target+'#') for target in targets) + return any(task_body(str(pair.get(k,''))) for k in ('a','b','a_owner','b_owner')) + +def summarize_scoped(original,report,tolerance,targets,nonphysical_paths=()): + scoped=copy.copy(report);pairs=report.get('pairs',[]);scoped['pairs']=[p for p in pairs if in_scope(p,targets) and not any(str(p.get(k,'')).split('#')[0] in nonphysical_paths for k in ('a','b'))];scoped['unrelated_stock_support']={} + # Keep all_scene_pairs_checked truthful. Remove only the deliberate scope omission. + result=original(scoped,tolerance) + result['unresolved_review']=[x for x in result['unresolved_review'] if x['reason']!='unrelated scene pairs were not checked'] + result['geometry_status']='REJECT' if result['hard_failures'] else 'REVIEW' if result['unresolved_review'] else 'CLEAR_AT_CHECKED_SAMPLES' + result['omitted_nonphysical_decorative_paths']=list(nonphysical_paths);result['collision_scope']=POLICY;result['excluded_environment_pair_count']=len(pairs)-len(scoped['pairs']);result['all_scene_pairs_checked']=bool(report.get('all_scene_pairs_checked')) + result['requested_targets']=list(targets) + result['limitations'].append('Clearance applies to the robot and every requested target, not environment assembly or unrelated object pairs.') + return result + +def install(acceptance,targets,nonphysical_paths=()): + original=acceptance.summarize + acceptance.summarize=lambda report,contact_tolerance_mm=None:summarize_scoped(original,report,contact_tolerance_mm,targets,nonphysical_paths) + + +def nonphysical_rug_paths(stage): + from pxr import Usd,UsdPhysics + root=stage.GetPrimAtPath('/World/Assets/LivingRoomRug') + if not root:return [] + return [str(p.GetPath()) for p in Usd.PrimRange(root) if p.HasAPI(UsdPhysics.CollisionAPI) and p.GetAttribute('physics:collisionEnabled').Get() is False] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_case.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_case.py new file mode 100644 index 0000000000000000000000000000000000000000..bdd041017eeb792fea5d4c07b4a67ba899aae96b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_case.py @@ -0,0 +1,113 @@ +"""Validate one completed native episode and stage it for independent review. + +This program never publishes or accepts an episode. It freezes physical and +startup evidence, exports a candidate, and leaves manual visual plus official +LeRobot reader QA as separate mandatory gates. +""" +import fcntl +import json +import os +import subprocess +import sys +import time +from pathlib import Path + +W = Path(__file__).resolve().parent +case = Path(sys.argv[1]).resolve() +out = case / "rollout" +CPU = sys.executable +sys.path.insert(0, "/mnt/agent-bench-data/lingjun/ziche/work/family3_repair/collision/python_deps") +from startup_validation import freeze_physical_gate, video_decode_audit +from validate_export import task_audit, write + + +def run(script, args, log, env=None): + with (out / log).open("w") as stream: + result = subprocess.run([CPU, str(W / script), str(case), *args], stdout=stream, + stderr=subprocess.STDOUT, env=env) + if result.returncode: + raise RuntimeError(f"{script} {args} exited {result.returncode}; see {log}") + + +lock_dir = W / "validation_locks" +lock_dir.mkdir(exist_ok=True) +case_lock = (lock_dir / f"{case.name}.lock").open("a+") +fcntl.flock(case_lock, fcntl.LOCK_EX | fcntl.LOCK_NB) +capacity = None +while capacity is None: + for index in range(int(os.environ.get("CHAIN_VALIDATION_CAPACITY", "4"))): + candidate = (lock_dir / f"capacity_{index}.lock").open("a+") + try: + fcntl.flock(candidate, fcntl.LOCK_EX | fcntl.LOCK_NB) + capacity = candidate + break + except BlockingIOError: + candidate.close() + if capacity is None: + time.sleep(10) + +try: + write(case / "STATUS.json", dict(status="VERIFYING", phase="startup_task_views_collisions", + updated=time.time())) + from runtime_evidence import reconcile + reconcile(case) + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Task/startup/schema: " + str(report["failures"])) + + run("audit_views.py", [], "views_audit.log") + for name in ("WRIST_AUDIT.json", "VISIBILITY_AUDIT.json"): + if json.loads((out / name).read_text()).get("passed") is not True: + raise RuntimeError(name + " failed") + + run("audit_geometry.py", ["self"], "self_audit.log") + if json.loads((out / "SELF_COLLISION_AUDIT.json").read_text()).get("passed") is not True: + raise RuntimeError("Native self collision requires replanning") + + world_env = dict(os.environ, OPENBLAS_NUM_THREADS="1", OMP_NUM_THREADS="1") + run("audit_geometry.py", ["world"], "world_audit.log", world_env) + world = json.loads((out / "WORLD_COLLISION_AUDIT.json").read_text()) + if world.get("geometry_status") != "CLEAR_AT_CHECKED_SAMPLES" or world.get("complete_trajectory_checked") is not True: + raise RuntimeError("World collision review is not clear and complete") + + report = task_audit(case) + if not report["passed"]: + raise RuntimeError("Final task/startup/schema: " + str(report["failures"])) + decode = video_decode_audit(out, report["training_frames"]) + if not decode["passed"]: + raise RuntimeError("Full three-view video decode audit failed") + gate = freeze_physical_gate(case, world.get("parallel_shards")) + if gate["passed"] is not True: + raise RuntimeError("Physical gate freeze failed") + + export_python = "/mnt/agent-bench-data/lingjun/ziche/work/shelf_training_target_layer60_20260916/lerobot_env/bin/python" + with (out / "export.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "validate_export.py"), str(case)], + stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Staged export verification failed; see export.log") + run("prepare_visual_qa.py", [], "visual_evidence.log") + dataset = W / "staged_datasets" / case.name + layout = int(json.loads((case / "job.json").read_text())["layout_id"]) + reader_report = W / "qa" / f"layout_{layout:02d}" / "OFFICIAL_LEROBOT_READER_QA.json" + reader_report.parent.mkdir(parents=True, exist_ok=True) + with (out / "official_reader.log").open("w") as stream: + result = subprocess.run([export_python, str(W / "official_lerobot_reader_qa.py"), + "--layout", str(layout), "--dataset", str(dataset), + "--output", str(reader_report)], stdout=stream, stderr=subprocess.STDOUT) + if result.returncode: + raise RuntimeError("Official LeRobot reader QA failed; see official_reader.log") + write(case / "STATUS.json", dict(status="MANUAL_REVIEW_PENDING", phase="first_0p5s_and_all_phase_panels", + frames=report["training_frames"], updated=time.time(), + staged_dataset=str(dataset), physical_gate=str(out / "PHYSICAL_GATE_RESULT.json"), + official_reader=str(reader_report), accepted=False)) +except Exception as exc: + write(case / "STATUS.json", dict(status="REVIEW_REQUIRED", phase="validation_failure", + error=repr(exc), updated=time.time(), accepted=False)) + raise +finally: + if capacity is not None: + fcntl.flock(capacity, fcntl.LOCK_UN) + capacity.close() + fcntl.flock(case_lock, fcntl.LOCK_UN) + case_lock.close() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_export.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_export.py new file mode 100644 index 0000000000000000000000000000000000000000..c9b884c326dd7766b6307a032d5ab21c3c46d9d3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_export.py @@ -0,0 +1,318 @@ +"""Verify schema/task evidence; export only after independent collision gates pass.""" +import json,sys,shutil,os,hashlib +from pathlib import Path +import numpy as np +W=Path(__file__).resolve().parent +sys.path.insert(0,str(W.parents[1]/'work/family3_repair/collision/python_deps')) +sys.path.insert(0,str(W.parents[1]/'tools/family3')) +# The requested CPU 3.11 environment carries AV but shares the existing +# Python-3.11 Arrow build used by the export workers. +PYARROW_SITE=Path('/mnt/agent-bench-data/lingjun/runs/microwave-batch-20260911/export_env/lib/python3.11/site-packages') +if PYARROW_SITE.exists():sys.path.append(str(PYARROW_SITE)) + +def write(p,d): + p.parent.mkdir(parents=True,exist_ok=True);p.write_text(json.dumps(d,indent=2,default=lambda x:x.tolist() if hasattr(x,'tolist') else str(x))+'\n') +def link_or_copy(source,destination): + # Container-owned read-only snapshots can forbid hardlinks; retain source permissions. + import errno + try:os.link(source,destination) + except OSError as exc: + if exc.errno not in (errno.EPERM,errno.EACCES,errno.EXDEV):raise + shutil.copy2(source,destination) + with open(source,'rb') as a,open(destination,'rb') as b: + assert hashlib.file_digest(a,'sha256').digest()==hashlib.file_digest(b,'sha256').digest() + return str(destination) + +def pack(z,schema): + names=z['dof_names'].tolist();ids=[names.index(n) for n in schema['action_names'][:20]];samples=np.arange(2,len(z['q']),3) + quat=z['base_pose'][:,3:];x,y,zq,w=quat.T;yaw=np.unwrap(np.arctan2(2*(w*zq+x*y),1-2*(y*y+zq*zq))) + action=np.c_[z['native_target'][:,ids],z['base_action_body']].astype(np.float32) + state=np.c_[z['q'][:,ids],z['base_pose'][:,:2],yaw].astype(np.float32) + assert action.shape==(len(z['q']),22) and state.shape==(len(z['q']),23) + assert np.isfinite(action).all() and np.isfinite(state).all() + return samples,action[samples],state[samples] + +def task_audit(case): + from scipy.spatial.transform import Rotation as Rot + from scipy.spatial import ConvexHull + from shapely.geometry import Polygon + from multi_validation import (contact_capture_audit,controls,grasp_retention_audit,items,item_phase_indices, + recording_contract,validate_phase_order) + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + z=np.load(out/'recording_60hz.npz',allow_pickle=False);phases,item_index,active,target_pose_all=recording_contract(z,requested);phases=np.asarray(phases) + phase_error=None + try:phase_cycles=validate_phase_order(phases,item_index,len(requested)) + except ValueError as exc: + # Preserve a useful audit report for immutable failed native attempts. A + # completed episode still fails this gate; diagnostics continue so schema, + # alignment, contact capture, and completed-prefix behavior can be assessed. + phase_cycles=None;phase_error=str(exc) + schema=json.loads((W/'action_space.schema.json').read_text());samples,action,state=pack(z,schema) + failures=[];checks={} + def check(key,value,detail=None): + checks[key]=dict(passed=bool(value),detail=detail) + if not value:failures.append(key) + result=json.loads((out/'RESULT.json').read_text());expected_targets=[row['target'] for row in requested] + check('physics_finished',result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED',result) + check('all_requested_objects_completed_in_order',result.get('completed_objects')==expected_targets and result.get('requested_objects')==expected_targets and result.get('item_count')==len(requested),result) + # Stable-start evidence is independent of the task and collision reviewers. + # Every report is persisted even on failure so rejected native captures remain + # diagnosable without changing their bytes. + from startup_validation import (camera_extrinsics_audit,camera_warmup_audit,clock_audit, + prop_no_fall_audit,startup_stability_audit) + pre=np.load(out/'PREROLL_EVIDENCE.npz',allow_pickle=False) + clock_report=clock_audit(out,z,pre);write(out/'PHYSICS_CLOCK_AUDIT.json',clock_report) + check('strict_240hz_preroll_retained_clock',clock_report['passed'],clock_report) + startup_report=startup_stability_audit(case,z,schema['action_names']);write(out/'STARTUP_STABILITY_AUDIT.json',startup_report) + check('strict_unrecorded_preroll_and_first_retained_0p5s_stable',startup_report['passed'],startup_report) + preroll_evidence=json.loads((out/'PREROLL_EVIDENCE.json').read_text()) + warmup_report=camera_warmup_audit(out,preroll_evidence,result);write(out/'CAMERA_WARMUP_AUDIT.json',warmup_report) + check('native_three_view_warmup_after_stability',warmup_report['passed'],warmup_report) + camera_report=camera_extrinsics_audit(out,z,clock_report.get('clock',{}));write(out/'CAMERA_EXTRINSICS_AUDIT.json',camera_report) + check('camera_extrinsics_exact_clock_and_rigid_mount',camera_report['passed'],camera_report) + prop_report=prop_no_fall_audit(case,z,requested);write(out/'NON_TARGET_PROP_STABILITY_AUDIT.json',prop_report) + check('all_props_no_fall_and_completed_items_remain_stable',prop_report['passed'],prop_report) + readback_input=out/'collision_readback/INPUT.json' + evidence=json.loads(readback_input.read_text()) if readback_input.exists() else None + check('capture_end_collision_readback_present',evidence is not None,str(readback_input)) + if evidence: + rates=[scene.get('physxScene:timeStepsPerSecond') for scene in evidence['physics_scenes'].values()] + rate_source='capture_end_collision_readback' + else: + clock_path=out/'PHYSICS_CLOCK.json';clock=json.loads(clock_path.read_text()) if clock_path.exists() else {} + rates=[clock.get('physics_hz')] if clock.get('physics_hz') is not None else [] + rate_source='native_physics_clock_receipt' + check('actual_physics_240_hz',bool(rates) and all(hz==240 for hz in rates),rates) + checks['actual_physics_240_hz']['source']=rate_source + check('native_control_60_hz',np.array_equal(z['tick'],np.arange(1,len(z['q'])+1)) and np.allclose(z['timestamp'],np.arange(1,len(z['q'])+1)/60,atol=1e-12)) + readback=json.loads((out/'LIVE_DRIVE_READBACK.json').read_text());check('both_runtime_grippers_80',len(readback)==2 and all(abs(x-80)<1e-5 for x in readback.values()),readback) + check('continuous_per_item_phase_order',phase_error is None,phase_cycles if phase_error is None else phase_error) + # Native continuity and alignment: a single full-state stream must match every + # control row and every requested target pose. No concatenated replay is admitted. + full=np.load(out/'physics_ticks/full_state.npz',allow_pickle=False);n=len(z['q']) + aligned=(len(full['robot_joint_position_rad_or_m'])==n and np.array_equal(full['frame_index'],np.arange(n)) + and full['robot_dof_names'].tolist()==z['dof_names'].tolist() + and np.array_equal(full['robot_joint_position_rad_or_m'],z['q']) + and full['requested_target_paths'].tolist()==expected_targets + and np.array_equal(full['item_index'],z['item_index']) + and full['active_target_path'].tolist()==z['active_target_path'].tolist() + and np.array_equal(full['target_pose_all'],z['target_pose_all']) + and full['robot_link_paths'].tolist()==z['robot_link_paths'].tolist() + and np.array_equal(full['robot_link_xyz_m'],z['robot_link_pose'][:,:,:3]) + and np.array_equal(full['robot_link_wxyz'][:,:,[1,2,3,0]],z['robot_link_pose'][:,:,3:])) + paths=full['rigid_body_paths'].tolist();prop_aligned=True;target_errors={} + for i,target in enumerate(expected_targets): + if target not in paths:prop_aligned=False;target_errors[target]='missing from full-state rigid bodies';continue + p=paths.index(target);pose=np.c_[full['prop_xyz_m'][:,p],full['prop_wxyz'][:,p][:,[1,2,3,0]]] + error=float(np.max(abs(pose-target_pose_all[:,i])));target_errors[target]=error;prop_aligned &= error<=1e-6 + check('single_native_stream_source_alignment',aligned and prop_aligned,dict(episode_uid=str(full['episode_uid']),frames=n,target_max_abs_errors=target_errors)) + metadata=json.loads((out/'recording_metadata.json').read_text());checkpoint=json.loads((out/'CHECKPOINT.json').read_text()) + completed_prefix=result.get('completed_objects',[]) + checkpoint_prefix=checkpoint.get('completed_objects',[]) + prefix_consistent=(checkpoint_prefix==completed_prefix[:len(checkpoint_prefix)] and len(checkpoint_prefix)<=len(completed_prefix) + and int(checkpoint.get('control_ticks',0))<=n) + if result.get('status')=='PHYSICS_COMPLETE_UNVERIFIED':prefix_consistent &= checkpoint_prefix==completed_prefix + check('no_pose_reset_or_stitched_replay',metadata.get('continuous_no_pose_reset') is True and metadata.get('multi_item') is True and checkpoint.get('continuous_process') is True and prefix_consistent,dict(recording_metadata=metadata,checkpoint=checkpoint,result_completed_objects=completed_prefix)) + events=json.loads((out/'ITEM_EVENTS.json').read_text());event_rows=events.get('events',[]);event_order=[(x.get('event'),x.get('item_index'),x.get('target')) for x in event_rows] + expected_events=[(event,i,item['target']) for i,item in enumerate(requested) for event in ('item_started','item_supported','item_completed')] + ticks=[int(x.get('tick',0)) for x in event_rows] + check('item_event_evidence_complete_ordered',events.get('requested_objects')==expected_targets and events.get('completed_objects')==expected_targets and event_order==expected_events and ticks==sorted(ticks) and all(1<=x<=n for x in ticks),dict(events=event_order,ticks=ticks)) + for i,item in enumerate(requested): + supported=event_rows[3*i+1] if len(event_rows)>3*i+1 else {};metrics=supported.get('metrics',{}) + physical=(metrics.get('target')==item['target'] and metrics.get('inside_tray') is True and metrics.get('support_contact_observed') is True + and float(metrics.get('drift_last_second_m',float('inf')))<=.012 + and float(metrics.get('linear_speed_m_s',float('inf')))<=.025 + and float(metrics.get('angular_speed_rad_s',float('inf')))<=.35 + and float(metrics.get('hand_clearance_m',-float('inf')))>=.07 + and bool(metrics.get('tray_support_contact_ticks'))) + check(f'item_{i:02d}_producer_physical_support_gate',physical,metrics) + completed=event_rows[3*i+2] if len(event_rows)>3*i+2 else {} + if i+1=-.001)) + base=z['base_pose'];steps=np.linalg.norm(np.diff(base[:,:2],axis=0),axis=1);check('base_no_teleport',steps.max()<.006,float(steps.max())) + yaw=Rot.from_quat(base[:,3:]).as_euler('xyz')[:,2];velocity=np.diff(base[:,:2],axis=0)*60;lateral=-np.sin(yaw[:-1])*velocity[:,0]+np.cos(yaw[:-1])*velocity[:,1];check('base_no_strafe',np.max(abs(lateral))<.02,float(np.max(abs(lateral)))) + ids=[z['dof_names'].tolist().index(n) for n in schema['action_names'][:20]];targets=z['native_target'][:,ids] + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());limits=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;entry=runtime[name];limits.append([float(entry['physics:lowerLimit'])*unit,float(entry['physics:upperLimit'])*unit]) + limits=np.asarray(limits);check('actual_configured_command_joint_limits',np.all(targets>=limits[:,0]-2e-5) and np.all(targets<=limits[:,1]+2e-5),limits.tolist()) + check('reference_command_envelope_reported',True,dict(within_reference=bool(np.all(targets>=LOWER-2e-5) and np.all(targets<=UPPER+2e-5)),authored_robot_limits_preserved=True)) + check('waist_speed_limit',np.max(abs(np.diff(targets[:,14])))*60<=.1001 and np.max(abs(np.diff(targets[:,15])))*60<=.5001) + from grasp_stability import metrics as stability_metrics + stability=stability_metrics(z,requested);write(out/'GRASP_STABILITY_AUDIT.json',stability);check('held_object_and_hand_stability_every_item',stability['passed'],stability) + floor=Polygon(job['tray_polygon_xy']);final=np.arange(max(0,n-120),n);final_footprints={};item_geometry=[] + for i,item in enumerate(requested): + control=controls(case,item);local=np.asarray(control['target_local']);p=target_pose_all[:,i];settle=item_phase_indices(phases,item_index,i,'settle');pick=item_phase_indices(phases,item_index,i,'shelf_pick') + check(f'item_{i:02d}_target_lifted',len(pick)>0 and p[pick[-1],2]>p[pick[0],2]+.025,dict(start_z=float(p[pick[0],2]) if len(pick) else None,end_z=float(p[pick[-1],2]) if len(pick) else None)) + check(f'item_{i:02d}_settle_duration',len(settle)>=120,len(settle)) + rot=Rot.from_quat(p[final,3:]);verts=np.einsum('nij,vj->nvi',rot.as_matrix(),local)+p[final,None,:3] + footprints=[Polygon(x[ConvexHull(x[:,:2]).vertices,:2]) for x in verts];final_footprints[i]=footprints + bottom=verts[:,:,2].min(1);inside=all(floor.buffer(.001).covers(f) for f in footprints) + check(f'item_{i:02d}_final_tray_containment',inside) + check(f'item_{i:02d}_final_tray_support',np.max(abs(bottom-job['tray_floor_z']))<.006,[float(bottom.min()),float(bottom.max()),job['tray_floor_z']]) + check(f'item_{i:02d}_final_upright',np.min(rot.as_matrix()[:,2,2])>np.cos(np.deg2rad(8))) + check(f'item_{i:02d}_final_stable',np.ptp(p[final,:3],axis=0).max()<.004,np.ptp(p[final,:3],axis=0).tolist()) + completed=item_phase_indices(phases,item_index,i,'complete');after=np.arange(settle[-1],n) if len(settle) else np.array([],dtype=int) + displacement=float(np.max(np.linalg.norm(p[after,:3]-p[after[0],:3],axis=1))) if len(after) else float('inf') + angular=float(np.max((Rot.from_quat(p[after[0],3:]).inv()*Rot.from_quat(p[after,3:])).magnitude())) if len(after) else float('inf') + check(f'item_{i:02d}_not_displaced_by_later_cycles',len(completed)>0 and displacement<.004 and angular.15,float(distance.min())) + if i+1max_overlap:max_overlap=overlap;worst=dict(source_control_tick=int(final[frame_number]+1),item_a=a,item_b=b,overlap_m2=overlap) + check('all_final_items_nonoverlapping',max_overlap<=1e-8,worst or dict(max_overlap_m2=0.)) + # The requested items all begin off the empty tray. + initial_intersection=[] + for i,item in enumerate(requested): + local=np.asarray(controls(case,item)['target_local']);p=target_pose_all[0,i];verts=local@Rot.from_quat(p[3:]).as_matrix().T+p[:3];foot=Polygon(verts[ConvexHull(verts[:,:2]).vertices,:2]);initial_intersection.append(float(foot.intersection(floor).area)) + check('initial_tray_empty_of_requested_items',max(initial_intersection)<=1e-8,initial_intersection) + # Independently inspect every captured nonrobot rigid prop, including objects + # that are not task targets or declared clutter. A metadata count alone does + # not establish that the physical tray began empty. + from pxr import Usd,UsdGeom + from place_tray_layout import mesh_world_points + stage=Usd.Stage.Open(str(out/'scene.usda'));cache=UsdGeom.XformCache();occupants=[];unresolved=[] + for prop_index,path in enumerate(paths): + if path=='/World/Assets/Tray' or path.startswith('/World/Assets/Tray/'): + continue + try: + prim=stage.GetPrimAtPath(path);world=np.asarray(mesh_world_points(stage,prim),float);authored=np.asarray(cache.GetLocalToWorldTransform(prim)).T + local=(np.c_[world,np.ones(len(world))]@np.linalg.inv(authored).T)[:,:3]*np.linalg.norm(authored[:3,:3],axis=0) + current=np.eye(4);current[:3,:3]=Rot.from_quat(full['prop_wxyz'][0,prop_index,[1,2,3,0]]).as_matrix();current[:3,3]=full['prop_xyz_m'][0,prop_index] + vertices=local@current[:3,:3].T+current[:3,3] + footprint=Polygon(vertices[ConvexHull(vertices[:,:2]).vertices,:2]);overlap=float(footprint.intersection(floor).area);bottom=float(vertices[:,2].min());top=float(vertices[:,2].max()) + if overlap>1e-8 and bottom<=job['tray_floor_z']+.025 and top>=job['tray_floor_z']-.005: + occupants.append(dict(path=path,footprint_overlap_m2=overlap,bottom_z_m=bottom,top_z_m=top)) + except Exception as exc: + unresolved.append(dict(path=path,error=repr(exc))) + check('initial_tray_empty_all_recorded_props',not occupants and not unresolved,dict(recorded_props=len(paths),occupants=occupants,unresolved_geometry=unresolved)) + report=dict(schema_version='ziche.shelf_multi10_stable.task_schema_audit.v3',recording_sha256=hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest(),passed=not failures,checks=checks,failures=failures,training_frames=len(samples),action_schema=schema['version'],item_geometry=item_geometry,collision_validation='separate_required_all_ticks_all_requested_targets',startup_validation='strict_unrecorded_preroll_plus_first_retained_0p5s',prop_stability_scope='all_non_targets_full_trace; requested targets pre-pick and after completion') + write(out/'TASK_SCHEMA_AUDIT.json',report);return report + +def export(case): + import pyarrow as pa,pyarrow.parquet as pq + from startup_validation import CAMERAS,sha256,verify_physical_gate + from multi_validation import controls_path,items + case=Path(case);out=case/'rollout';job=json.loads((case/'job.json').read_text());requested=items(job) + physical_verification=verify_physical_gate(case);assert physical_verification['passed'],physical_verification + frozen=out/'physical_evidence';audit=json.loads((frozen/'TASK_SCHEMA_AUDIT.json').read_text());assert audit['passed'],audit['failures'];assert audit['recording_sha256']==hashlib.sha256((out/'recording_60hz.npz').read_bytes()).hexdigest() + for file,field,value in [('SELF_COLLISION_AUDIT.json','passed',True),('WORLD_COLLISION_AUDIT.json','geometry_status','CLEAR_AT_CHECKED_SAMPLES'),('WRIST_AUDIT.json','passed',True),('VISIBILITY_AUDIT.json','passed',True)]: + assert json.loads((frozen/file).read_text())[field]==value,file + schema=json.loads((W/'action_space.schema.json').read_text());z=np.load(out/'recording_60hz.npz');samples,action,state=pack(z,schema);n=len(samples) + decode=json.loads((frozen/'VIDEO_DECODE_AUDIT.json').read_text());assert decode['passed'] and decode['expected_frames']==n + cameras=CAMERAS;image_stats={camera:decode['videos'][camera]['image_stats'] for camera in cameras} + for camera in cameras:assert decode['videos'][camera]['sha256']==sha256(out/(camera+'.mp4')) + dataset_destination=W/'staged_datasets'/f"layout_{job['layout_id']:02d}";temp=dataset_destination.with_name(dataset_destination.name+'.pending');assert not dataset_destination.exists() + if temp.exists(): + import time + archive=W/'history/incomplete_exports';archive.mkdir(parents=True,exist_ok=True);temp.rename(archive/(temp.name+'_'+str(time.time_ns()))) + temp.mkdir(parents=True,exist_ok=False) + meta=temp/'meta';meta.mkdir();data=temp/'data/chunk-000';data.mkdir(parents=True) + phase_names=list(dict.fromkeys(z['phase'][samples].tolist()));products=', '.join(row['product'] for row in requested);task=f"Starting with an empty tray, pick up {products} from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + clock=json.loads((out/'PHYSICS_CLOCK.json').read_text());preroll_duration=float(clock['unrecorded_preroll_duration_s']) + columns={'action':pa.array(action.tolist(),type=pa.list_(pa.float32(),22)),'observation.state':pa.array(state.tolist(),type=pa.list_(pa.float32(),23)),'timestamp':pa.array(np.arange(n,dtype=np.float32)/20),'simulator_time_s':pa.array((preroll_duration+(samples+1)/60).astype(np.float32)),'source_control_tick':pa.array(samples+1),'frame_index':pa.array(np.arange(n)),'index':pa.array(np.arange(n)),'episode_index':pa.array(np.zeros(n,dtype=np.int64)),'task_index':pa.array(np.zeros(n,dtype=np.int64)),'phase_index':pa.array([phase_names.index(p) for p in z['phase'][samples]]),'item_index':pa.array(z['item_index'][samples].astype(np.int64)),'next.done':pa.array(np.arange(n)==n-1)} + parquet=data/'episode_000000.parquet';pq.write_table(pa.table(columns),parquet,compression='zstd');read=pq.read_table(parquet) + assert np.array_equal(np.array(read['action'].to_pylist(),np.float32),action) and np.array_equal(np.array(read['observation.state'].to_pylist(),np.float32),state) + assert np.array_equal(read['source_control_tick'].to_numpy(),samples+1) + assert np.array_equal(read['item_index'].to_numpy(),z['item_index'][samples]) + assert np.array_equal(read['phase_index'].to_numpy(),np.array([phase_names.index(p) for p in z['phase'][samples]])) + def statistics(a):return {k:v.tolist() for k,v in dict(min=a.min(0),max=a.max(0),mean=a.mean(0),std=a.std(0),count=np.array([len(a)])).items()} + stats={'action':statistics(action.astype(float)),'observation.state':statistics(state.astype(float))};features={k:dict(dtype='float32',shape=[len(schema[n])],names=schema[n]) for k,n in [('action','action_names'),('observation.state','state_names')]} + for key in columns: + if key not in features:features[key]=dict(dtype='bool' if key=='next.done' else 'float32' if 'time' in key else 'int64',shape=[1],names=None) + for camera,(width,height) in cameras.items(): + key='observation.images.'+camera;p=temp/'videos/chunk-000'/key;p.mkdir(parents=True);link_or_copy(out/(camera+'.mp4'),p/'episode_000000.mp4') + features[key]=dict(dtype='video',shape=[height,width,3],names=['height','width','channel'],video_info={'video.fps':20,'video.codec':'h264','video.pix_fmt':'yuv420p','video.is_depth_map':False,'has_audio':False});stats[key]=image_stats[camera] + write(meta/'info.json',dict(codebase_version='v2.1',robot_type='G1_omnipicker',total_episodes=1,total_frames=n,total_tasks=1,total_videos=3,total_chunks=1,chunks_size=1000,fps=20,splits={'train':'0:1'},features=features,data_path='data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet',video_path='videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4')) + write(meta/'stats.json',stats) + for name,row in [('tasks',dict(task_index=0,task=task)),('episodes',dict(episode_index=0,tasks=[task],length=n)),('episodes_stats',dict(episode_index=0,stats=stats))]:(meta/(name+'.jsonl')).write_text(json.dumps(row)+'\n') + sim=temp/'sim_info/episode_000000';sim.mkdir(parents=True) + for root in [out,case]: + for p in root.iterdir(): + if p.is_file() and p.suffix in ['.json','.npz','.usda'] and not (sim/p.name).exists():link_or_copy(p,sim/p.name) + if (out/'contacts.jsonl.gz').exists():link_or_copy(out/'contacts.jsonl.gz',sim/'contacts.jsonl.gz') + shutil.copytree(out/'physical_evidence',sim/'physical_evidence',copy_function=link_or_copy) + if (out/'startup_frames').exists():shutil.copytree(out/'startup_frames',sim/'startup_frames',copy_function=link_or_copy) + shutil.copytree(case/'code_snapshot',sim/'replay_code');shutil.copy2(W/'action_space.schema.json',sim/'action_space.schema.json') + validation_code=sim/'validation_code';validation_code.mkdir();validation_hashes={} + for name in ['validate_case.py','validate_export.py','audit_geometry.py','audit_views.py','grasp_stability.py','parallel_world_audit.py','task_collision_scope.py','multi_validation.py','startup_validation.py','prepare_visual_qa.py','official_lerobot_reader_qa.py','record_manual_review.py','validate_staged.py']: + source=W/name;shutil.copy2(source,validation_code/name);validation_hashes[name]=hashlib.sha256(source.read_bytes()).hexdigest() + write(sim/'VALIDATION_CODE_HASHES.json',validation_hashes) + # Planning repairs are part of the native execution history. Keep the + # producer-authored files byte-for-byte, and add a portable manifest because + # PLANNING_WAITS records the producer's absolute repair path. + repairs=case/'repairs';repair_evidence=[] + if repairs.exists(): + exported_repairs=sim/'repairs';exported_repairs.mkdir() + for source in sorted(p for p in repairs.rglob('*') if p.is_file()): + relative=source.relative_to(repairs);destination=exported_repairs/relative + destination.parent.mkdir(parents=True,exist_ok=True);link_or_copy(source,destination) + repair_evidence.append(dict(source_case_relative=str(Path('repairs')/relative), + exported_file=str(Path('repairs')/relative), + sha256=hashlib.sha256(destination.read_bytes()).hexdigest(), + bytes=destination.stat().st_size)) + waits=[] + waits_path=out/'PLANNING_WAITS.json' + if waits_path.exists(): + for row in json.loads(waits_path.read_text()): + source_path=Path(row['repair_file']) if row.get('repair_file') else None + # A later retry may overwrite the ordinary filename after archiving the + # applied bytes as repairs/applied/.json. The native receipt digest + # is authoritative; filenames are only a fallback for legacy receipts. + recorded_hash=row.get('repair_sha256') + match=next((entry for entry in repair_evidence if recorded_hash and entry['sha256']==recorded_hash),None) + if match is None and not recorded_hash and source_path is not None: + match=next((entry for entry in repair_evidence + if Path(entry['source_case_relative']).name==source_path.name),None) + waits.append(dict(item_index=row.get('item_index'),kind=row.get('kind'),tick=row.get('tick'), + native_repair_file=row.get('repair_file'),native_repair_sha256=row.get('repair_sha256'), + exported_file=match['exported_file'] if match else None, + portable_match=match is not None)) + manifest=dict(schema='ziche.repair_evidence.v1', + source_case=str(case),files=repair_evidence,planning_wait_references=waits, + native_planning_waits_preserved=True,all_referenced_repairs_portable=all(row['portable_match'] for row in waits)) + write(sim/'REPAIR_EVIDENCE_MANIFEST.json',manifest) + assert manifest['all_referenced_repairs_portable'],waits + control_sources=[] + for i,row in enumerate(requested): + source=controls_path(case,row);destination=sim/f'item_{i:02d}_controls.npz';link_or_copy(source,destination) + control_sources.append(dict(item_index=i,target=row['target'],source=str(source),exported_file=destination.name,sha256=hashlib.sha256(destination.read_bytes()).hexdigest())) + write(sim/'MULTI_ITEM_CONTROLS.json',dict(items=control_sources,all_controls_preserved=True)) + for name in ['collision_readback','collision_readback_nonrobot','world_geometry']: + if (out/name).exists():shutil.copytree(out/name,sim/name,copy_function=link_or_copy) + from motion_limits import LOWER,UPPER + runtime=json.loads((out/'robot_and_camera_parameters.json').read_text());actual=[] + for name in schema['action_names'][:20]: + unit=1 if name=='idx01_body_joint1' else np.pi/180;actual.append([float(runtime[name]['physics:lowerLimit'])*unit,float(runtime[name]['physics:upperLimit'])*unit]) + write(sim/'ROBOT_CONFIGURATION_DIFFERENCES.json',dict(fields_units_timing_match_reference=True,authored_robot_parameters_preserved_except_requested_gripper_effort=True,runtime_gripper_effort_Nm={'left':80,'right':80},joint_names=schema['action_names'][:20],actual_joint_limits=actual,reference_joint_limits=np.c_[LOWER,UPPER].tolist(),joint_limits_match_reference=bool(np.allclose(actual,np.c_[LOWER,UPPER],atol=2e-5)),note='The source shelf robot arm joint configuration differs from the reference robot. Joint-limit and drive settings were not replaced to unify data fields. Use actual limits and raw data statistics for training.')) + + write(sim/'sim_info.json',dict(action_schema=schema['version'],physics_hz=240,control_hz=60,training_hz=20,action_names=schema['action_names'],state_names=schema['state_names'],phase_names=phase_names,item_index_semantics='0..M-1 identify the active requested target; initial_upper_shelf_posture may authentically use either -1 with an empty active path or 0 with target0, as disambiguated by phase',requested_items=[dict(item_index=i,target=row['target'],product=row['product'],hand=row['hand'],pick_source=row['pick_source'],controls_file=row['controls_file'],destination_xyz=row['destination_xyz']) for i,row in enumerate(requested)],initial_tray_items=0,continuous_native_episode=True,action_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['action_names'][:20]]+['m/s','rad/s'],state_units=['m' if n=='idx01_body_joint1' else 'rad' for n in schema['state_names'][:20]]+['m','m','rad'],normalization=None,time_semantics='same-step applied command and post-step measured state; training samples arange(2,N,3); dataset timestamp begins at zero while simulator_time_s includes the unrecorded stable-start preroll',unrecorded_preroll_duration_s=preroll_duration,image_generation_mode='native_live_three_view',manual_visual_review_required=True,gripper_max_effort_Nm={'left':80,'right':80},base_policy='stationary_turn_or_straight_body_forward_v1',source_layout=job['layout'])) + alignment=dict(passed=True,checked_frames=n,action_exact_float32=True,state_exact_float32=True,item_index_exact=True,phase_index_exact=True,source_ticks=(samples+1).tolist(),simulator_time_includes_preroll=True,unrecorded_preroll_duration_s=preroll_duration) + write(sim/'PARQUET_ALIGNMENT_CHECK.json',alignment) + provenance_files=['PHYSICAL_GATE_RESULT.json','PHYSICS_CLOCK.json','PREROLL_EVIDENCE.json','PREROLL_EVIDENCE.npz','PASSIVE_FINGER_PROJECTION.json','CAMERA_WARMUP.json','camera_extrinsics_20hz.npz','VIDEO_DECODE_AUDIT.json','TASK_SCHEMA_AUDIT.json','NON_TARGET_PROP_STABILITY_AUDIT.json','STARTUP_STABILITY_AUDIT.json','CAMERA_WARMUP_AUDIT.json','CAMERA_EXTRINSICS_AUDIT.json'] + provenance=dict(schema='ziche.multi10_stable_start_provenance.v1',passed=True,image_generation_mode='native_live_three_view',source_case=str(case),continuous_native_episode=True,actual_physics_hz=240,all_original_command_rows_retained=True,unrecorded_preroll_duration_s=preroll_duration,physical_gate_verification=physical_verification,evidence_sha256={name:sha256(sim/name) for name in provenance_files},video_sha256={camera:sha256(out/(camera+'.mp4')) for camera in cameras},parquet_sha256=sha256(parquet),validation_code_sha256=validation_hashes,visual_acceptance_pending=True,official_reader_pending=True) + write(sim/'STARTUP_PREROLL_PROVENANCE.json',provenance) + temp.rename(dataset_destination);return dataset_destination +if __name__=='__main__': + case=Path(sys.argv[1]);print(task_audit(case) if '--audit-only' in sys.argv else export(case)) diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_staged.py b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_staged.py new file mode 100644 index 0000000000000000000000000000000000000000..88d5f8ee86d702f799a7b69c4d5b66d63e51f97c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/sim_info/episode_000000/validation_code/validate_staged.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 +"""Admit a staged candidate to VALIDATION_READY after independent QA only.""" +import argparse +import hashlib +import json +import time +from pathlib import Path + +import numpy as np +import pyarrow.parquet as pq + +from startup_validation import sha256, verify_physical_gate, write_json + +W = Path(__file__).resolve().parent +CAMERAS = ("top_head", "hand_left", "hand_right") + + +def load(path): + return json.loads(Path(path).read_text()) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--layout", type=int, required=True) + args = parser.parse_args() + lid = f"{args.layout:02d}" + case = (W / "cases" / f"layout_{lid}").resolve() + out = case / "rollout" + dataset = W / "staged_datasets" / f"layout_{lid}" + sim = dataset / "sim_info/episode_000000" + evidence_dir = W / "qa" / f"layout_{lid}" / "visual_evidence" + panels_path = evidence_dir / "PANELS.json" + manual_path = W / "qa" / f"layout_{lid}" / "ROOT_MANUAL_REVIEW.json" + reader_path = W / "qa" / f"layout_{lid}" / "OFFICIAL_LEROBOT_READER_QA.json" + failures = [] + + physical = verify_physical_gate(case) + if not physical["passed"]: + failures.append("immutable_physical_gate") + provenance = load(sim / "STARTUP_PREROLL_PROVENANCE.json") + evidence_hashes = provenance.get("evidence_sha256", {}) + bad_evidence = [name for name, digest in evidence_hashes.items() + if not (sim / name).is_file() or sha256(sim / name) != digest] + if bad_evidence: + failures.append("exported_provenance:" + ",".join(bad_evidence)) + + panels = load(panels_path) + panel_hashes = {Path(row["path"]).name: row["sha256"] for row in panels["panels"]} + if any(not (evidence_dir / name).is_file() or sha256(evidence_dir / name) != digest + for name, digest in panel_hashes.items()): + failures.append("visual_panel_hashes") + manual = load(manual_path) + manual_ok = (manual.get("schema") == "ziche.multi10.root_manual_visual_review.v1" + and manual.get("layout_id") == args.layout and manual.get("passed") is True + and manual.get("panels") == panel_hashes + and manual.get("reviewed_all_three_views") is True + and manual.get("reviewed_first_retained_0p5s") is True + and manual.get("reviewed_every_phase_midpoint") is True) + if not manual_ok: + failures.append("manual_visual_review") + + reader = load(reader_path) + parquet = dataset / "data/chunk-000/episode_000000.parquet" + reader_ok = (reader.get("passed") is True and reader.get("layout_id") == args.layout + and reader.get("parquet_sha256") == sha256(parquet)) + if not reader_ok: + failures.append("official_lerobot_reader") + + decode = load(sim / "VIDEO_DECODE_AUDIT.json") + video_hashes = {} + for camera in CAMERAS: + video = dataset / "videos/chunk-000" / f"observation.images.{camera}" / "episode_000000.mp4" + video_hashes[camera] = sha256(video) + if (video_hashes[camera] != provenance["video_sha256"].get(camera) + or video_hashes[camera] != decode["videos"][camera]["sha256"] + or decode["videos"][camera].get("passed") is not True): + failures.append("video:" + camera) + + table = pq.read_table(parquet) + recording = np.load(out / "recording_60hz.npz", allow_pickle=False) + samples = np.arange(2, len(recording["q"]), 3) + ticks = np.asarray(table["source_control_tick"].to_numpy(), dtype=np.int64) + items = np.asarray(table["item_index"].to_numpy(), dtype=np.int64) + clock = load(out / "PHYSICS_CLOCK.json") + sim_time = np.asarray(table["simulator_time_s"].to_numpy(), dtype=np.float64) + alignment = (len(table) == len(samples) and np.array_equal(ticks, samples + 1) + and np.array_equal(items, recording["item_index"][samples]) + and np.allclose(sim_time, float(clock["unrecorded_preroll_duration_s"]) + + (samples + 1) / 60.0, atol=2e-6, rtol=0)) + if not alignment: + failures.append("staged_source_alignment") + + report = {"schema": "ziche.multi10.staged_final_qa.v1", "layout_id": args.layout, + "passed": not failures, "failures": failures, "case": str(case), + "dataset": str(dataset), "physical_gate_verification": physical, + "provenance_sha256": sha256(sim / "STARTUP_PREROLL_PROVENANCE.json"), + "manual_review": {"path": str(manual_path), "sha256": sha256(manual_path), "passed": manual_ok}, + "official_reader": {"path": str(reader_path), "sha256": sha256(reader_path), "passed": reader_ok}, + "panels_receipt_sha256": sha256(panels_path), "video_sha256": video_hashes, + "parquet_sha256": sha256(parquet), "staged_source_alignment": alignment, + "status_semantics": "VALIDATION_READY is review complete but not publication or ACCEPTED", + "completed_unix": time.time()} + qa_path = W / "qa" / f"layout_{lid}.json" + write_json(qa_path, report) + if not report["passed"]: + raise SystemExit(1) + write_json(case / "STATUS.json", {"status": "VALIDATION_READY", "phase": "review_complete", + "accepted": False, "dataset": str(dataset), "qa": str(qa_path), + "qa_sha256": sha256(qa_path), "updated": time.time()}) + print(qa_path) + + +if __name__ == "__main__": + main() diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..868440693e39f739458553a3901298993bc36fa7 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items."], "length": 14740} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes_stats.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d1a5a4010769852d0c3106be4b829c8e785c644 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"min": [-1.6966404914855957, 0.08133817464113235, -0.5951656699180603, -2.048945426940918, -0.01373762171715498, -0.40644606947898865, -0.22000998258590698, -0.43205055594444275, -1.2118849754333496, -1.7675421237945557, 0.30663561820983887, -0.8770772218704224, -1.959427833557129, -1.555041790008545, 0.0, 0.0, -3.7841073208255693e-06, -0.34033921360969543, 0.22768154740333557, 0.11510922014713287, -0.18000000715255737, -0.25], "max": [0.419521301984787, 1.1927388906478882, 1.6909432411193848, -0.318907767534256, 1.022226333618164, 1.9554111957550049, 1.3444067239761353, 1.7891522645950317, -0.1534940004348755, 0.40101614594459534, 2.059225559234619, 0.1551569104194641, 0.49779221415519714, 0.25371861457824707, 0.550000011920929, 0.8377580046653748, 2.2530714431923116e-06, 0.4363669455051422, 0.7853981852531433, 0.7853981852531433, 0.18000000715255737, 0.25], "mean": [-0.5717618900457138, 0.7145855218935329, 0.15838066283473742, -1.2480067208449748, 0.7156072787041097, 1.4084709579587775, 0.2169895490965628, 0.654718018414407, -0.7075077965602865, -0.2745078782910519, 1.2391568419689079, -0.623391804380061, -1.4040656789068862, -0.3004155845050299, 0.32920953026478145, 0.28172121677596784, 2.2180691482407044e-08, 0.21590106549509425, 0.6450934484843645, 0.6403880809098886, 0.007029164533032179, -0.02979618588368013], "std": [0.637657228327743, 0.19390047974011373, 0.3649556050943657, 0.2615763963633317, 0.14227242698559714, 0.307730769411883, 0.4469930650648563, 0.6283728186884029, 0.174320657700316, 0.46794318637536636, 0.31501179131214635, 0.2879509192208561, 0.38065860834678106, 0.5464261639828487, 0.2411307556785264, 0.2725485970829725, 8.302949413090446e-07, 0.3368245239717771, 0.22352577807861906, 0.23515711950642318, 0.04586450311657252, 0.07977896431362011], "count": [14740]}, "observation.state": {"min": [-1.6883913278579712, 0.0812302753329277, -0.5951738357543945, -2.049283504486084, -0.013850593939423561, -0.4074670076370239, -0.2200227528810501, -0.4322197437286377, -1.2118792533874512, -1.7687230110168457, 0.30662915110588074, -0.8771342635154724, -1.9594141244888306, -1.5550283193588257, 0.0, -3.945308151287463e-07, -2.69210049737012e-05, -0.3403443396091461, 0.22854921221733093, 0.11751315742731094, -2.3958916664123535, 0.8052603602409363, -20.651655197143555], "max": [0.4195248782634735, 1.1927423477172852, 1.6920297145843506, -0.31875595450401306, 1.0223397016525269, 1.9553873538970947, 1.3443106412887573, 1.7853022813796997, -0.1535346955060959, 0.4010249674320221, 2.059347629547119, 0.15515770018100739, 0.49858343601226807, 0.2537150979042053, 0.550000011920929, 0.8377601504325867, 1.7806263713282533e-05, 0.43641579151153564, 0.7853664755821228, 0.7853663563728333, -1.1391172409057617, 1.3760097026824951, 1.5682786703109741], "mean": [-0.5716969399276423, 0.7145966369598052, 0.1584218299689437, -1.2479489641140242, 0.7155934774989315, 1.4084001740307657, 0.2169719452077664, 0.654642475740053, -0.7074994745256135, -0.2746357639588467, 1.2390820406367207, -0.6233487535619257, -1.4039483949080709, -0.3004579612866408, 0.32921849644562284, 0.2817033124431275, 3.5343489219031016e-07, 0.21590925112500964, 0.6453665195399417, 0.640974414512879, -1.955332145729738, 1.0784634130538076, -10.373274952518585], "std": [0.6375958133220355, 0.19389638766436215, 0.36496950180842, 0.26159592137454263, 0.14224919394035185, 0.3077956843913062, 0.4469965645669282, 0.6283316263375336, 0.17431264507099548, 0.4679659759176043, 0.31506246983524777, 0.2879308567313273, 0.3807331692802954, 0.5464416732852444, 0.24112380157239038, 0.27253679798049674, 3.5612292595009775e-06, 0.33682678614645234, 0.22308799305720697, 0.23418062815865107, 0.4205083913585534, 0.18872537581781856, 6.712376577789096], "count": [14740]}, "observation.images.top_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5693267909143794]], [[0.49140512521840213]], [[0.3681038827412126]]], "std": [[[0.2466328485363221]], [[0.2402799674839791]], [[0.2172720041619775]]], "count": [14740]}, "observation.images.hand_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48308401983372573]], [[0.4037279688013195]], [[0.2962329351692107]]], "std": [[[0.2614283174872437]], [[0.24502435258449903]], [[0.2136772166827388]]], "count": [14740]}, "observation.images.hand_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46894839983443387]], [[0.40067542603316897]], [[0.2980603876147884]]], "std": [[[0.2520012834527406]], [[0.23478128177697946]], [[0.20126010377343936]]], "count": [14740]}}} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/info.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a1724ae7a2c9e62457db77cf78178b80d1d5100d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/info.json @@ -0,0 +1,209 @@ +{ + "codebase_version": "v2.1", + "robot_type": "G1_omnipicker", + "total_episodes": 1, + "total_frames": 14740, + "total_tasks": 1, + "total_videos": 3, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:1" + }, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 22 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "simulator_time_s": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "source_control_tick": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "phase_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "item_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.top_head": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_left": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_right": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + } + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/stats.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..df33f4ce398751213f1dac355bc1d9cdca711023 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/stats.json @@ -0,0 +1,427 @@ +{ + "action": { + "min": [ + -1.6966404914855957, + 0.08133817464113235, + -0.5951656699180603, + -2.048945426940918, + -0.01373762171715498, + -0.40644606947898865, + -0.22000998258590698, + -0.43205055594444275, + -1.2118849754333496, + -1.7675421237945557, + 0.30663561820983887, + -0.8770772218704224, + -1.959427833557129, + -1.555041790008545, + 0.0, + 0.0, + -3.7841073208255693e-06, + -0.34033921360969543, + 0.22768154740333557, + 0.11510922014713287, + -0.18000000715255737, + -0.25 + ], + "max": [ + 0.419521301984787, + 1.1927388906478882, + 1.6909432411193848, + -0.318907767534256, + 1.022226333618164, + 1.9554111957550049, + 1.3444067239761353, + 1.7891522645950317, + -0.1534940004348755, + 0.40101614594459534, + 2.059225559234619, + 0.1551569104194641, + 0.49779221415519714, + 0.25371861457824707, + 0.550000011920929, + 0.8377580046653748, + 2.2530714431923116e-06, + 0.4363669455051422, + 0.7853981852531433, + 0.7853981852531433, + 0.18000000715255737, + 0.25 + ], + "mean": [ + -0.5717618900457138, + 0.7145855218935329, + 0.15838066283473742, + -1.2480067208449748, + 0.7156072787041097, + 1.4084709579587775, + 0.2169895490965628, + 0.654718018414407, + -0.7075077965602865, + -0.2745078782910519, + 1.2391568419689079, + -0.623391804380061, + -1.4040656789068862, + -0.3004155845050299, + 0.32920953026478145, + 0.28172121677596784, + 2.2180691482407044e-08, + 0.21590106549509425, + 0.6450934484843645, + 0.6403880809098886, + 0.007029164533032179, + -0.02979618588368013 + ], + "std": [ + 0.637657228327743, + 0.19390047974011373, + 0.3649556050943657, + 0.2615763963633317, + 0.14227242698559714, + 0.307730769411883, + 0.4469930650648563, + 0.6283728186884029, + 0.174320657700316, + 0.46794318637536636, + 0.31501179131214635, + 0.2879509192208561, + 0.38065860834678106, + 0.5464261639828487, + 0.2411307556785264, + 0.2725485970829725, + 8.302949413090446e-07, + 0.3368245239717771, + 0.22352577807861906, + 0.23515711950642318, + 0.04586450311657252, + 0.07977896431362011 + ], + "count": [ + 14740 + ] + }, + "observation.state": { + "min": [ + -1.6883913278579712, + 0.0812302753329277, + -0.5951738357543945, + -2.049283504486084, + -0.013850593939423561, + -0.4074670076370239, + -0.2200227528810501, + -0.4322197437286377, + -1.2118792533874512, + -1.7687230110168457, + 0.30662915110588074, + -0.8771342635154724, + -1.9594141244888306, + -1.5550283193588257, + 0.0, + -3.945308151287463e-07, + -2.69210049737012e-05, + -0.3403443396091461, + 0.22854921221733093, + 0.11751315742731094, + -2.3958916664123535, + 0.8052603602409363, + -20.651655197143555 + ], + "max": [ + 0.4195248782634735, + 1.1927423477172852, + 1.6920297145843506, + -0.31875595450401306, + 1.0223397016525269, + 1.9553873538970947, + 1.3443106412887573, + 1.7853022813796997, + -0.1535346955060959, + 0.4010249674320221, + 2.059347629547119, + 0.15515770018100739, + 0.49858343601226807, + 0.2537150979042053, + 0.550000011920929, + 0.8377601504325867, + 1.7806263713282533e-05, + 0.43641579151153564, + 0.7853664755821228, + 0.7853663563728333, + -1.1391172409057617, + 1.3760097026824951, + 1.5682786703109741 + ], + "mean": [ + -0.5716969399276423, + 0.7145966369598052, + 0.1584218299689437, + -1.2479489641140242, + 0.7155934774989315, + 1.4084001740307657, + 0.2169719452077664, + 0.654642475740053, + -0.7074994745256135, + -0.2746357639588467, + 1.2390820406367207, + -0.6233487535619257, + -1.4039483949080709, + -0.3004579612866408, + 0.32921849644562284, + 0.2817033124431275, + 3.5343489219031016e-07, + 0.21590925112500964, + 0.6453665195399417, + 0.640974414512879, + -1.955332145729738, + 1.0784634130538076, + -10.373274952518585 + ], + "std": [ + 0.6375958133220355, + 0.19389638766436215, + 0.36496950180842, + 0.26159592137454263, + 0.14224919394035185, + 0.3077956843913062, + 0.4469965645669282, + 0.6283316263375336, + 0.17431264507099548, + 0.4679659759176043, + 0.31506246983524777, + 0.2879308567313273, + 0.3807331692802954, + 0.5464416732852444, + 0.24112380157239038, + 0.27253679798049674, + 3.5612292595009775e-06, + 0.33682678614645234, + 0.22308799305720697, + 0.23418062815865107, + 0.4205083913585534, + 0.18872537581781856, + 6.712376577789096 + ], + "count": [ + 14740 + ] + }, + "observation.images.top_head": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.5693267909143794 + ] + ], + [ + [ + 0.49140512521840213 + ] + ], + [ + [ + 0.3681038827412126 + ] + ] + ], + "std": [ + [ + [ + 0.2466328485363221 + ] + ], + [ + [ + 0.2402799674839791 + ] + ], + [ + [ + 0.2172720041619775 + ] + ] + ], + "count": [ + 14740 + ] + }, + "observation.images.hand_left": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.48308401983372573 + ] + ], + [ + [ + 0.4037279688013195 + ] + ], + [ + [ + 0.2962329351692107 + ] + ] + ], + "std": [ + [ + [ + 0.2614283174872437 + ] + ], + [ + [ + 0.24502435258449903 + ] + ], + [ + [ + 0.2136772166827388 + ] + ] + ], + "count": [ + 14740 + ] + }, + "observation.images.hand_right": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.46894839983443387 + ] + ], + [ + [ + 0.40067542603316897 + ] + ], + [ + [ + 0.2980603876147884 + ] + ] + ], + "std": [ + [ + [ + 0.2520012834527406 + ] + ], + [ + [ + 0.23478128177697946 + ] + ], + [ + [ + 0.20126010377343936 + ] + ] + ], + "count": [ + 14740 + ] + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/tasks.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51927ad6034ca1d84a6ff28891c1bb1ac1f4e34f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000002/source_meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Starting with an empty tray, pick up gatorade_m, chomps_r, gatorade_t, zbar_t from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items."} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/COPY_READBACK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/COPY_READBACK.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf151d741ee402dd123f445792847e1d65056fd --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/COPY_READBACK.json @@ -0,0 +1,49353 @@ +{ + "source_host": "l1", + "source_root": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006", + "destination": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered", + "direct_byte_stream_readback": true, + "source_modified": false, + "files": [ + { + "relative_path": "datasets/layout_01/meta/tasks.jsonl", + "bytes": 217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/episodes_stats.jsonl", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/episodes.jsonl", + "bytes": 239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/stats.json", + "bytes": 7553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00007845.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 177630, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 172227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84348, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 84667, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 84544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 180686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 82628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85282, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 81931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 83102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 83736, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 179863, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 81490, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 83525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 176706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 82730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 182369, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 82245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 178712, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 83327, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 174827, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 81973, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 81792, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 84651, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 178045, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 176869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54833, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 32535695, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00005918.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020356.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RESULT.json", + "bytes": 539, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1998, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5401, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80094, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 73704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26471, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/full_state.npz", + "bytes": 30326729, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/job.json", + "bytes": 26725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 5017, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5880, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20099, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 4706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 4664, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 7436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 142149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19968, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 5552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 6329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 24753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19984, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19995, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 7422, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4738, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 8292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 6331, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 5830, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5011, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4166, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 6182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 5700, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 5514, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 8982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 9504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5036, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 6317, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1369193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4716, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 7397, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 7336, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 8933, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 5564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 7313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 5536, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 7928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16406, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 7402, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00018577.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 28244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6615, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30880, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00019338.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 94894, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 25656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_02_controls.npz", + "bytes": 13067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007354.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00016636.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/scene.usda", + "bytes": 50494, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009645.json", + "bytes": 781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/recording_60hz.npz", + "bytes": 28752704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 152342, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_01.npz", + "bytes": 13982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 82, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/collision_profile.usda", + "bytes": 178431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008628.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_metrics.json", + "bytes": 248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 443, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2126543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_03.npz", + "bytes": 13067, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 15271, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls.npz", + "bytes": 13982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/sim_info.json", + "bytes": 5664, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/camera_extrinsics_native_backup.npz", + "bytes": 2126543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8707, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2577, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 558, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00020356.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 18215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6204, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2348, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/scene_physical.usda", + "bytes": 483, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_00_controls.npz", + "bytes": 13982, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 26267035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2667, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018115.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2122, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009645.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_01/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016098.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005381.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 64693832, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 37862671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 37010381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_01/data/chunk-000/episode_000000.parquet", + "bytes": 1170156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/tasks.jsonl", + "bytes": 216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/episodes_stats.jsonl", + "bytes": 4697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/episodes.jsonl", + "bytes": 238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/stats.json", + "bytes": 7570, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 186146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 180024, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84896, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 85342, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84670, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 85192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 189476, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84740, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 80732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85937, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 79940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 81186, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 84027, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 188660, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 79451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 81759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 185063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 81024, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 191381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 80452, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 187826, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 81589, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 183007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 80117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 79697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 85280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 187164, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 185438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54834, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 31624854, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00019461.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RESULT.json", + "bytes": 537, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 44088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25855, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25692, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009706.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/full_state.npz", + "bytes": 29494995, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/job.json", + "bytes": 53220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/WRIST_AUDIT.json", + "bytes": 513, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4727, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 5535, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_291_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 6182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 5682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 180295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19968, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_290.json", + "bytes": 5847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_286.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 5817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_281_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_283_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 8933, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_286_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_291.json", + "bytes": 5853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 5700, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 8293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_283.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_278_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_284.json", + "bytes": 5547, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5563, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 28311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5879, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_282_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_277_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 7436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_288_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_289_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 7315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4161, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_280_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5036, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 6302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 9503, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_290_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4680, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7846, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 8983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_279_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 5811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1733872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 7423, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_292_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_287_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 5820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4665, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_292.json", + "bytes": 5783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_284_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 7335, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 6329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5018, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_288.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4738, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 5512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15872, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 6191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_285.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 7927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 6332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 5011, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_289.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_276_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_285_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_287.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 5287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 6317, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6654, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6614, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30878, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00020411.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020411.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005449.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 918, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 94311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 6200, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_02_controls.npz", + "bytes": 16469, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/scene.usda", + "bytes": 49192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/recording_60hz.npz", + "bytes": 28330350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 149980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 182, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14562, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 917, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 81, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/collision_profile.usda", + "bytes": 182357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 104, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_metrics.json", + "bytes": 247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007470.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2117307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009706.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_03.npz", + "bytes": 16469, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls.npz", + "bytes": 14562, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1118, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00018754.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00007944.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016199.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/sim_info.json", + "bytes": 5689, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json", + "bytes": 1789, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8626, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2581, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/camera_extrinsics_reconstructed_by_view_audit.npz", + "bytes": 2043489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 15927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00005992.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/VISIBILITY_AUDIT.json", + "bytes": 4838, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14562, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 61366859, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008688.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018232.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00016758.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2118, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/item_01_controls.npz", + "bytes": 23294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/controls_item_02.npz", + "bytes": 23294, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_02/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/COOKED_ADAPTER_COVERAGE.json", + "bytes": 1954210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 63254396, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 36859479, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 35520448, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_02/data/chunk-000/episode_000000.parquet", + "bytes": 1145951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/tasks.jsonl", + "bytes": 229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/episodes_stats.jsonl", + "bytes": 4689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/episodes.jsonl", + "bytes": 252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/stats.json", + "bytes": 7562, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 176794, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 171959, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 84827, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 85091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 84687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 85015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 179549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 84817, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76983, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 85486, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 77479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 84218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 179117, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 76141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77899, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 85404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 176206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 77145, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 181335, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 178062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 77660, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 174717, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76504, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 76308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 84928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 177306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 176623, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030828.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_POLAR_FULL_PROPOSAL.json", + "bytes": 24810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 52660505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106474821876.json", + "bytes": 2100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RESULT.json", + "bytes": 625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1961, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37349, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00033039.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019293.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 1963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79935, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 37345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00035286.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_FULL_PROPOSAL.json", + "bytes": 30988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/full_state.npz", + "bytes": 49114521, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009241.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/job.json", + "bytes": 48171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147931175980.json", + "bytes": 2095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19971, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5029, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 124410, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19987, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15855, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20044, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20009, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4747, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6322, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5545, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1194627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20147, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20166, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4684, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 6657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 2866, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00030291.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 5942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00035286.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00010261.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_REACH_PROPOSAL.json", + "bytes": 14092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032342.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_03_controls.npz", + "bytes": 13068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010261.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 29354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 8795, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13041, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 158728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007988.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_FRONT_WAIST_PROPOSAL.json", + "bytes": 8736, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926915812377.json", + "bytes": 2099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8664, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/scene.usda", + "bytes": 49528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008483.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/recording_60hz.npz", + "bytes": 47535003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006107.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 161834, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2358, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_04.npz", + "bytes": 13068, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM02_GRID_LIVE_PLACE_PROPOSAL.json", + "bytes": 23861, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00026330.1548283e861c.json", + "bytes": 4559, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021082.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00040402.312bff369be3.json", + "bytes": 4514, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017209.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/collision_profile.usda", + "bytes": 169732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_metrics.json", + "bytes": 300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 486, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3498066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_PLANNER_REPAIR.item_00.tick_00006107.json", + "bytes": 932, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19013, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 14677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls.npz", + "bytes": 17554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1476, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1735, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_case03_fine_tick40402_8eda348647da.py", + "bytes": 16377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_return_head_list_normalization_d65c8d7413b3.cpython-311.pyc", + "bytes": 14413, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item02_tick26330_8824b20c0297.cpython-311.pyc", + "bytes": 13843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/__pycache__/repair_case03_fine_tick40402_8eda348647da.cpython-311.pyc", + "bytes": 31109, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_00_return.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_return_head_list_normalization_d65c8d7413b3.py", + "bytes": 7792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/381e95b18daf6b456cf6ad7b77629bc8f8b0b3c8f54ea30ce32427158baa4406.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/d65c8d7413b3045ce71ecafd99fbbbb3def6eac0e71e491f04760e1f32241623.py", + "bytes": 7792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/8e200576dacfd4e7325fa976677126a3d639d37b0a2bd7a7cb61513bd3ca76e4.py", + "bytes": 16377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/3c049683575706993418656c9b36709e7d42de98fbbae74d27030bc2563dbb75.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/872fea6557c0da5ec3ba2f087cf5f494daa9fb86169271c9af8d33207dbf1063.json", + "bytes": 11220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/repair_place_station_item02_tick26330_8824b20c0297.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 11220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 4030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00016642.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CASE3_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/sim_info.json", + "bytes": 6659, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/STATUS.json", + "bytes": 964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018760.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00033624.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021082.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020038.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 40326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006644.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10564, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16353, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125104, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6867, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 20599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00032721.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17554, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00034268.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 144900525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/item_01_controls.npz", + "bytes": 30143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/sim_info/episode_000000/controls_item_02.npz", + "bytes": 30143, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_03/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 107473947, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 59952304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 55136879, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_03/data/chunk-000/episode_000000.parquet", + "bytes": 1903407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/tasks.jsonl", + "bytes": 220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/episodes_stats.jsonl", + "bytes": 4686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/episodes.jsonl", + "bytes": 242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/stats.json", + "bytes": 7559, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 184900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 180709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 83829, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 83991, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 83772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 83868, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 188060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 83964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 79713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 84355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 79279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 80252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 83573, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 187630, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 79160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 80731, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 84254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 184864, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 80031, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 190085, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 79332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 186395, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 80568, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 182687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 79144, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 79232, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 83884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 185456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 184895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54837, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 32147730, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008962.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13699, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RESULT.json", + "bytes": 545, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5367, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79948, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 33565, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011010.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 389, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/full_state.npz", + "bytes": 29945820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/job.json", + "bytes": 43380, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/WRIST_AUDIT.json", + "bytes": 513, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 6174, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 103501, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16032, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4744, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 997169, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13387, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8770, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 37863, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6619, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30824, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 98898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 10597, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19018, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6709, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/scene.usda", + "bytes": 47487, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/recording_60hz.npz", + "bytes": 29864206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 148003, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2357, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00011010.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019459.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020696.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_01.npz", + "bytes": 26060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1088, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 82, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json", + "bytes": 552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/collision_profile.usda", + "bytes": 176932, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 105, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006602.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_metrics.json", + "bytes": 251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 446, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2240557, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19018, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2260, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 11787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls.npz", + "bytes": 26060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1122, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 843, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/sim_info.json", + "bytes": 5698, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json", + "bytes": 1789, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8684, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2585, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009474.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 830, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/camera_extrinsics_reconstructed_by_view_audit.npz", + "bytes": 2162109, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 11772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2353, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/VISIBILITY_AUDIT.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_00_controls.npz", + "bytes": 26060, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 28696468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13371, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_04/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/COOKED_ADAPTER_COVERAGE.json", + "bytes": 1217799, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 64498609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 39734976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 34488168, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_04/data/chunk-000/episode_000000.parquet", + "bytes": 1203680, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/tasks.jsonl", + "bytes": 232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/episodes_stats.jsonl", + "bytes": 4709, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/episodes.jsonl", + "bytes": 255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/stats.json", + "bytes": 7582, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 180920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 176203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 72811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 73186, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 72792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 72963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 184036, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 72636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 79297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 73600, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 78609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 79723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 72209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 183622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 72118, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 78369, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 80212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 73548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 180131, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 79487, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 186180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 78933, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 182390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 80037, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 178527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 78594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 78437, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 73057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 181797, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 180622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00034363.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54827, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 60652852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174272610697.json", + "bytes": 2013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/LAST_ITEM_REPAIR_WATCH.item_03.json", + "bytes": 469, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/POST_RELEASE_LEVEL_RETURN.item_02.json", + "bytes": 656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00027102.4d1c6315eb32.json", + "bytes": 4501, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RESULT.json", + "bytes": 631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 2980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 2877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_DENSE_APPROACH_PROPOSAL.json", + "bytes": 402474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 74810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00020548.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_07.tick_00037638.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18801, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181630, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/full_state.npz", + "bytes": 56654435, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_TUCKED_INACTIVE_PROPOSAL.json", + "bytes": 18048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008221.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/job.json", + "bytes": 55356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20135, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 152895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4740, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 5720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 6323, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20134, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16447, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 5556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15861, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20135, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15644, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20111, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20076, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 6850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1465630, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 24755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 5675, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16457, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 6319, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20175, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 5693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 6175, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7459, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15585, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00035472.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 7823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926848507759.json", + "bytes": 2030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 10096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6464, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 325, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009779.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_03_controls.npz", + "bytes": 23498, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019272.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/FUTURE_SLOT_REASSIGNMENT.item_02.json", + "bytes": 15058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_POST_RELEASE_UPRIGHT_PROPOSAL.json", + "bytes": 2970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 177164, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00034743.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 6004, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_02_controls.npz", + "bytes": 15618, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 686, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/scene.usda", + "bytes": 51094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00043626.1ce5748036ec.json", + "bytes": 4517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_ALL_FREE_SLOTS_PROPOSAL.json", + "bytes": 133814, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/recording_60hz.npz", + "bytes": 53457448, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 163339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_BASE_BACKOFF_PROPOSAL.json", + "bytes": 101301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_04.npz", + "bytes": 23498, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00037638.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00021070.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_05.tick_00036297.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14336, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008761.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009779.json", + "bytes": 553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/collision_profile.usda", + "bytes": 168885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1089, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00021642.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_metrics.json", + "bytes": 303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_REASSIGN_REMAINING_PROPOSAL.json", + "bytes": 588156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3902497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_03.npz", + "bytes": 15618, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 15559, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls.npz", + "bytes": 14336, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 17704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick27102_0d272e0c6d02_remaining_slots_level_return.py", + "bytes": 23687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick14575_7d1183c9a123.cpython-311.pyc", + "bytes": 30772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_case05_fine_tick43626_a5575d4dea29.cpython-311.pyc", + "bytes": 35738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/__pycache__/repair_case05_fine_tick27102_0d272e0c6d02_remaining_slots_level_return.cpython-311.pyc", + "bytes": 43811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/last_item_repair.lock", + "bytes": 0, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 11592, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_place_station_item01_tick14575_7d1183c9a123.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/8c7b0a3645977cfa3ca4767bf2fbafc201a71ddbfdc5f68bc2059fc5822c328f.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/b0f712ede39537390eec095f47d5cf35abddac2c0267a7edd63ba67eaaa58ca2.py", + "bytes": 23687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/bd60df1185d7f9db3b07e3876fcbd5feffd508a5e20f904afb9239063bb129c5.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/bd6845ed2cdad04a25d456e65d1d8694826077e503f4bb21e522bbaf3f495219.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/3a7274c96fbbd0b7ca7429372c4286eaf0640545f024e0b896f2056f1d5d145e.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/applied/25462e6f0a839212c3925a9bb5df1ec2fe6c99c9bdf441fa096f8fed58c5fe46.json", + "bytes": 3787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_02_place_remaining_slots_level_return.reviewable.json", + "bytes": 28173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick43626_a5575d4dea29.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 3787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 19885, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/repairs/repair_case05_fine_tick27102_0d272e0c6d02.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022508.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/sim_info.json", + "bytes": 6667, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/STATUS.json", + "bytes": 966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00035128.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022508.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 3311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 14168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00018730.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007851.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 51471, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2367, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 540, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00035729.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14336, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 63051673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM03_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 27296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13380, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/CASE5_ITEM02_FOCUSED_FRONT_APERTURE_PROPOSAL.json", + "bytes": 18047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2496, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006177.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/item_01_controls.npz", + "bytes": 9381, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/controls_item_02.npz", + "bytes": 9381, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_05/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00014575.37d0ffc66179.json", + "bytes": 7227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00032936.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005631.json", + "bytes": 809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRIOR_ITEM_COLLIDER_BOUNDS.json", + "bytes": 1934, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00032437.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_06.tick_00036601.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 118958966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 61868260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 55791846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_05/data/chunk-000/episode_000000.parquet", + "bytes": 2064862, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/tasks.jsonl", + "bytes": 232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/episodes_stats.jsonl", + "bytes": 4675, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/episodes.jsonl", + "bytes": 255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/stats.json", + "bytes": 7548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 187875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 184357, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 79678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 80414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 79537, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 79909, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 191555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 79512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 82482, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 81039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 81613, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 83662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 78888, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 190915, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 78510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 81284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 84040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 80833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 187328, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 83084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 193003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 82052, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 189574, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 83787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 186149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 81644, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 81426, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 80025, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 188520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 187595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_03.tick_00032670.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 31892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 53629606, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_03.json", + "bytes": 555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13701, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020379.json", + "bytes": 526, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RESULT.json", + "bytes": 631, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_PLAN.item_02.json", + "bytes": 3679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 40648, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_03.npz", + "bytes": 13196, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_03.json", + "bytes": 2361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/full_state.npz", + "bytes": 50181458, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.raise_before_walking.tick_00029473.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/job.json", + "bytes": 71000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009187.json", + "bytes": 505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 12838, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 7424, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4707, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 28305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4271, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 9503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 152605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 7962, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15633, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 7404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 8988, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4737, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4790, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 8294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 7445, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 8980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 7955, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 7323, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 8956, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 7411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20089, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 7338, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 7383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 7390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20059, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 7346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4182, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 8328, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 7316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 7936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 8993, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 8941, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 7408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1472422, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19914, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 7432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4794, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 7408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 7401, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 8321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 9513, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 7437, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 4714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 8964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 9528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4169, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4789, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 28312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 8932, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 9521, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4789, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 4788, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4162, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4133, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 8984, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16405, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 8301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 7928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006511.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 2589, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_03.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_03.json", + "bytes": 10027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 74214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 8779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_03_controls.npz", + "bytes": 23499, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 1439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 161093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 11106, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_02_controls.npz", + "bytes": 18731, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 8673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 1095, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/scene.usda", + "bytes": 50646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_03.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPOSITION_REPAIR.item_03.tick_00039155.63d0e0888b18.json", + "bytes": 7201, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/recording_60hz.npz", + "bytes": 48091219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 161721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005974.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_04.tick_00033290.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2348, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_AUTOMATION.1791310106498767333.json", + "bytes": 2212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_04.npz", + "bytes": 23499, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_03_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008043.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00021774.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020687.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008496.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_01.npz", + "bytes": 14180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_02.json", + "bytes": 1086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 894, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00021243.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_01.tick_00031722.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/collision_profile.usda", + "bytes": 159817, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 1070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_02.tick_00032320.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022324.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019497.json", + "bytes": 534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_metrics.json", + "bytes": 303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3573724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_03.npz", + "bytes": 18731, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 14661, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls.npz", + "bytes": 14180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1479, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/REPAIR_AUTOMATION.1791310147946028591.json", + "bytes": 2208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_ARRIVAL.item_02.json", + "bytes": 1765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/__pycache__/repair_case06_final_side_tick39155_a4468ab13356.cpython-311.pyc", + "bytes": 35744, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/repair_case06_final_side_tick39155_a4468ab13356.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/applied/20ad9d3e9883c9a14a8cb057a2095dc7ff4e539bd739773b418b543835bfff8b.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/applied/3e1662fa8d5ea7aa511c28938113e08e5ed5838fa1814af7be5dbcd758b38017.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/item_03_place.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/repairs/item_03_place.reviewable.json", + "bytes": 19586, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009807.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 845, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/sim_info.json", + "bytes": 6662, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 11539, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/STATUS.json", + "bytes": 967, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 4359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00031298.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009807.json", + "bytes": 782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 19949, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_02.primitive_00.tick_00030010.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 23171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2352, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/scene_physical.usda", + "bytes": 490, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019886.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_00_controls.npz", + "bytes": 14180, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 122566465, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13317, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017584.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2499, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/CASE6_ITEM03_POLAR_FULL_PROPOSAL.json", + "bytes": 30256, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/item_01_controls.npz", + "bytes": 22099, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/controls_item_02.npz", + "bytes": 22099, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_06/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018121.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_06.tick_00022324.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_02.restore_pick_gaze_after_arrival.tick_00033290.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 106816032, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 59909813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 59956768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_06/data/chunk-000/episode_000000.parquet", + "bytes": 1819450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/tasks.jsonl", + "bytes": 223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/episodes_stats.jsonl", + "bytes": 4826, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/episodes.jsonl", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/stats.json", + "bytes": 7699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 135110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 134312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 75222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 75500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 75106, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 75334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 136354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 75045, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 69368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 75879, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 68899, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 69689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 74890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 136131, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 74823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 68568, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 70125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 75680, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 134638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 69632, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 136512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 69124, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 135711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 69991, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 134383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 69023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 68698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 75425, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 135689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 134756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54835, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 47021354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019336.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13730, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_PROPOSAL.json", + "bytes": 3262, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_09.tick_00023294.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RESULT.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1998, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 50918, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REVIEWED_PREROLL_DEVIATION.json", + "bytes": 1114, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 393, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_CURRENT_NORTH_APPROACH_V2_PROPOSAL.json", + "bytes": 2600, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18799, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00020445.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/full_state.npz", + "bytes": 44036060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/job.json", + "bytes": 45105, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007920.json", + "bytes": 534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5004, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 6193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 162516, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20040, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18981, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16440, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19987, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15855, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4692, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4679, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5010, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3553, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 6301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20122, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15875, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16409, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1572962, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19998, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19984, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4684, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 9007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006565.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 7183, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019715.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30866, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 387, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 2144, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_10.tick_00024312.json", + "bytes": 558, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00010704.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 138213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 12109, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_02_controls.npz", + "bytes": 30928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6700, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/scene.usda", + "bytes": 52921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/recording_60hz.npz", + "bytes": 40526094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 155324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_06.tick_00021921.json", + "bytes": 511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CASE7_ITEM02_FOCUSED_FINAL_GENERAL_PROPOSAL.json", + "bytes": 20290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_BLOCKED.item_02.json", + "bytes": 322, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00034112.51a17a1689ad.json", + "bytes": 4517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008401.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/collision_profile.usda", + "bytes": 166607, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 862, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00020833.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_29030.json", + "bytes": 920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00021382.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_metrics.json", + "bytes": 254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/FINE_ENDPOINT_RECOVERY.item_02.tick_31133.json", + "bytes": 4092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 3021532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_03.npz", + "bytes": 30928, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16953, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls.npz", + "bytes": 17626, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETAINED_PREROLL_DEVIATION_PROP_CHECK.json", + "bytes": 292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1764, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_MOTION_BLOCK.item_02.tick_00029030.5a5b4f9173c7.json", + "bytes": 590, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/finish_endpoint_already_in_gate_tick33501.py", + "bytes": 950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_current_north_tick29030_e5b63567d5c4.py", + "bytes": 7624, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_case07_fine_tick34112_a2032a9f8b0e.cpython-311.pyc", + "bytes": 35975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/finish_endpoint_already_in_gate_tick33501.cpython-311.pyc", + "bytes": 2588, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_current_north_tick29030_e5b63567d5c4.cpython-311.pyc", + "bytes": 14963, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/__pycache__/repair_north_pulses_tick31133_4d3ca9195f35.cpython-311.pyc", + "bytes": 20921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/history/ac08e269a4431a8d22deeb97087aac3e82ffe1be30eb3cdeaac7a05c8c6eaf11.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/history/b12e2d6aa694c2f7c12d4ea2107705ab58780c4833bd80ac339b5474e4d55d7c.json", + "bytes": 823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/ac08e269a4431a8d22deeb97087aac3e82ffe1be30eb3cdeaac7a05c8c6eaf11.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/77f6cefe9ecfc3eed4e0e27dc369c761178e0dfddc4a0207512fb5d0ca8dddc7.py", + "bytes": 10570, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/818173063f07950b8ae09280de429646137366f95d1dbaeb5715e1bf40c8f76a.py", + "bytes": 7624, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/edf9bef86ccabc249ea287c9c2fd9fabaa1ae9289e53023f8486cd9b5a773d69.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/d04e85426143c2560925b4ef7f37217fba868ef1b88c82c828169cfadc071fe5.py", + "bytes": 950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/b12e2d6aa694c2f7c12d4ea2107705ab58780c4833bd80ac339b5474e4d55d7c.json", + "bytes": 823, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/63bc4f9ed89aa21d4b3e8f2d345796925a95ec69a639d20987138db01bf529a6.json", + "bytes": 404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/applied/56650932e1ffe82f8c547a8c7536ff3a387af261a046a69e34cbf11fbafd6286.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_north_pulses_tick31133_4d3ca9195f35.py", + "bytes": 10570, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_carry_motion_5a5b4f9173c7.json", + "bytes": 404, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/item_02_carry_motion_5a5b4f9173c7.reviewable.json", + "bytes": 802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/repairs/repair_case07_fine_tick34112_a2032a9f8b0e.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/sim_info.json", + "bytes": 5745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/STATUS.json", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3382, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/NAVIGATION_MOTION_RECOVERY.item_02.5a5b4f9173c7.json", + "bytes": 588, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 18184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_07.tick_00022462.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ENDPOINT_ALREADY_IN_GATE.item_02.tick_33501.json", + "bytes": 539, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16434, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11051, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009687.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 19203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00017903.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/scene_physical.usda", + "bytes": 495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00010704.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17626, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 78940431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 3123, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13353, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15022, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_07/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020102.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008987.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006028.json", + "bytes": 812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_08.tick_00022801.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017366.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00024312.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 79095151, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 41763073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 38654948, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_07/data/chunk-000/episode_000000.parquet", + "bytes": 1529587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/tasks.jsonl", + "bytes": 223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/episodes_stats.jsonl", + "bytes": 4837, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/episodes.jsonl", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/stats.json", + "bytes": 7710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 162369, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 162383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 89129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 89558, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 89027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 89341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 162739, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 88957, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 89904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 76576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 88843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 162898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 88683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 75889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77029, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 89851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 162209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 76514, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 163251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 162719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 76878, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 162397, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 75890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 89461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 162653, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 162652, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926864048729.json", + "bytes": 2019, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 43224129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_06.tick_00011447.json", + "bytes": 530, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RESULT.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33605, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/candidate_qualification.py", + "bytes": 1808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79952, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 348, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM02_FOCUSED_CURRENT_APERTURE_PROPOSAL.json", + "bytes": 10338, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 36860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/LAST_ITEM_REPAIR_WATCH.item_02.json", + "bytes": 466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 393, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13431, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26470, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181639, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/full_state.npz", + "bytes": 40353722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/job.json", + "bytes": 52153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 13374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 20055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 20024, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 20051, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5674, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 19990, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_276.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 174351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15635, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 20030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4793, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15577, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_281_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 28304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5872, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 5719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4698, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7333, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20022, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_278_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 16634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_282.json", + "bytes": 5786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20123, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4745, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_282_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 13591, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 5849, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_277_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19985, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 6307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 6850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20042, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20007, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20086, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 13396, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 7858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_280_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 5277, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 5028, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13582, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20037, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 4756, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_279.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 19994, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 7342, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_279_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_278.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1685512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19913, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19997, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_277.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 20005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13365, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 19979, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_281.json", + "bytes": 5852, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 16043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_280.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4752, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 20103, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5003, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19911, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 24754, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11978, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_276_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 20069, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_FOCUSED_SHORT_RETREAT_PROPOSAL.json", + "bytes": 34378, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM02_FOCUSED_FRONT_APERTURE_PROPOSAL.json", + "bytes": 26774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 5689, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009989.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POST_RELEASE_UPRIGHT_PROPOSAL.json", + "bytes": 2965, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6622, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 30368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 326, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_07.tick_00011936.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006410.json", + "bytes": 808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/POST_RELEASE_LEVEL_RETURN.item_01.json", + "bytes": 646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_04.tick_00025083.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174271769642.json", + "bytes": 2016, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 4047, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13025, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 125200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 14275, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_02_controls.npz", + "bytes": 23618, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6700, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/scene.usda", + "bytes": 52255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006948.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/recording_60hz.npz", + "bytes": 37631497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 154250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00024784.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008764.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008149.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_01.npz", + "bytes": 17209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1601, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/collision_profile.usda", + "bytes": 166795, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_metrics.json", + "bytes": 254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00024492.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_05.tick_00011092.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 448, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2811396, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_03.npz", + "bytes": 23618, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00031505.71e33d43e998.json", + "bytes": 4506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls.npz", + "bytes": 17209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00025703.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/__pycache__/repair_case08_fine_tick17477_9e6b9aef166c_level_return.cpython-311.pyc", + "bytes": 41142, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/__pycache__/repair_case08_fine_tick31505_3fa1fdae7d53.cpython-311.pyc", + "bytes": 35738, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick17477_9e6b9aef166c_level_return.py", + "bytes": 22057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place.reviewable.json", + "bytes": 13161, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/last_item_repair.lock", + "bytes": 0, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_02_place.reviewable.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick17477_9e6b9aef166c.py", + "bytes": 18920, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place_with_level_return.reviewable.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/102a9780f8c0d9d15a8363982abd4076b7360d515361ab5737b01ffdec2f8483.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/a6405c39552fa1c155fbc2d2aa8e5791c1af50ab6a28a5636c964c8e47e737ab.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/f1efc0605568e978ec5e0680d0e1b25284652c088cbf0c01a80126392919f080.py", + "bytes": 22057, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/applied/e3528c0464ecc2fd2dff1c8a3406b0026a9cfcd3a52a3320797fbe73138a1e4b.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 19593, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/repair_case08_fine_tick31505_3fa1fdae7d53.py", + "bytes": 18863, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 13466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 12950, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00022034.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 846, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/sim_info.json", + "bytes": 5748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8709, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/STATUS.json", + "bytes": 927, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3517, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009572.json", + "bytes": 509, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 503, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 7272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00023844.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 38819, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00009990.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_00_controls.npz", + "bytes": 17209, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 550, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 80336020, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00017477.91b4543f69e8.json", + "bytes": 4924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2924, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00021497.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00023408.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/item_01_controls.npz", + "bytes": 31078, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/controls_item_02.npz", + "bytes": 31078, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_08/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_05.tick_00025703.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011936.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/sim_info/episode_000000/CASE8_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 28021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 75344260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 40413537, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 36311282, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_08/data/chunk-000/episode_000000.parquet", + "bytes": 1496234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/tasks.jsonl", + "bytes": 218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/episodes_stats.jsonl", + "bytes": 4833, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/episodes.jsonl", + "bytes": 241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/stats.json", + "bytes": 7706, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/meta/info.json", + "bytes": 4340, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_CLEAR_ENDPOINT_PROPOSAL.json", + "bytes": 22995, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 155108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 154460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 75164, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 75286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 75110, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 75216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 155753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 74974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 76810, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 75471, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 76204, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 77027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 74850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 155701, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 74891, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 75757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 77535, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 75475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 154894, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 76977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 156193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 76442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 155628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 77341, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 154792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 76356, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 75952, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 75209, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 155481, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 155098, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54829, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007921.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 41451896, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009660.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13719, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RESULT.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009040.json", + "bytes": 506, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/export_native_candidate.py", + "bytes": 33480, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 4579, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 80005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 345, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 73836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00021687.json", + "bytes": 507, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 904, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18801, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13444, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 195, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 190, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25695, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172361, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26374, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26377, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26474, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 200, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181666, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 203, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005915.json", + "bytes": 809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/full_state.npz", + "bytes": 38714087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/job.json", + "bytes": 27621, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 13388, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 19969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 6174, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 5002, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5673, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 4753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 5785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 5027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 19882, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 6191, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 6309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 162418, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 20093, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4777, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4696, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 3240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1263, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4208, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 7334, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 20023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4232, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 5528, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 5854, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 20062, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 24753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 7850, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4207, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18979, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 19986, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 4678, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20168, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5858, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 20044, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 20008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 20088, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20094, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 5008, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 6321, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 13583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 5278, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20039, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4230, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 16034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 20102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4783, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3555, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 6303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 20070, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 20130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5822, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1229, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 15874, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1213, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 16408, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4670, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1570851, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 20172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 19996, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7172, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 16625, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 5294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 16449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 13366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5804, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1222, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1219, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20166, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20127, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1221, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 5511, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4683, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 5686, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 20048, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 20017, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4770, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 20097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 5547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 7452, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 5554, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4157, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 15576, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4657, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 4382, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009660.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00014564.eb449329cb45.json", + "bytes": 4485, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 2860, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6616, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM01_POLAR_FULL_PROPOSAL.json", + "bytes": 12367, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30843, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM01_POLAR_RETREAT_VARIANT_PROPOSAL.json", + "bytes": 16257, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/FINE_REPAIR_COMPLETION_REVIEW.json", + "bytes": 677, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1583, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 901, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 12176, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13284, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 118930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPOSITION_REPAIR.item_02.tick_00028221.e4186d0dc61b.json", + "bytes": 4490, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 20806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_02_controls.npz", + "bytes": 15030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 557, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/scene.usda", + "bytes": 52240, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008310.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/recording_60hz.npz", + "bytes": 36097681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_AUDIT.before_contiguous_recheck.json", + "bytes": 2578, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1755, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_HOVER_PROPOSAL.json", + "bytes": 4422, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 154806, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETREAT_VARIANT_AUTOMATION.1791324926855692199.json", + "bytes": 2018, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2349, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022307.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022307.json", + "bytes": 785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_CONTIGUOUS_RECHECK.json", + "bytes": 3771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_01.npz", + "bytes": 15243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00020501.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/collision_profile.usda", + "bytes": 172636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00018872.json", + "bytes": 811, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_WAIST_PROPOSAL.json", + "bytes": 10293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_metrics.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 443, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2665919, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00020873.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_03.npz", + "bytes": 15030, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2259, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 16027, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls.npz", + "bytes": 15243, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006454.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1120, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/repair_case09_final_side_tick28221_a81ec7e7ac7f.py", + "bytes": 16246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick14564_2089e9ea218a.cpython-311.pyc", + "bytes": 30772, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/__pycache__/repair_case09_final_side_tick28221_a81ec7e7ac7f.cpython-311.pyc", + "bytes": 30958, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/635599c8143e80f5a4728b2951f6035b4d498d7b26a53569b989526071abf0ad.py", + "bytes": 16246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/45851ef0b2ff40623cdf49ad20e13b5d6179b7cd38b94537e75ec272394e6b6f.json", + "bytes": 3807, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/bd6845ed2cdad04a25d456e65d1d8694826077e503f4bb21e522bbaf3f495219.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/applied/ad191813c89892675c4aa6fe6e9d50b322a182dd984a0a56eecaea9830312b91.json", + "bytes": 3743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/item_02_place.json", + "bytes": 3807, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 3743, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/repairs/repair_place_station_item01_tick14564_2089e9ea218a.py", + "bytes": 16138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019408.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/REPAIR_AUTOMATION.1791310174297064189.json", + "bytes": 2001, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 845, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/sim_info.json", + "bytes": 5736, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8699, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/STATUS.json", + "bytes": 921, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 3771, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1100, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CANDIDATE_EXPORT_POLICY.json", + "bytes": 359, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 3279, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CASE9_ITEM02_FOCUSED_SIDE_APPROACH_PROPOSAL.json", + "bytes": 13043, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_polar_endpoint.py", + "bytes": 5602, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_polar_endpoint.cpython-312.pyc", + "bytes": 15375, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_endpoint_generic.cpython-312.pyc", + "bytes": 18264, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic.cpython-312.pyc", + "bytes": 12246, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_seed_full_generic.cpython-312.pyc", + "bytes": 11218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_station_ik_grid.cpython-312.pyc", + "bytes": 13184, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_polar_full_generic_tail.cpython-312.pyc", + "bytes": 12276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place_q7.cpython-312.pyc", + "bytes": 16472, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_full_generic.py", + "bytes": 5508, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_endpoint_generic.py", + "bytes": 6538, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_polar_full_generic_tail.py", + "bytes": 5525, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_station_ik_grid.py", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_grid_live_place_q7.py", + "bytes": 11337, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_seed_full_generic.py", + "bytes": 5708, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 549, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 973, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 11728, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2358, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4293, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/TASK_SCHEMA_AUDIT.before_contiguous_recheck.json", + "bytes": 153138, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 547, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_00_controls.npz", + "bytes": 15243, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 541, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 42240439, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2991, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13371, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2276, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/item_01_controls.npz", + "bytes": 13061, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/sim_info/episode_000000/controls_item_02.npz", + "bytes": 13061, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "staged_datasets/layout_09/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 77318335, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 41479619, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 36623212, + "source_stream_byte_equal": true + }, + { + "relative_path": "staged_datasets/layout_09/data/chunk-000/episode_000000.parquet", + "bytes": 1435247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/tasks.jsonl", + "bytes": 215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/episodes_stats.jsonl", + "bytes": 4848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/episodes.jsonl", + "bytes": 237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/stats.json", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/meta/info.json", + "bytes": 4339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 139136, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 138449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 68759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 69117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 68653, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 68947, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 139764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 68749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 66247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 69345, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 65669, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 66430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 68564, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 139686, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 68642, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 65274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 66735, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 69258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 138713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 66245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 140114, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 65862, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 139447, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 66724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 138727, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 65809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 65413, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 68985, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 139380, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 138948, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 35304227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009294.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/COMMAND.json", + "bytes": 527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 1055, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RESULT.json", + "bytes": 535, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 3679, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00009914.json", + "bytes": 783, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 3671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5469, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00006386.json", + "bytes": 529, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 35215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00008611.json", + "bytes": 528, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 385, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13442, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25693, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26375, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22140, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26473, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181606, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/full_state.npz", + "bytes": 32912934, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 1056, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/job.json", + "bytes": 53219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20087, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 5002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_245.json", + "bytes": 4750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_198.json", + "bytes": 9520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_190.json", + "bytes": 7927, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 5027, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_223_SOURCE.npz", + "bytes": 1255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 7399, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20101, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_270_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 5871, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 7422, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 4761, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4154, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1181, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_263.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_191.json", + "bytes": 8978, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_241_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_219_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_261.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4211, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_204.json", + "bytes": 9504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 24752, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1191, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_225.json", + "bytes": 4749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_252_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_174.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 168285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_240_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_250_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 5803, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_217.json", + "bytes": 4675, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_187_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_262_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 5544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 6320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_263_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_186_SOURCE.npz", + "bytes": 1153, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_256_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_172_SOURCE.npz", + "bytes": 1190, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_243.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_224.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_177_SOURCE.npz", + "bytes": 1264, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_246_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6198, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1265, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_271_SOURCE.npz", + "bytes": 1226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15574, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_208_SOURCE.npz", + "bytes": 997, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_249.json", + "bytes": 4774, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_202_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_219.json", + "bytes": 5685, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_214.json", + "bytes": 4669, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_258_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_220.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_254_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_236_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_226.json", + "bytes": 5815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_272.json", + "bytes": 5821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_264_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_226_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_196_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_260.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_264.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_271.json", + "bytes": 5869, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 6314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_265.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_187.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_269.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_250.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_228.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 6324, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_201_SOURCE.npz", + "bytes": 999, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_180_SOURCE.npz", + "bytes": 996, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_172.json", + "bytes": 4267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_174_SOURCE.npz", + "bytes": 1194, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_176.json", + "bytes": 7381, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_169_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_229_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 5820, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_262.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_167_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4260, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4755, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_179_SOURCE.npz", + "bytes": 1091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_184.json", + "bytes": 7953, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_200_SOURCE.npz", + "bytes": 1195, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4210, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_195_SOURCE.npz", + "bytes": 1162, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_266.json", + "bytes": 5030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1313, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_224_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_193_SOURCE.npz", + "bytes": 1177, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_229.json", + "bytes": 4776, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4205, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_248.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_189.json", + "bytes": 4771, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_251_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_252.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4159, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_216.json", + "bytes": 6192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_181.json", + "bytes": 4728, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1309, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_269_SOURCE.npz", + "bytes": 1193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_255_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 6308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 4229, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 4682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_203.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_205.json", + "bytes": 8983, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_178_SOURCE.npz", + "bytes": 1276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_185_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_173.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_170.json", + "bytes": 7402, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_258.json", + "bytes": 5510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_243_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_248_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_212.json", + "bytes": 28302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25080, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_257_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 5505, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_214_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4754, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_200.json", + "bytes": 4781, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4227, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 5555, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 5850, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_261_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_171.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_209_SOURCE.npz", + "bytes": 1225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 7437, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_240.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_275.json", + "bytes": 5785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_176_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1007, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_190_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_199_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_235_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_209.json", + "bytes": 4764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_207_SOURCE.npz", + "bytes": 1214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_186.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_169.json", + "bytes": 7400, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_231_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_268.json", + "bytes": 4759, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_221.json", + "bytes": 4760, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4225, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_171_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_168_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_233_SOURCE.npz", + "bytes": 1280, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_212_SOURCE.npz", + "bytes": 1337, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4228, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_230_SOURCE.npz", + "bytes": 1269, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4268, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_215_SOURCE.npz", + "bytes": 1294, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20124, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_275_SOURCE.npz", + "bytes": 1189, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_225_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 6173, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_245_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_257.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_210.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_239.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_211.json", + "bytes": 8955, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_182_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_183.json", + "bytes": 7314, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1240, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_273.json", + "bytes": 5848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_181_SOURCE.npz", + "bytes": 1084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_274_SOURCE.npz", + "bytes": 1246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_182.json", + "bytes": 4705, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_253.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 4775, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 5802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1001, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_192.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 8320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_239_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_253_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_221_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4221, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_223.json", + "bytes": 6302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_222.json", + "bytes": 4782, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 4253, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1183, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4219, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20152, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_267.json", + "bytes": 5548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_213_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_206.json", + "bytes": 4797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_177.json", + "bytes": 7336, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_175_SOURCE.npz", + "bytes": 1267, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_273_SOURCE.npz", + "bytes": 1237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4243, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_251.json", + "bytes": 6851, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 170362, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_238.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_230.json", + "bytes": 6304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_198_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_202.json", + "bytes": 4768, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1312, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_203_SOURCE.npz", + "bytes": 1305, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 1633031, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 4767, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_184_SOURCE.npz", + "bytes": 1315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_192_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_196.json", + "bytes": 4751, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_210_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_180.json", + "bytes": 4167, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1302, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_268_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_249_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_218.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_195.json", + "bytes": 4765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_238_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4746, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_236.json", + "bytes": 4792, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_193.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_173_SOURCE.npz", + "bytes": 994, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_237.json", + "bytes": 6306, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_215.json", + "bytes": 4691, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_228_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_217_SOURCE.npz", + "bytes": 1287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_244.json", + "bytes": 6298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20126, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 4697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_213.json", + "bytes": 5718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_259_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1291, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_231.json", + "bytes": 4762, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_266_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4172, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_183_SOURCE.npz", + "bytes": 1266, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_194.json", + "bytes": 4217, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 5009, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_179.json", + "bytes": 4742, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1042, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_232_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_178.json", + "bytes": 4718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4193, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_227_SOURCE.npz", + "bytes": 1284, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_220_SOURCE.npz", + "bytes": 1290, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 4165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1187, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_242.json", + "bytes": 4757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_234.json", + "bytes": 4778, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_244_SOURCE.npz", + "bytes": 1254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4262, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_265_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_205_SOURCE.npz", + "bytes": 1311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_247_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_191_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_270.json", + "bytes": 5857, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_234_SOURCE.npz", + "bytes": 1281, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 4671, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 4729, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_227.json", + "bytes": 5293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_206_SOURCE.npz", + "bytes": 1297, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_211_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_197_SOURCE.npz", + "bytes": 1308, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 4656, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_170_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_259.json", + "bytes": 4242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_216_SOURCE.npz", + "bytes": 1245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1188, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_235.json", + "bytes": 4766, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_201.json", + "bytes": 4213, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_256.json", + "bytes": 4249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_233.json", + "bytes": 5276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_246.json", + "bytes": 4741, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_274.json", + "bytes": 5853, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4740, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4223, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_207.json", + "bytes": 4773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1300, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1258, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_208.json", + "bytes": 4215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1289, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_204_SOURCE.npz", + "bytes": 1307, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_194_SOURCE.npz", + "bytes": 1002, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_272_SOURCE.npz", + "bytes": 1179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_247.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_188_SOURCE.npz", + "bytes": 1143, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_189_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_241.json", + "bytes": 4238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4226, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1301, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_167.json", + "bytes": 4250, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_168.json", + "bytes": 4234, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_232.json", + "bytes": 4758, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8772, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 8292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_254.json", + "bytes": 4237, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 5527, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_237_SOURCE.npz", + "bytes": 1261, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 5673, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_185.json", + "bytes": 4787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_175.json", + "bytes": 4748, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_260_SOURCE.npz", + "bytes": 1310, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_218_SOURCE.npz", + "bytes": 1288, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_197.json", + "bytes": 8931, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_267_SOURCE.npz", + "bytes": 1321, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_188.json", + "bytes": 4769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1292, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_255.json", + "bytes": 4255, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 5688, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_242_SOURCE.npz", + "bytes": 1299, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_199.json", + "bytes": 4780, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4148, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_222_SOURCE.npz", + "bytes": 1298, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1293, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 4254, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 4235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 5279, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 2346, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/REPOSITION_REPAIR.item_01.tick_00015363.006087a4e103.json", + "bytes": 4553, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 6932, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6614, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30821, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019688.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 707, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11456, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13159, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 106169, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 32688, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_02_controls.npz", + "bytes": 27697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00022986.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6720, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 1098, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 552, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/scene.usda", + "bytes": 50067, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00021196.json", + "bytes": 512, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/recording_60hz.npz", + "bytes": 31872748, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CASE10_ITEM01_SEED_FULL_PROPOSAL.json", + "bytes": 26679, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 149849, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 179, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 1054, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2355, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1106, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00019149.json", + "bytes": 813, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00005849.json", + "bytes": 810, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/recording_metadata.json", + "bytes": 354, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_STABILITY_CONTIGUOUS_RECHECK.json", + "bytes": 787, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008148.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_01.npz", + "bytes": 18797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1076, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/collision_profile.usda", + "bytes": 156793, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 817, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 220, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00009914.json", + "bytes": 533, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_metrics.json", + "bytes": 246, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 441, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2385361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_03.npz", + "bytes": 27697, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/item_02_controls.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2256, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 13477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls.npz", + "bytes": 18797, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1764, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1117, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/__pycache__/repair_place_station_item01_tick15363_62f90bc46e68.cpython-311.pyc", + "bytes": 13843, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/applied/bee2910d474c1715fa0f2103684af2109f9a97f8d2730c426a8d95c1a026b158.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/applied/0dd6d702356228f1929d5cb7cc12de41d67989dd7b19103c675531a159bff3bf.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/repair_place_station_item01_tick15363_62f90bc46e68.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/repairs/item_01_place.json", + "bytes": 19982, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13235, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00022986.json", + "bytes": 786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/sim_info.json", + "bytes": 5687, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/camera_extrinsics_native_backup.npz", + "bytes": 2385361, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8615, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/STATUS.json", + "bytes": 519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2579, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 1103, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 13426, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 543, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PLANNING_WAITS.json", + "bytes": 23706, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2351, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007674.json", + "bytes": 531, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4295, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 510, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/scene_physical.usda", + "bytes": 286, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_00_controls.npz", + "bytes": 18797, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/controls_item_01.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 546, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 106104660, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2368, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13251, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 1988, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00021699.json", + "bytes": 532, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/item_01_controls.npz", + "bytes": 22779, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/controls_item_02.npz", + "bytes": 22779, + "source_stream_byte_equal": true, + "same_source_archive_hardlink_target": "datasets/layout_10/sim_info/episode_000000/item_01_controls.npz" + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00022366.json", + "bytes": 508, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 57423504, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 31029556, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 29760854, + "source_stream_byte_equal": true + }, + { + "relative_path": "datasets/layout_10/data/chunk-000/episode_000000.parquet", + "bytes": 1297918, + "source_stream_byte_equal": true + }, + { + "relative_path": "CANDIDATE_EPISODES.json", + "bytes": 2314, + "source_stream_byte_equal": true + }, + { + "relative_path": "ACCEPTED_EPISODES.json", + "bytes": 5007, + "source_stream_byte_equal": true + }, + { + "relative_path": "HANDOFF_CURRENT.json", + "bytes": 6303, + "source_stream_byte_equal": true + } + ], + "bytes": 3889649820, + "errors": [], + "started_utc": "2026-10-25T23:59:52Z", + "completed_utc": "2026-10-26T00:15:48Z", + "file_count": 9861, + "elapsed_seconds": 956.684 +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/native_alignment.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/native_alignment.json new file mode 100644 index 0000000000000000000000000000000000000000..394f8abb61b49af6d618fb6999af1a1c4901e6a3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/native_alignment.json @@ -0,0 +1,63 @@ +{ + "layout_id": 4, + "frames": 9301, + "source_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04", + "native_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/recording_60hz.npz", + "native_rows": 27905, + "native_tick_match_exact": true, + "native_indices_phase2_exact": true, + "applied_joint_commands_exact_source_cast": true, + "applied_base_commands_exact_source_cast": true, + "measured_joint_states_exact_source_cast": true, + "measured_xy_exact_source_cast": true, + "measured_yaw_max_error_rad": 1.3329364119130105e-06, + "source_times_exact": false, + "source_time_max_error": 0.6333435058593864, + "source_clock_offset_first_s": 0.6333333373069763, + "source_clock_offset_range_s": [ + 0.6333190917968636, + 0.6333435058593864 + ], + "source_clock_offset_ptp_s": 2.4414062522737368e-05, + "source_parquet_clock_dtype": "float", + "source_native_clock": { + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 27905, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 9301, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." + }, + "native_fields": [ + "q", + "native_target", + "dof_names", + "base_action_body", + "base_pose", + "target_pose", + "target_paths", + "target_initial_pose", + "target_pose_all", + "active_target_path", + "item_index", + "phase", + "timestamp", + "nav_constraint_mode", + "nav_constraint_pose", + "tick", + "joint_velocity", + "robot_link_paths", + "robot_link_pose" + ] +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/original_source_location.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/original_source_location.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce51efae154bd26d074520c65e394b7d657fb62 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/original_source_location.json @@ -0,0 +1,8 @@ +{ + "source_host": "l1", + "source_dataset_dir_original": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04", + "cache_source_dir": "/workspace/alienware/datasets/robotagentbench-open-20261025/sources/l01_original10_recovered/datasets/layout_04", + "quality_filter_applied": false, + "physical_qualification_upgraded": false, + "source_owner_files_modified": false +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/source_numeric_validation.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/source_numeric_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..ca8c7d44de7d6caeb63bf015e89be6ede7dfb23a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/recovery_evidence/source_numeric_validation.json @@ -0,0 +1,8579 @@ +{ + "layout_id": 4, + "source_dataset_dir": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04", + "source_parquet": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/data/chunk-000/episode_000000.parquet", + "info": { + "codebase_version": "v2.1", + "robot_type": "G1_omnipicker", + "total_episodes": 1, + "total_frames": 9301, + "total_tasks": 1, + "total_videos": 3, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:1" + }, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 22 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "simulator_time_s": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "source_control_tick": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "phase_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "item_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.top_head": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_left": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_right": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + } + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" + }, + "episode": { + "episode_index": 0, + "tasks": [ + "Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + ], + "length": 9301 + }, + "tasks": [ + { + "task_index": 0, + "task": "Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items." + } + ], + "columns": [ + "action", + "observation.state", + "timestamp", + "simulator_time_s", + "source_control_tick", + "frame_index", + "index", + "episode_index", + "task_index", + "phase_index", + "item_index", + "next.done" + ], + "action_shape": [ + 9301, + 22 + ], + "state_shape": [ + 9301, + 23 + ], + "all_numeric_finite": true, + "timestamp_dtype": "float", + "timestamp_first_last": [ + 0.0, + 465.0 + ], + "timestamp_step_max_error": 1.8309801816940308e-05, + "videos": { + "observation.images.top_head": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/videos/chunk-000/observation.images.top_head/episode_000000.mp4", + "bytes": 64498609, + "exists_nonempty": true + }, + "observation.images.hand_left": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/videos/chunk-000/observation.images.hand_left/episode_000000.mp4", + "bytes": 39734976, + "exists_nonempty": true + }, + "observation.images.hand_right": { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/videos/chunk-000/observation.images.hand_right/episode_000000.mp4", + "bytes": 34488168, + "exists_nonempty": true + } + }, + "sim_info_files": [ + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/robot_and_camera_parameters.json", + "bytes": 54837 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/checkpoint_60hz.npz", + "bytes": 32147730 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/COMMAND.json", + "bytes": 527 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_01.tick_00008962.json", + "bytes": 528 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.json", + "bytes": 13699 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_01.json", + "bytes": 376 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RESULT.json", + "bytes": 545 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_01.json", + "bytes": 1982 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_PLAN.item_00.json", + "bytes": 1999 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/OFFICIAL_LEROBOT_READER_QA.json", + "bytes": 5367 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json", + "bytes": 79948 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json", + "bytes": 350 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PREROLL_EVIDENCE.npz", + "bytes": 33565 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.restore_pick_gaze_after_arrival.tick_00011010.json", + "bytes": 785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json", + "bytes": 785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK.json", + "bytes": 903 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE.json", + "bytes": 389 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/full_state.npz", + "bytes": 29945820 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_00.json", + "bytes": 375 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/job.json", + "bytes": 43380 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/WRIST_AUDIT.json", + "bytes": 513 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json", + "bytes": 509 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/REPAIR_EVIDENCE_MANIFEST.json", + "bytes": 294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_02.json", + "bytes": 37863 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json", + "bytes": 6619 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json", + "bytes": 30824 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PHYSICS_CLOCK_AUDIT.json", + "bytes": 1582 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/return_primitives.item_01.json", + "bytes": 916 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CONTACT_CAPTURE_AUDIT.json", + "bytes": 715 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json", + "bytes": 812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json", + "bytes": 3856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CODE_HASHES.json", + "bytes": 11456 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_02.npz", + "bytes": 13255 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PARQUET_ALIGNMENT_CHECK.json", + "bytes": 98898 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_00.json", + "bytes": 10597 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/item_02_controls.npz", + "bytes": 19018 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_AUDIT.json", + "bytes": 6709 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_01.json", + "bytes": 554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_00.json", + "bytes": 826 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/scene.usda", + "bytes": 47487 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/recording_60hz.npz", + "bytes": 29864206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json", + "bytes": 1768 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/TASK_SCHEMA_AUDIT.json", + "bytes": 148003 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/TRAY_APPEARANCE.json", + "bytes": 178 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CARRY_PLAN.item_02.json", + "bytes": 375 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_01.json", + "bytes": 2357 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/USER_ACCEPTANCE.json", + "bytes": 1105 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/VALIDATION_CODE_HASHES.json", + "bytes": 1224 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/recording_metadata.json", + "bytes": 354 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_04.tick_00011010.json", + "bytes": 554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00019459.json", + "bytes": 509 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_02.tick_00020696.json", + "bytes": 508 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/ROBOT_COLLISION_PROFILE.json", + "bytes": 6108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/controls_item_01.npz", + "bytes": 26060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/return_primitives.item_00.json", + "bytes": 1088 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/EXPORT_STATUS.json", + "bytes": 82 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json", + "bytes": 552 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_profile.usda", + "bytes": 176932 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/TARGET_INITIAL_POSES.json", + "bytes": 786 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/STATUS.before_user_acceptance.json", + "bytes": 105 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_POLICY.json", + "bytes": 609 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_00.raise_before_walking.tick_00006602.json", + "bytes": 810 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json", + "bytes": 584 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/place_metrics.json", + "bytes": 251 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CHECKPOINT.json", + "bytes": 446 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/camera_extrinsics_20hz.npz", + "bytes": 2240557 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/controls_item_03.npz", + "bytes": 19018 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_00.json", + "bytes": 2260 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/NON_TARGET_PROP_STABILITY_AUDIT.json", + "bytes": 11787 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json", + "bytes": 510 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/controls.npz", + "bytes": 26060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RETURN_ARRIVAL.item_01.json", + "bytes": 1758 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json", + "bytes": 1122 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_01.npz", + "bytes": 13236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP.json", + "bytes": 843 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/sim_info.json", + "bytes": 5698 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CAMERA_METADATA_RECONSTRUCTION.json", + "bytes": 1789 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/ITEM_EVENTS.json", + "bytes": 8684 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/STATUS.json", + "bytes": 519 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json", + "bytes": 529 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/GRASP_STABILITY_AUDIT.json", + "bytes": 2585 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_02.tick_00009474.json", + "bytes": 510 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/navigation_primitives.item_02.json", + "bytes": 830 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json", + "bytes": 529 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/camera_extrinsics_reconstructed_by_view_audit.npz", + "bytes": 2162109 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PLACEMENT_PLAN.item_01.json", + "bytes": 11772 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/action_space.schema.json", + "bytes": 1798 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json", + "bytes": 6206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json", + "bytes": 506 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json", + "bytes": 972 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_GATE.item_02.json", + "bytes": 2353 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json", + "bytes": 533 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/VISIBILITY_AUDIT.json", + "bytes": 4772 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json", + "bytes": 4291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json", + "bytes": 551 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/scene_physical.usda", + "bytes": 286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/item_00_controls.npz", + "bytes": 26060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PICK_PREFLIGHT.item_01.json", + "bytes": 511 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/contacts.jsonl.gz", + "bytes": 28696468 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json", + "bytes": 2766 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/place_planned_targets.item_00.npz", + "bytes": 13371 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/ROBOT_CONFIGURATION_DIFFERENCES.json", + "bytes": 3214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/INPUT_QUALIFICATION.json", + "bytes": 2220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/LIVE_DRIVE_READBACK.json", + "bytes": 83 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/item_01_controls.npz", + "bytes": 15030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/controls_item_02.npz", + "bytes": 15030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/COOKED_ADAPTER_COVERAGE.json", + "bytes": 1217799 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/USER_ACCEPTED_EXPORT_POLICY.json", + "bytes": 249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_04.jpg", + "bytes": 184900 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_00.jpg", + "bytes": 180709 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_04.jpg", + "bytes": 83829 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_07.jpg", + "bytes": 83991 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_03.jpg", + "bytes": 83772 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_05.jpg", + "bytes": 83868 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_08.jpg", + "bytes": 188060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_02.jpg", + "bytes": 83964 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_05.jpg", + "bytes": 79713 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_09.jpg", + "bytes": 84355 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_02.jpg", + "bytes": 79279 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_07.jpg", + "bytes": 80252 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_01.jpg", + "bytes": 83573 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_07.jpg", + "bytes": 187630 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_00.jpg", + "bytes": 83259 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_00.jpg", + "bytes": 79160 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_09.jpg", + "bytes": 80731 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_08.jpg", + "bytes": 84254 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_03.jpg", + "bytes": 184864 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_06.jpg", + "bytes": 80031 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_09.jpg", + "bytes": 190085 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_04.jpg", + "bytes": 79332 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_06.jpg", + "bytes": 186395 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_08.jpg", + "bytes": 80568 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_01.jpg", + "bytes": 182687 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_03.jpg", + "bytes": 79144 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_right_01.jpg", + "bytes": 79232 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/hand_left_06.jpg", + "bytes": 83884 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_05.jpg", + "bytes": 185456 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/startup_frames/top_head_02.jpg", + "bytes": 184895 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/audit_geometry.py", + "bytes": 9847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/export_user_accepted.py", + "bytes": 33359 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/record_manual_review.py", + "bytes": 1351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/validate_case.py", + "bytes": 5433 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/validate_export.py", + "bytes": 32802 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/official_lerobot_reader_qa.py", + "bytes": 4836 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/grasp_stability.py", + "bytes": 3732 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/task_collision_scope.py", + "bytes": 2668 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/validate_staged.py", + "bytes": 5497 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/multi_validation.py", + "bytes": 13902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/startup_validation.py", + "bytes": 37083 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/audit_views.py", + "bytes": 5839 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/parallel_world_audit.py", + "bytes": 5058 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/validation_code/prepare_visual_qa.py", + "bytes": 4658 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_039_SOURCE.npz", + "bytes": 207856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_036.json", + "bytes": 25857 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_033.json", + "bytes": 22138 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_029_SOURCE.npz", + "bytes": 152678 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_010.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_032.json", + "bytes": 23274 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_043_SOURCE.npz", + "bytes": 369421 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_005.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_037_SOURCE.npz", + "bytes": 135155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_001.json", + "bytes": 201 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_030.json", + "bytes": 26246 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/RESULT.json", + "bytes": 18766 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_022_SOURCE.npz", + "bytes": 42108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_000.json", + "bytes": 202 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_024_SOURCE.npz", + "bytes": 391548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_028_SOURCE.npz", + "bytes": 207856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_042.json", + "bytes": 13442 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_031.json", + "bytes": 13443 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_019.json", + "bytes": 189 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_023.json", + "bytes": 116288 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_034.json", + "bytes": 116287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_023_SOURCE.npz", + "bytes": 30339 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_027_SOURCE.npz", + "bytes": 429916 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_002.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_038.json", + "bytes": 13430 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_004.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_007.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_044.json", + "bytes": 194 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_021.json", + "bytes": 189 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_041_SOURCE.npz", + "bytes": 110881 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_017.json", + "bytes": 188 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_043.json", + "bytes": 23273 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_030_SOURCE.npz", + "bytes": 110881 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_032_SOURCE.npz", + "bytes": 369421 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_040_SOURCE.npz", + "bytes": 152678 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_018.json", + "bytes": 189 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_009.json", + "bytes": 201 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_037.json", + "bytes": 25694 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_026.json", + "bytes": 25694 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_039.json", + "bytes": 172357 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_040.json", + "bytes": 26375 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_029.json", + "bytes": 26376 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_036_SOURCE.npz", + "bytes": 153242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_027.json", + "bytes": 13431 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_003.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_015.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_012.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_031_SOURCE.npz", + "bytes": 429895 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_013.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_035_SOURCE.npz", + "bytes": 391548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_041.json", + "bytes": 26245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_022.json", + "bytes": 22142 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_033_SOURCE.npz", + "bytes": 42108 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_042_SOURCE.npz", + "bytes": 429895 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_026_SOURCE.npz", + "bytes": 135155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_014.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_038_SOURCE.npz", + "bytes": 429916 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_024.json", + "bytes": 26472 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_035.json", + "bytes": 26472 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_011.json", + "bytes": 199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_034_SOURCE.npz", + "bytes": 30339 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/MESH_025_SOURCE.npz", + "bytes": 153242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/INPUT.json", + "bytes": 181609 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_016.json", + "bytes": 188 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_028.json", + "bytes": 172360 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_008.json", + "bytes": 202 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_006.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_025.json", + "bytes": 25857 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/COLLIDER_020.json", + "bytes": 198 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_058.json", + "bytes": 20141 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_129.json", + "bytes": 4763 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_068.json", + "bytes": 19881 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_077.json", + "bytes": 20086 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_117_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_010_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_133.json", + "bytes": 4770 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_039_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_152.json", + "bytes": 4771 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_036.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_138.json", + "bytes": 4241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_033.json", + "bytes": 4235 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_029_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_141.json", + "bytes": 5528 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_055.json", + "bytes": 20153 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_139.json", + "bytes": 4248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_162.json", + "bytes": 5803 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_073.json", + "bytes": 20100 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_010.json", + "bytes": 4213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_144.json", + "bytes": 4229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_163.json", + "bytes": 5850 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_106.json", + "bytes": 6174 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_032.json", + "bytes": 4233 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_045_SOURCE.npz", + "bytes": 928 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_109.json", + "bytes": 5674 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_043_SOURCE.npz", + "bytes": 1199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_048.json", + "bytes": 4156 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_160_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_005.json", + "bytes": 4213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_037_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_133_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_102.json", + "bytes": 13583 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_001.json", + "bytes": 4210 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_077_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_020_SOURCE.npz", + "bytes": 726 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_161_SOURCE.npz", + "bytes": 1234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_085.json", + "bytes": 16625 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_165_SOURCE.npz", + "bytes": 1188 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_056_SOURCE.npz", + "bytes": 1233 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_046_SOURCE.npz", + "bytes": 1390 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_030.json", + "bytes": 4230 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json", + "bytes": 103501 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_099.json", + "bytes": 19970 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_022_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_084.json", + "bytes": 15634 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_140.json", + "bytes": 4769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_117.json", + "bytes": 4775 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_131_SOURCE.npz", + "bytes": 1293 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_050_SOURCE.npz", + "bytes": 720 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_000.json", + "bytes": 4207 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_137_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_057_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_132_SOURCE.npz", + "bytes": 1308 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_089_SOURCE.npz", + "bytes": 1222 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_045.json", + "bytes": 6199 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_142_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_103_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_102_SOURCE.npz", + "bytes": 1285 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_079.json", + "bytes": 15576 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_014_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_097_SOURCE.npz", + "bytes": 1263 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_145_SOURCE.npz", + "bytes": 1309 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_024_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_083_SOURCE.npz", + "bytes": 939 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_054_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_109_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_028_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_140_SOURCE.npz", + "bytes": 1295 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_073_SOURCE.npz", + "bytes": 1250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_158.json", + "bytes": 4757 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_007_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_079_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_042.json", + "bytes": 29523 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_061.json", + "bytes": 20171 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_135.json", + "bytes": 4750 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_110.json", + "bytes": 5822 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_122.json", + "bytes": 4758 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_031.json", + "bytes": 4231 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_108_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_019.json", + "bytes": 4216 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_103.json", + "bytes": 5692 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_005_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_159.json", + "bytes": 4741 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_144_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_125_SOURCE.npz", + "bytes": 1306 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_058_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_083.json", + "bytes": 3239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_093.json", + "bytes": 19985 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_023.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_034.json", + "bytes": 4259 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_019_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_067_SOURCE.npz", + "bytes": 1252 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_125.json", + "bytes": 4774 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_078.json", + "bytes": 15853 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_023_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_137.json", + "bytes": 4235 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_063_SOURCE.npz", + "bytes": 1237 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_074_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_027_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_001_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_002.json", + "bytes": 4211 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_075.json", + "bytes": 20096 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_164.json", + "bytes": 5555 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_066_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_141_SOURCE.npz", + "bytes": 1258 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_136_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_006_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_038.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_075_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_128.json", + "bytes": 4754 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_004.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_007.json", + "bytes": 4206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_017_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_072_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_098.json", + "bytes": 19994 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_003_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_161.json", + "bytes": 5871 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_044.json", + "bytes": 18980 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_049_SOURCE.npz", + "bytes": 715 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_154.json", + "bytes": 4782 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_052_SOURCE.npz", + "bytes": 1228 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_061_SOURCE.npz", + "bytes": 1249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_115.json", + "bytes": 4754 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_021.json", + "bytes": 4224 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_128_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_118_SOURCE.npz", + "bytes": 1307 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_154_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_096.json", + "bytes": 16032 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_041_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_127.json", + "bytes": 6314 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_113_SOURCE.npz", + "bytes": 1257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_002_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_112.json", + "bytes": 4779 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_090.json", + "bytes": 20095 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_081_SOURCE.npz", + "bytes": 1239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_107_SOURCE.npz", + "bytes": 1285 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_100_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_017.json", + "bytes": 4215 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_057.json", + "bytes": 20167 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_166.json", + "bytes": 28304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_043.json", + "bytes": 25082 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_121.json", + "bytes": 4767 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_030_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_032_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_131.json", + "bytes": 4246 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_111.json", + "bytes": 4769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_040_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_105.json", + "bytes": 4698 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_099_SOURCE.npz", + "bytes": 1259 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_018.json", + "bytes": 4228 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_081.json", + "bytes": 16438 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_147.json", + "bytes": 4268 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_135_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_127_SOURCE.npz", + "bytes": 1258 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_008_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_146.json", + "bytes": 4246 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_009.json", + "bytes": 4217 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_062_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_090_SOURCE.npz", + "bytes": 1221 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_015_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_156.json", + "bytes": 5028 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_051_SOURCE.npz", + "bytes": 1180 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_037.json", + "bytes": 4225 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_159_SOURCE.npz", + "bytes": 1192 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_087_SOURCE.npz", + "bytes": 1219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_026.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_056.json", + "bytes": 20153 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_076_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_065_SOURCE.npz", + "bytes": 1248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_114_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_065.json", + "bytes": 20093 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_039.json", + "bytes": 4219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_040.json", + "bytes": 4237 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_136.json", + "bytes": 4744 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_062.json", + "bytes": 20151 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_029.json", + "bytes": 4227 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_053_SOURCE.npz", + "bytes": 1243 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_115_SOURCE.npz", + "bytes": 1306 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_069.json", + "bytes": 20038 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_036_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_121_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_076.json", + "bytes": 20060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_118.json", + "bytes": 4768 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_027.json", + "bytes": 4229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_003.json", + "bytes": 4213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_130.json", + "bytes": 4234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_072.json", + "bytes": 20124 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_091_SOURCE.npz", + "bytes": 1223 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_089.json", + "bytes": 20016 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_015.json", + "bytes": 4245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_064_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_088_SOURCE.npz", + "bytes": 1213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_012.json", + "bytes": 4216 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_031_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_107.json", + "bytes": 4683 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_092_SOURCE.npz", + "bytes": 1229 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_013.json", + "bytes": 4219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_049.json", + "bytes": 4149 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_035_SOURCE.npz", + "bytes": 721 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_041.json", + "bytes": 3554 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_011_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_146_SOURCE.npz", + "bytes": 1302 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_105_SOURCE.npz", + "bytes": 1291 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_022.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_033_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_042_SOURCE.npz", + "bytes": 12346 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_104.json", + "bytes": 4672 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_026_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_095_SOURCE.npz", + "bytes": 1254 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_101_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_093_SOURCE.npz", + "bytes": 1214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_100.json", + "bytes": 13366 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_145.json", + "bytes": 4767 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_126_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_014.json", + "bytes": 4249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_166_SOURCE.npz", + "bytes": 1337 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_038_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_063.json", + "bytes": 20149 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_149.json", + "bytes": 4257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_080_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_098_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_153.json", + "bytes": 4250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_094.json", + "bytes": 7849 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_000_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_024.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_035.json", + "bytes": 4218 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_157.json", + "bytes": 5544 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_151_SOURCE.npz", + "bytes": 1310 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_011.json", + "bytes": 4220 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_059.json", + "bytes": 20151 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_013_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_116.json", + "bytes": 5804 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_122_SOURCE.npz", + "bytes": 1308 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_066.json", + "bytes": 20128 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_094_SOURCE.npz", + "bytes": 1250 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_114.json", + "bytes": 4767 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_034_SOURCE.npz", + "bytes": 724 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_139_SOURCE.npz", + "bytes": 1304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_018_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_085_SOURCE.npz", + "bytes": 1212 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_025_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_155_SOURCE.npz", + "bytes": 1242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_138_SOURCE.npz", + "bytes": 1297 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/INPUT.json", + "bytes": 997169 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_101.json", + "bytes": 7334 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_097.json", + "bytes": 20007 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_095.json", + "bytes": 13387 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_147_SOURCE.npz", + "bytes": 1303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_129_SOURCE.npz", + "bytes": 1303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_060.json", + "bytes": 20121 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_044_SOURCE.npz", + "bytes": 1216 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_134_SOURCE.npz", + "bytes": 1267 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_132.json", + "bytes": 4762 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_051.json", + "bytes": 7171 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_119.json", + "bytes": 4782 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_016.json", + "bytes": 4214 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_126.json", + "bytes": 4767 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_108.json", + "bytes": 4656 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_071.json", + "bytes": 20127 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_088.json", + "bytes": 20022 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_016_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_104_SOURCE.npz", + "bytes": 1298 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_028.json", + "bytes": 4258 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_150.json", + "bytes": 4746 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_071_SOURCE.npz", + "bytes": 1234 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_149_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_004_SOURCE.npz", + "bytes": 722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_134.json", + "bytes": 6321 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_059_SOURCE.npz", + "bytes": 1236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_152_SOURCE.npz", + "bytes": 1294 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_048_SOURCE.npz", + "bytes": 720 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_047_SOURCE.npz", + "bytes": 714 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_008.json", + "bytes": 4194 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_151.json", + "bytes": 5009 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_153_SOURCE.npz", + "bytes": 1313 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_055_SOURCE.npz", + "bytes": 1241 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_162_SOURCE.npz", + "bytes": 1177 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_009_SOURCE.npz", + "bytes": 723 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_165.json", + "bytes": 4728 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_084_SOURCE.npz", + "bytes": 1179 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_021_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_112_SOURCE.npz", + "bytes": 1295 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_130_SOURCE.npz", + "bytes": 1289 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_123_SOURCE.npz", + "bytes": 1286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_087.json", + "bytes": 20042 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_120_SOURCE.npz", + "bytes": 1265 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_082_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_148.json", + "bytes": 5506 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_091.json", + "bytes": 20060 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_111_SOURCE.npz", + "bytes": 1305 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_006.json", + "bytes": 4213 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_078_SOURCE.npz", + "bytes": 1244 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_148_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_082.json", + "bytes": 15873 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_119_SOURCE.npz", + "bytes": 1290 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_064.json", + "bytes": 20124 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_124_SOURCE.npz", + "bytes": 1287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_052.json", + "bytes": 7451 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_143_SOURCE.npz", + "bytes": 1296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_096_SOURCE.npz", + "bytes": 1257 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_142.json", + "bytes": 4756 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_025.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_116_SOURCE.npz", + "bytes": 1281 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_157_SOURCE.npz", + "bytes": 1312 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_163_SOURCE.npz", + "bytes": 1240 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_110_SOURCE.npz", + "bytes": 1284 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_120.json", + "bytes": 6324 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_123.json", + "bytes": 4760 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_164_SOURCE.npz", + "bytes": 1245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_074.json", + "bytes": 20091 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_020.json", + "bytes": 4226 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_156_SOURCE.npz", + "bytes": 1292 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_067.json", + "bytes": 19912 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_070_SOURCE.npz", + "bytes": 1242 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_060_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_053.json", + "bytes": 8770 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_155.json", + "bytes": 5003 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_012_SOURCE.npz", + "bytes": 725 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_106_SOURCE.npz", + "bytes": 1249 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_046.json", + "bytes": 11977 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_124.json", + "bytes": 4247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_092.json", + "bytes": 19983 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_080.json", + "bytes": 16407 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_068_SOURCE.npz", + "bytes": 1238 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_086_SOURCE.npz", + "bytes": 1219 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_069_SOURCE.npz", + "bytes": 1247 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_086.json", + "bytes": 20046 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_054.json", + "bytes": 16450 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_070.json", + "bytes": 20067 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_158_SOURCE.npz", + "bytes": 1286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_050.json", + "bytes": 4147 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/MESH_150_SOURCE.npz", + "bytes": 1310 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_047.json", + "bytes": 4156 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_160.json", + "bytes": 5279 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_113.json", + "bytes": 6309 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/COLLIDER_143.json", + "bytes": 4236 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/audit_geometry.py", + "bytes": 9847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/native_planner.py", + "bytes": 2000 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/multi_motion.py", + "bytes": 11847 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_live_place.py", + "bytes": 10119 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_endpoint_projection_v10.py", + "bytes": 3304 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head_normalized.py", + "bytes": 3572 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/apply_exact_landing_overlay.py", + "bytes": 1466 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case_inputs.py", + "bytes": 5902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_station_ik_grid.py", + "bytes": 4366 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case4_live_grasp.py", + "bytes": 5753 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_left_regression.py", + "bytes": 3064 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/repair_place_station.py", + "bytes": 8975 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/carry_transition.py", + "bytes": 18090 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_candidates.py", + "bytes": 10315 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/record_manual_review.py", + "bytes": 1351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case2_oreo_pick.py", + "bytes": 16908 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/validate_case.py", + "bytes": 5433 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item2_arrival_release.py", + "bytes": 17417 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v5.py", + "bytes": 3316 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v7.py", + "bytes": 3815 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_pick_base_registration.py", + "bytes": 7303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_station_ik_grid.py", + "bytes": 4492 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_safe.py", + "bytes": 11697 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_targeted_live_place.py", + "bytes": 10344 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_old_success_seed.py", + "bytes": 10414 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_last_slot.py", + "bytes": 7721 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_grounded_station_full.py", + "bytes": 10532 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_station_ik_grid.py", + "bytes": 4366 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case4_item1_fresh_live_place.py", + "bytes": 10245 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/run_episode.py", + "bytes": 63749 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_live_place.py", + "bytes": 10495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case8_item1_old_success_seed.py", + "bytes": 10429 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place.py", + "bytes": 10848 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_exact_chain_landing.py", + "bytes": 5035 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/build_exact_source_proposals.py", + "bytes": 2344 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_negative.py", + "bytes": 3155 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_return_head.py", + "bytes": 3500 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_live_egress.py", + "bytes": 25942 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/geometry_transfer.py", + "bytes": 2936 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_actual_arrival.py", + "bytes": 6139 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/prepare_multi.py", + "bytes": 16970 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/launch.py", + "bytes": 5071 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_fresh_placements.py", + "bytes": 8556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/validate_export.py", + "bytes": 32802 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case9_without_oreo.py", + "bytes": 6608 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_item1_compact_grasp.py", + "bytes": 14084 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/return_head_policy.py", + "bytes": 6977 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/official_lerobot_reader_qa.py", + "bytes": 4836 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_arrival_release.py", + "bytes": 12373 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item2_carry_boundary.py", + "bytes": 16130 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/grasp_stability.py", + "bytes": 3732 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/task_collision_scope.py", + "bytes": 2668 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case5_compact_grasp.py", + "bytes": 2461 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/audit_return_head.py", + "bytes": 16877 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_minimal_distractors.py", + "bytes": 6769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item2_station_ik_grid.py", + "bytes": 4366 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_zbar_rebased_pick.py", + "bytes": 9351 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/navigation.py", + "bytes": 7703 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_slots.py", + "bytes": 2548 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v3.py", + "bytes": 4158 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/preroll_stability.py", + "bytes": 4522 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/validate_staged.py", + "bytes": 5497 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_command_endpoints.py", + "bytes": 3075 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_repack_full.py", + "bytes": 9856 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_case3_without_cayman.py", + "bytes": 6627 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_command_prebias.py", + "bytes": 5733 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/multi_validation.py", + "bytes": 13902 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/runtime_evidence.py", + "bytes": 1113 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor.py", + "bytes": 4071 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/placement.py", + "bytes": 6595 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/prepare_stable_inputs.py", + "bytes": 4272 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release.py", + "bytes": 17976 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item2_future_place.py", + "bytes": 12206 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/test_multi_validation.py", + "bytes": 6033 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/release_sweep.py", + "bytes": 14828 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_fresh_live_place.py", + "bytes": 10569 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_grid_live_place.py", + "bytes": 10497 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case2_item1_arrival_release_one_tmp.py", + "bytes": 17964 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery.py", + "bytes": 3892 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/tray_appearance.py", + "bytes": 1066 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_live_place.py", + "bytes": 10160 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/supervise.py", + "bytes": 4364 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_live_place_fast.py", + "bytes": 10892 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v9.py", + "bytes": 3815 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/startup_validation.py", + "bytes": 37083 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case3_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/test_startup_validation.py", + "bytes": 6097 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_release_sweep_regression.py", + "bytes": 5812 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/audit_views.py", + "bytes": 5816 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/test_return_head_policy.py", + "bytes": 4492 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/collision_inventory.py", + "bytes": 1218 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_current_live_place.py", + "bytes": 10884 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case9_item1_live_place.py", + "bytes": 10347 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/motion_limits.py", + "bytes": 477 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_return.py", + "bytes": 2432 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/parallel_world_audit.py", + "bytes": 5058 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v8.py", + "bytes": 3808 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v2.py", + "bytes": 3544 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case1_zbar_pick.py", + "bytes": 7520 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/qualify_precision_turn_floor_v2.py", + "bytes": 5049 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case5_item1_direct_old_slot.py", + "bytes": 10102 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v6.py", + "bytes": 3416 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item2_carry_recovery_v4.py", + "bytes": 3974 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/diagnose_case9_item2_pick.py", + "bytes": 11197 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/dashboard.py", + "bytes": 2502 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case7_item1_fresh_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_station_slots.py", + "bytes": 7449 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_case6_item1_live_place.py", + "bytes": 10239 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/test_carry_target_robot_regression.py", + "bytes": 8502 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/prepare_visual_qa.py", + "bytes": 4658 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/probe_precision_return_controller.py", + "bytes": 7192 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_carry_boundary.cpython-312.pyc", + "bytes": 22414 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_candidates.cpython-312.pyc", + "bytes": 15000 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-312.pyc", + "bytes": 33791 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case2_oreo_pick.cpython-312.pyc", + "bytes": 23170 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_fast.cpython-312.pyc", + "bytes": 17197 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-312.pyc", + "bytes": 2809 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_negative.cpython-312.pyc", + "bytes": 5072 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case9_without_oreo.cpython-312.pyc", + "bytes": 9063 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/tray_appearance.cpython-311.pyc", + "bytes": 3021 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/grasp_stability.cpython-312.pyc", + "bytes": 6628 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_startup_validation.cpython-312.pyc", + "bytes": 9802 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_direct_old_slot.cpython-312.pyc", + "bytes": 15215 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_exact_chain_landing.cpython-312.pyc", + "bytes": 13722 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-312.pyc", + "bytes": 2493 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v6.cpython-312.pyc", + "bytes": 8034 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_old_success_seed.cpython-312.pyc", + "bytes": 14905 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/startup_validation.cpython-312.pyc", + "bytes": 52311 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_station_slots.cpython-312.pyc", + "bytes": 16930 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/task_collision_scope.cpython-312.pyc", + "bytes": 5495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_arrival_release.cpython-312.pyc", + "bytes": 18551 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-311.pyc", + "bytes": 5912 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/repair_place_station.cpython-312.pyc", + "bytes": 11646 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_command_endpoints.cpython-312.pyc", + "bytes": 7594 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor_v2.cpython-312.pyc", + "bytes": 7640 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/launch.cpython-312.pyc", + "bytes": 11287 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_live_place.cpython-312.pyc", + "bytes": 15286 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-312.pyc", + "bytes": 10704 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_current_live_place.cpython-312.pyc", + "bytes": 17538 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-311.pyc", + "bytes": 11015 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/runtime_evidence.cpython-312.pyc", + "bytes": 2750 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_turn_floor.cpython-312.pyc", + "bytes": 8870 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_left_regression.cpython-312.pyc", + "bytes": 5005 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_last_slot.cpython-312.pyc", + "bytes": 12332 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_slots.cpython-312.pyc", + "bytes": 5943 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_visual_qa.cpython-312.pyc", + "bytes": 7969 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15791 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-312.pyc", + "bytes": 18655 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release.cpython-312.pyc", + "bytes": 24765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place.cpython-312.pyc", + "bytes": 16900 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/record_manual_review.cpython-312.pyc", + "bytes": 2320 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v7.cpython-312.pyc", + "bytes": 8715 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case9_item2_pick.cpython-312.pyc", + "bytes": 16468 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_precision_return.cpython-312.pyc", + "bytes": 5883 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_grid_live_place.cpython-312.pyc", + "bytes": 15940 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_live_egress.cpython-312.pyc", + "bytes": 34769 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery.cpython-312.pyc", + "bytes": 8805 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v4.cpython-312.pyc", + "bytes": 7587 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-311.pyc", + "bytes": 20786 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_stable_inputs.cpython-312.pyc", + "bytes": 6023 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_release_sweep_regression.cpython-312.pyc", + "bytes": 8784 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_precision_return_controller.cpython-312.pyc", + "bytes": 12068 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_live_place.cpython-312.pyc", + "bytes": 15534 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-312.pyc", + "bytes": 14129 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v3.cpython-312.pyc", + "bytes": 7595 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_live_place.cpython-312.pyc", + "bytes": 15636 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_zbar_rebased_pick.cpython-312.pyc", + "bytes": 14773 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_return_head_policy.cpython-312.pyc", + "bytes": 10638 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case4_item1_live_place.cpython-312.pyc", + "bytes": 15681 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_grounded_station_full.cpython-312.pyc", + "bytes": 15165 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/placement.cpython-311.pyc", + "bytes": 16599 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/return_head_policy.cpython-311.pyc", + "bytes": 12960 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-312.pyc", + "bytes": 1146 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v5.cpython-312.pyc", + "bytes": 7898 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_actual_arrival.cpython-312.pyc", + "bytes": 10350 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_compact_grasp.cpython-312.pyc", + "bytes": 6966 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_case.cpython-312.pyc", + "bytes": 8276 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item1_live_place.cpython-312.pyc", + "bytes": 15779 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_live_place_safe.cpython-312.pyc", + "bytes": 18556 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case3_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v8.cpython-312.pyc", + "bytes": 8711 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case8_item1_station_ik_grid.cpython-312.pyc", + "bytes": 12818 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/supervise.cpython-312.pyc", + "bytes": 9125 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-312.pyc", + "bytes": 18753 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_future_place.cpython-312.pyc", + "bytes": 24383 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_validation.cpython-312.pyc", + "bytes": 21672 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v2.cpython-312.pyc", + "bytes": 8329 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/run_episode.cpython-312.pyc", + "bytes": 125137 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case_inputs.cpython-312.pyc", + "bytes": 12595 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_staged.cpython-312.pyc", + "bytes": 8475 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case5_item1_compact_grasp.cpython-312.pyc", + "bytes": 19922 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_arrival_release_one_tmp.cpython-312.pyc", + "bytes": 24757 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item2_station_ik_grid.cpython-312.pyc", + "bytes": 12460 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item1_old_success_seed.cpython-312.pyc", + "bytes": 14890 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/geometry_transfer.cpython-312.pyc", + "bytes": 7115 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_endpoint_projection_v10.cpython-312.pyc", + "bytes": 8150 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head.cpython-312.pyc", + "bytes": 8386 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_fresh_live_place.cpython-312.pyc", + "bytes": 16035 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/navigation.cpython-312.pyc", + "bytes": 17296 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case2_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_pick_base_registration.cpython-312.pyc", + "bytes": 10718 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_multi_validation.cpython-312.pyc", + "bytes": 12097 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_return_head_normalized.cpython-312.pyc", + "bytes": 8524 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case6_item2_arrival_release.cpython-312.pyc", + "bytes": 24492 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/motion_limits.cpython-311.pyc", + "bytes": 1079 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/build_exact_source_proposals.cpython-312.pyc", + "bytes": 5765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/parallel_world_audit.cpython-312.pyc", + "bytes": 10495 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/apply_exact_landing_overlay.cpython-312.pyc", + "bytes": 3030 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/native_planner.cpython-312.pyc", + "bytes": 4763 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/collision_inventory.cpython-311.pyc", + "bytes": 2765 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/official_lerobot_reader_qa.cpython-312.pyc", + "bytes": 8368 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_targeted_live_place.cpython-312.pyc", + "bytes": 16092 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case5_item1_command_prebias.cpython-312.pyc", + "bytes": 9411 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case9_item2_repack_full.cpython-312.pyc", + "bytes": 16046 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_geometry.cpython-312.pyc", + "bytes": 15889 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/test_carry_target_robot_regression.cpython-312.pyc", + "bytes": 12436 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/carry_transition.cpython-311.pyc", + "bytes": 39594 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/dashboard.cpython-312.pyc", + "bytes": 6373 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case1_zbar_pick.cpython-312.pyc", + "bytes": 11013 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/validate_export.cpython-312.pyc", + "bytes": 61870 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_without_cayman.cpython-312.pyc", + "bytes": 9073 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_return_head.cpython-312.pyc", + "bytes": 22489 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/preroll_stability.cpython-312.pyc", + "bytes": 9519 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/diagnose_case4_live_grasp.cpython-312.pyc", + "bytes": 8713 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item1_fresh_live_place.cpython-312.pyc", + "bytes": 15785 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/release_sweep.cpython-311.pyc", + "bytes": 20954 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/audit_views.cpython-312.pyc", + "bytes": 12303 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_fresh_placements.cpython-312.pyc", + "bytes": 16248 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/prepare_multi.cpython-312.pyc", + "bytes": 35951 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/multi_motion.cpython-311.pyc", + "bytes": 21682 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/probe_case7_item2_carry_recovery_v9.cpython-312.pyc", + "bytes": 8710 + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/replay_code/__pycache__/qualify_case3_minimal_distractors.cpython-312.pyc", + "bytes": 9285 + } + ], + "source_docs": { + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/RESULT.json": { + "status": "PHYSICS_COMPLETE_UNVERIFIED", + "accepted": false, + "error": null, + "control_ticks": 27905, + "rendered": true, + "requested_objects": [ + "/World/Assets/ShelfItems/good2grow", + "/World/Assets/Tier2Items/honeymaid", + "/World/Assets/ShelfItems/sprite_c1" + ], + "completed_objects": [ + "/World/Assets/ShelfItems/good2grow", + "/World/Assets/Tier2Items/honeymaid", + "/World/Assets/ShelfItems/sprite_c1" + ], + "item_count": 3, + "requires": "independent collision, task, drive, continuity and export validation" + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/job.json": { + "layout_id": 4, + "layout": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_04_LIVING_STRAIGHT.usdc", + "layout_sha256": "48a8ee519b7a3c9cfda6ae0e43a0b84f123634a04493a01c18718529e7daad64", + "product": "good2grow", + "hand": "l", + "initial_tray_items": 0, + "seed": 20264001012, + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000438", + "status": "PREPARING", + "attempt_index": 4, + "scene": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/scene_physical.usda", + "target": "/World/Assets/ShelfItems/good2grow", + "clutter": [], + "initial_base": [ + [ + 0.07468558876190977, + -0.997207131358018, + 0.0, + -2.367497669832664 + ], + [ + 0.997207131358018, + 0.07468558876190977, + 0.0, + 1.3070999683527165 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_base": [ + [ + -0.006658596344169223, + 0.9999778313016372, + 0.0, + -2.1719886436586844 + ], + [ + -0.9999778313016372, + -0.006658596344169223, + 0.0, + 0.8608163699903244 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "exit_xy": [ + -2.392841131499118, + 0.9841991675196862 + ], + "route": [ + [ + -2.392841131499118, + 0.9841991675196862 + ], + [ + -1.9160787234423862, + 0.9505484466897987 + ] + ], + "obstacles": [ + [ + [ + -2.869023307458252, + 2.0029564280510335 + ], + [ + -1.8690189945453473, + 2.502956781186233 + ] + ], + [ + [ + -0.34999999004138027, + -2.221043494158536 + ], + [ + 0.44999999004138025, + 0.47895642805103317 + ] + ], + [ + [ + -3.717665822950135, + -0.5653689443941903 + ], + [ + -3.692311884668562, + -0.0698599614024079 + ] + ], + [ + [ + -3.7953167573263986, + -0.8724783009470937 + ], + [ + -3.6771651048029206, + 0.34511267069583845 + ] + ], + [ + [ + -3.879706718931999, + -1.1055062473688606 + ], + [ + -3.5797067146712895, + 0.5744936522773821 + ] + ], + [ + [ + -2.349999995986884, + -0.6819883854168793 + ], + [ + -1.5746489719500851, + 0.5180116367883658 + ] + ], + [ + [ + -1.83100000112142, + -0.8950289177686274 + ], + [ + -1.6409999988103023, + -0.6550289052962504 + ] + ], + [ + [ + -2.0310000011214195, + -0.8950289177686274 + ], + [ + -1.840999998810302, + -0.6550289052962504 + ] + ], + [ + [ + -4.095015654990075, + 1.6125724884739365 + ], + [ + -3.9215111634567226, + 2.4144035759633775 + ] + ], + [ + [ + -2.576679802850966, + -2.260362452006366 + ], + [ + -1.1336755045762739, + -2.180600139271895 + ] + ], + [ + [ + -2.5985710506250475, + -2.622115872725699 + ], + [ + -1.6314963192779621, + -1.35118257651793 + ] + ], + [ + [ + -2.438999998180117, + -0.9950289141612855 + ], + [ + -2.041000001819882, + -0.6770289149995352 + ] + ], + [ + [ + -0.472061916588854, + 1.3648232134708587 + ], + [ + 0.4555130441800417, + 2.285494926831597 + ] + ], + [ + [ + -0.792746604489803, + 2.4481512465188766 + ], + [ + 0.41000000000000003, + 2.6216557380522283 + ] + ], + [ + [ + -3.795999997138977, + -2.260000000298023 + ], + [ + -2.7400000028610227, + -2.1199999997019767 + ] + ], + [ + [ + 0.5950000047683717, + -2.260000000298023 + ], + [ + 2.1049999952316285, + -2.1199999997019767 + ] + ], + [ + [ + 0.8150000095367431, + 1.6010000006705523 + ], + [ + 2.334999990463257, + 1.719000000104308 + ] + ], + [ + [ + -2.173730570619366, + -2.234867975138003 + ], + [ + -1.536269429380635, + -2.17 + ] + ], + [ + [ + 4.407259680028043, + -0.8801985582215572 + ], + [ + 4.875749666392801, + -0.2797458998613822 + ] + ], + [ + [ + 4.543283888651052, + 0.9799860985276735 + ], + [ + 4.736640690479851, + 1.1400142704310194 + ] + ], + [ + [ + 2.014350002026558, + -0.027290091365575714 + ], + [ + 2.262349997973442, + 0.2772900913655757 + ] + ], + [ + [ + -1.552000000476837, + 1.9036569887943267 + ], + [ + -0.9779999995231627, + 2.4856570059604643 + ] + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000498", + "tray_floor_z": 0.45490211957462423, + "destination_xyz": [ + -2.136685184643908, + 0.15849871021008857, + 0.45490211957462423 + ], + "tray_polygon_xy": [ + [ + -2.300113186261091, + 0.1110658833797549 + ], + [ + -1.9773777957903993, + 0.09866764001059133 + ], + [ + -1.9753769805662627, + 0.09885907115774108 + ], + [ + -1.9744358596905052, + 0.09921468426490931 + ], + [ + -1.9736044680096572, + 0.09980767232476523 + ], + [ + -1.97294943650644, + 0.10059112722303039 + ], + [ + -1.9725226611963225, + 0.10150222094285104 + ], + [ + -1.972178286358161, + 0.10348245257683705 + ], + [ + -1.9638357970288192, + 0.3206435834753585 + ], + [ + -1.9640272217321122, + 0.3226443765699867 + ], + [ + -1.9643828418427247, + 0.3235855050087762 + ], + [ + -1.9649758228991363, + 0.32441688912659217 + ], + [ + -1.9657592705141633, + 0.3250719203500157 + ], + [ + -1.966670393087143, + 0.32549870406254655 + ], + [ + -1.9686506390078116, + 0.3258430867435339 + ], + [ + -2.2913860294785033, + 0.33824133011269747 + ], + [ + -2.29338684470264, + 0.3380498989655477 + ], + [ + -2.2943279655783977, + 0.33769428585837946 + ], + [ + -2.2951593572592457, + 0.3371012977985236 + ], + [ + -2.2958143887624627, + 0.3363178429002584 + ], + [ + -2.29624116407258, + 0.3354067491804378 + ], + [ + -2.2965855389107417, + 0.33342651754645175 + ], + [ + -2.3049280282400835, + 0.11626538664793032 + ], + [ + -2.3047366035367904, + 0.11426459355330212 + ], + [ + -2.304380983426178, + 0.1133234651145126 + ], + [ + -2.3037880023697666, + 0.11249208099669662 + ], + [ + -2.3030045547547395, + 0.1118370497732731 + ], + [ + -2.30209343218176, + 0.11141026606074225 + ] + ], + "source_dof_names": [ + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx21_arm_l_joint1", + "idx61_arm_r_joint1", + "idx22_arm_l_joint2", + "idx62_arm_r_joint2", + "idx23_arm_l_joint3", + "idx63_arm_r_joint3", + "idx24_arm_l_joint4", + "idx64_arm_r_joint4", + "idx25_arm_l_joint5", + "idx65_arm_r_joint5", + "idx26_arm_l_joint6", + "idx66_arm_r_joint6", + "idx27_arm_l_joint7", + "idx67_arm_r_joint7", + "idx31_gripper_l_inner_joint1", + "idx41_gripper_l_outer_joint1", + "idx71_gripper_r_inner_joint1", + "idx81_gripper_r_outer_joint1", + "idx32_gripper_l_inner_joint3", + "idx42_gripper_l_outer_joint3", + "idx72_gripper_r_inner_joint3", + "idx82_gripper_r_outer_joint3", + "idx33_gripper_l_inner_joint4", + "idx43_gripper_l_outer_joint4", + "idx73_gripper_r_inner_joint4", + "idx83_gripper_r_outer_joint4", + "idx39_gripper_l_inner_joint0", + "idx49_gripper_l_outer_joint0", + "idx79_gripper_r_inner_joint0", + "idx89_gripper_r_outer_joint0" + ], + "source_initial_q": [ + 0.4, + 0.0, + 0.0, + 0.4363323129985824, + -0.9857202373340093, + 0.9479551250532734, + 0.4886918946876161, + -0.5502307453350318, + 0.3636645552723089, + -0.20849551046818482, + -1.3019018261276012, + 1.389866451347179, + 0.6882634480303244, + -0.7555843163443067, + 1.4169375308142538, + -1.49887766377446, + -0.14073732852180593, + 0.15760902761195672, + -0.7844060659408569, + 0.7844061851501465, + -0.7844092845916748, + 0.78440922498703, + -0.06586175411939621, + 0.08891744911670685, + -0.06552468240261078, + 0.08869274705648422, + -0.03039488196372986, + -0.0339159332215786, + -0.031381815671920776, + -0.033230822533369064, + 0.4464392364025116, + -0.39266160130500793, + 0.4472809433937073, + -0.3932376503944397 + ], + "appearance": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_04/APPEARANCE.json", + "schema": "shelf_to_table_multi10.job.v1", + "source_layout_id": 4, + "context": "Picnic drinks and crackers", + "items": [ + { + "target": "/World/Assets/ShelfItems/good2grow", + "hand": "l", + "product": "good2grow", + "label": "Good2Grow", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000438", + "pick_base": [ + [ + 0.07468558876190977, + -0.997207131358018, + 0.0, + -2.367497669832664 + ], + [ + 0.997207131358018, + 0.07468558876190977, + 0.0, + 1.3070999683527165 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_01.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.035000000149012056, + -0.035000000149012056, + 0.0 + ], + [ + 0.035000000149011834, + 0.03500000014901161, + 0.17800000309944153 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000284", + "place_base": [ + [ + -0.006658596344169223, + 0.9999778313016372, + 0.0, + -2.1719886436586844 + ], + [ + -0.9999778313016372, + -0.006658596344169223, + 0.0, + 0.8608163699903244 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8896225366295472, + 0.29504316865236246 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.136685184643908, + 0.15849871021008857, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.136685184643908, + 0.15849871021008857 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.1715355480067027, + 0.15526573845515065 + ], + [ + -2.1712494817846144, + 0.15299334189156932 + ], + [ + -2.170815409325724, + 0.15074451107892664 + ], + [ + -2.170235185624658, + 0.14852889414312137 + ], + [ + -2.169511294973906, + 0.14635596440123594 + ], + [ + -2.168646846615628, + 0.14423503650466343 + ], + [ + -2.1676455202955967, + 0.1421751795346272 + ], + [ + -2.1665116255736514, + 0.14018522580473092 + ], + [ + -2.165250004103613, + 0.13827369441018078 + ], + [ + -2.163866060164421, + 0.13644877282847384 + ], + [ + -2.1623657347788847, + 0.13471826280059662 + ], + [ + -2.1607554286864925, + 0.13308959601212417 + ], + [ + -2.1590420606104845, + 0.13156972449047452 + ], + [ + -2.1572329535079335, + 0.13016517029162245 + ], + [ + -2.1553358561140894, + 0.12888194990297028 + ], + [ + -2.153358890968664, + 0.1277255442864286 + ], + [ + -2.1513105337284277, + 0.12670092790799187 + ], + [ + -2.1491995444387513, + 0.1258124654404201 + ], + [ + -2.1470349717599624, + 0.12506397157421337 + ], + [ + -2.144826070496057, + 0.1244586500647854 + ], + [ + -2.142582318023832, + 0.12399909063557131 + ], + [ + -2.140313305963433, + 0.12368726854446017 + ], + [ + -2.1380287599884777, + 0.12352450806444612 + ], + [ + -2.135738460312217, + 0.12351152043742451 + ], + [ + -2.13345221288897, + 0.12364834684729396 + ], + [ + -2.131179816325389, + 0.12393441306938272 + ], + [ + -2.128930985512746, + 0.1243684855282727 + ], + [ + -2.126715368576941, + 0.12494870922933878 + ], + [ + -2.1245424388350553, + 0.12567259988009044 + ], + [ + -2.122421510938483, + 0.12653704823836892 + ], + [ + -2.1203616539684464, + 0.12753837455840003 + ], + [ + -2.1183717002385505, + 0.12867226928034528 + ], + [ + -2.1164601688440006, + 0.12993389075038378 + ], + [ + -2.114635247262293, + 0.13131783468957542 + ], + [ + -2.112904737234416, + 0.13281816007511174 + ], + [ + -2.111276070445944, + 0.1344284661675041 + ], + [ + -2.109756198924294, + 0.13614183424351237 + ], + [ + -2.108351644725442, + 0.13795094134606325 + ], + [ + -2.1070684243367896, + 0.13984803873990728 + ], + [ + -2.1059120187202476, + 0.1418250038853324 + ], + [ + -2.1048874023418116, + 0.1438733611255689 + ], + [ + -2.1039989398742396, + 0.14598435041524593 + ], + [ + -2.103250446008033, + 0.14814892309403427 + ], + [ + -2.102645124498605, + 0.1503578243579393 + ], + [ + -2.1021855650693912, + 0.1526015768301649 + ], + [ + -2.1018737429782797, + 0.1548705888905636 + ], + [ + -2.1017109824982656, + 0.15715513486551877 + ], + [ + -2.101697994871244, + 0.15944543454177967 + ], + [ + -2.1018348212811135, + 0.1617316819650265 + ], + [ + -2.102120887503202, + 0.16400407852860804 + ], + [ + -2.102554959962092, + 0.1662529093412505 + ], + [ + -2.103135183663158, + 0.16846852627705575 + ], + [ + -2.10385907431391, + 0.1706414560189412 + ], + [ + -2.104723522672188, + 0.1727623839155137 + ], + [ + -2.1057248489922196, + 0.17482224088554996 + ], + [ + -2.106858743714165, + 0.17681219461544623 + ], + [ + -2.1081203651842033, + 0.1787237260099966 + ], + [ + -2.109504309123395, + 0.1805486475917033 + ], + [ + -2.1110046345089315, + 0.18227915761958075 + ], + [ + -2.1126149406013237, + 0.1839078244080532 + ], + [ + -2.1143283086773317, + 0.18542769592970262 + ], + [ + -2.1161374157798827, + 0.18683225012855492 + ], + [ + -2.118034513173727, + 0.18811547051720687 + ], + [ + -2.120011478319152, + 0.18927187613374877 + ], + [ + -2.1220598355593885, + 0.19029649251218528 + ], + [ + -2.124170824849065, + 0.19118495497975704 + ], + [ + -2.126335397527854, + 0.19193344884596378 + ], + [ + -2.128544298791759, + 0.19253877035539196 + ], + [ + -2.130788051263984, + 0.19299832978460585 + ], + [ + -2.133057063324383, + 0.19331015187571698 + ], + [ + -2.135341609299338, + 0.19347291235573125 + ], + [ + -2.137631908975599, + 0.19348589998275262 + ], + [ + -2.139918156398846, + 0.19334907357288317 + ], + [ + -2.142190552962427, + 0.19306300735079465 + ], + [ + -2.14443938377507, + 0.19262893489190444 + ], + [ + -2.1466550007108753, + 0.19204871119083838 + ], + [ + -2.148827930452761, + 0.19132482054008693 + ], + [ + -2.150948858349333, + 0.19046037218180822 + ], + [ + -2.1530087153193693, + 0.18945904586177734 + ], + [ + -2.1549986690492657, + 0.1883251511398321 + ], + [ + -2.1569102004438157, + 0.18706352966979337 + ], + [ + -2.158735122025523, + 0.18567958573060173 + ], + [ + -2.1604656320534, + 0.1841792603450654 + ], + [ + -2.1620942988418723, + 0.18256895425267305 + ], + [ + -2.1636141703635223, + 0.18085558617666478 + ], + [ + -2.1650187245623744, + 0.1790464790741141 + ], + [ + -2.1663019449510266, + 0.17714938168026986 + ], + [ + -2.167458350567568, + 0.17517241653484494 + ], + [ + -2.1684829669460046, + 0.17312405929460847 + ], + [ + -2.169371429413576, + 0.1710130700049314 + ], + [ + -2.1701199232797834, + 0.16884849732614288 + ], + [ + -2.170725244789211, + 0.16663959606223785 + ], + [ + -2.171184804218425, + 0.16439584359001247 + ], + [ + -2.1714966263095365, + 0.16212683152961377 + ], + [ + -2.1716593867895506, + 0.1598422855546586 + ], + [ + -2.171672374416572, + 0.1575519858783977 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.04999999999999993 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/honeymaid", + "hand": "r", + "product": "honeymaid", + "label": "Honey Maid", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000479", + "pick_base": [ + [ + 0.08046442083090181, + -0.9967574815271506, + 0.0, + -2.3906209471421 + ], + [ + 0.9967574815271506, + 0.08046442083090181, + 0.0, + 1.3434246987222405 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_02.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.06250000000000022, + -0.02250000089406967, + 0.0 + ], + [ + 0.06250000000000022, + 0.02250000089406967, + 0.23499999970197682 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000181", + "place_base": [ + [ + -0.07264305582499468, + 0.9973580031465166, + 0.0, + -1.9873859634616522 + ], + [ + -0.9973580031465165, + -0.07264305582499482, + 0.0, + 0.915526495842742 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013684723526239395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -2.1863488973566283, + 0.29041979098677134 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.1528191775862653, + 0.24677649038461588, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.1528191775862653, + 0.24677649038461588 + ], + "yaw_rad": 2.687329016966613, + "footprint_xy": [ + [ + -2.2188537190986457, + 0.25398338760067746 + ], + [ + -2.1065306705273694, + 0.19913329407610164 + ], + [ + -2.0867846360738853, + 0.23956959316855492 + ], + [ + -2.1991076846451616, + 0.29441968669313073 + ] + ], + "tolerance_m": 0.001 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/ShelfItems/sprite_c1", + "hand": "l", + "product": "sprite_c1", + "label": "Sprite", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000105", + "pick_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_03.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03327123627080253, + -0.03327123627080253, + -0.0001308859192452605 + ], + [ + 0.03327123627080253, + 0.03327123627080253, + 0.12213088591924515 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000469", + "place_base": [ + [ + 0.03970531050088537, + 0.9992114332402467, + 0.0, + -2.1495810808736877 + ], + [ + -0.9992114332402467, + 0.03970531050088537, + 0.0, + 0.8762146426955536 + ], + [ + 0.0, + 0.0, + 1.0, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8883874375199907, + 0.30741140311579895 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.0605888300747353, + 0.1855975076240455, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.0605888300747353, + 0.1855975076240455 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.0935645023446368, + 0.18686430700722348 + ], + [ + -2.093441587134089, + 0.18255116131948507 + ], + [ + -2.092758840268199, + 0.17828866234724622 + ], + [ + -2.0915328066748904, + 0.17414959541069674 + ], + [ + -2.089780003079761, + 0.17020675213041905 + ], + [ + -2.0875169838986225, + 0.16653291345878687 + ], + [ + -2.084794450467652, + 0.16318285997271284 + ], + [ + -2.081663140881507, + 0.16021133731285958 + ], + [ + -2.0781737467767356, + 0.1576731359356234 + ], + [ + -2.074376997729265, + 0.15562300488244707 + ], + [ + -2.0703441899322126, + 0.15408303905516663 + ], + [ + -2.0661466333930387, + 0.15307528914985147 + ], + [ + -2.061855629457914, + 0.15262183535414456 + ], + [ + -2.0575424837701757, + 0.15274475056469244 + ], + [ + -2.0532799847979364, + 0.15342749743058176 + ], + [ + -2.049140917861387, + 0.15465353102389076 + ], + [ + -2.0451980745811094, + 0.15640633461902018 + ], + [ + -2.041524235909477, + 0.15866935380015842 + ], + [ + -2.038174182423403, + 0.16139188723112874 + ], + [ + -2.0352026597635495, + 0.16452319681727415 + ], + [ + -2.0326644583863134, + 0.1680125909220454 + ], + [ + -2.0306143273331374, + 0.17180933996951653 + ], + [ + -2.029074361505857, + 0.17584214776656873 + ], + [ + -2.028066611600542, + 0.18003970430574245 + ], + [ + -2.027613157804835, + 0.1843307082408671 + ], + [ + -2.027736073015383, + 0.18864385392860555 + ], + [ + -2.0284188198812725, + 0.19290635290084485 + ], + [ + -2.029644853474581, + 0.19704541983739432 + ], + [ + -2.0313976570697103, + 0.20098826311767157 + ], + [ + -2.0336606762508485, + 0.20466210178930416 + ], + [ + -2.0363832096818193, + 0.2080121552753782 + ], + [ + -2.0395145192679642, + 0.21098367793523146 + ], + [ + -2.043003913372736, + 0.21352187931246763 + ], + [ + -2.046800662420207, + 0.21557201036564352 + ], + [ + -2.0508334702172593, + 0.21711197619292444 + ], + [ + -2.0550310267564322, + 0.21811972609823915 + ], + [ + -2.0593220306915576, + 0.21857317989394603 + ], + [ + -2.0636351763792957, + 0.21845026468339815 + ], + [ + -2.0678976753515355, + 0.21776751781750886 + ], + [ + -2.072036742288084, + 0.21654148422419983 + ], + [ + -2.0759795855683616, + 0.21478868062907042 + ], + [ + -2.079653424239994, + 0.2125256614479326 + ], + [ + -2.083003477726068, + 0.2098031280169623 + ], + [ + -2.0859750003859214, + 0.2066718184308169 + ], + [ + -2.088513201763158, + 0.20318242432604564 + ], + [ + -2.090563332816334, + 0.19938567527857454 + ], + [ + -2.0921032986436146, + 0.1953528674815223 + ], + [ + -2.0931110485489297, + 0.19115531094234858 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + } + ], + "tray_slots": [ + { + "xy": [ + -2.136685184643908, + 0.15849871021008857 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.1715355480067027, + 0.15526573845515065 + ], + [ + -2.1712494817846144, + 0.15299334189156932 + ], + [ + -2.170815409325724, + 0.15074451107892664 + ], + [ + -2.170235185624658, + 0.14852889414312137 + ], + [ + -2.169511294973906, + 0.14635596440123594 + ], + [ + -2.168646846615628, + 0.14423503650466343 + ], + [ + -2.1676455202955967, + 0.1421751795346272 + ], + [ + -2.1665116255736514, + 0.14018522580473092 + ], + [ + -2.165250004103613, + 0.13827369441018078 + ], + [ + -2.163866060164421, + 0.13644877282847384 + ], + [ + -2.1623657347788847, + 0.13471826280059662 + ], + [ + -2.1607554286864925, + 0.13308959601212417 + ], + [ + -2.1590420606104845, + 0.13156972449047452 + ], + [ + -2.1572329535079335, + 0.13016517029162245 + ], + [ + -2.1553358561140894, + 0.12888194990297028 + ], + [ + -2.153358890968664, + 0.1277255442864286 + ], + [ + -2.1513105337284277, + 0.12670092790799187 + ], + [ + -2.1491995444387513, + 0.1258124654404201 + ], + [ + -2.1470349717599624, + 0.12506397157421337 + ], + [ + -2.144826070496057, + 0.1244586500647854 + ], + [ + -2.142582318023832, + 0.12399909063557131 + ], + [ + -2.140313305963433, + 0.12368726854446017 + ], + [ + -2.1380287599884777, + 0.12352450806444612 + ], + [ + -2.135738460312217, + 0.12351152043742451 + ], + [ + -2.13345221288897, + 0.12364834684729396 + ], + [ + -2.131179816325389, + 0.12393441306938272 + ], + [ + -2.128930985512746, + 0.1243684855282727 + ], + [ + -2.126715368576941, + 0.12494870922933878 + ], + [ + -2.1245424388350553, + 0.12567259988009044 + ], + [ + -2.122421510938483, + 0.12653704823836892 + ], + [ + -2.1203616539684464, + 0.12753837455840003 + ], + [ + -2.1183717002385505, + 0.12867226928034528 + ], + [ + -2.1164601688440006, + 0.12993389075038378 + ], + [ + -2.114635247262293, + 0.13131783468957542 + ], + [ + -2.112904737234416, + 0.13281816007511174 + ], + [ + -2.111276070445944, + 0.1344284661675041 + ], + [ + -2.109756198924294, + 0.13614183424351237 + ], + [ + -2.108351644725442, + 0.13795094134606325 + ], + [ + -2.1070684243367896, + 0.13984803873990728 + ], + [ + -2.1059120187202476, + 0.1418250038853324 + ], + [ + -2.1048874023418116, + 0.1438733611255689 + ], + [ + -2.1039989398742396, + 0.14598435041524593 + ], + [ + -2.103250446008033, + 0.14814892309403427 + ], + [ + -2.102645124498605, + 0.1503578243579393 + ], + [ + -2.1021855650693912, + 0.1526015768301649 + ], + [ + -2.1018737429782797, + 0.1548705888905636 + ], + [ + -2.1017109824982656, + 0.15715513486551877 + ], + [ + -2.101697994871244, + 0.15944543454177967 + ], + [ + -2.1018348212811135, + 0.1617316819650265 + ], + [ + -2.102120887503202, + 0.16400407852860804 + ], + [ + -2.102554959962092, + 0.1662529093412505 + ], + [ + -2.103135183663158, + 0.16846852627705575 + ], + [ + -2.10385907431391, + 0.1706414560189412 + ], + [ + -2.104723522672188, + 0.1727623839155137 + ], + [ + -2.1057248489922196, + 0.17482224088554996 + ], + [ + -2.106858743714165, + 0.17681219461544623 + ], + [ + -2.1081203651842033, + 0.1787237260099966 + ], + [ + -2.109504309123395, + 0.1805486475917033 + ], + [ + -2.1110046345089315, + 0.18227915761958075 + ], + [ + -2.1126149406013237, + 0.1839078244080532 + ], + [ + -2.1143283086773317, + 0.18542769592970262 + ], + [ + -2.1161374157798827, + 0.18683225012855492 + ], + [ + -2.118034513173727, + 0.18811547051720687 + ], + [ + -2.120011478319152, + 0.18927187613374877 + ], + [ + -2.1220598355593885, + 0.19029649251218528 + ], + [ + -2.124170824849065, + 0.19118495497975704 + ], + [ + -2.126335397527854, + 0.19193344884596378 + ], + [ + -2.128544298791759, + 0.19253877035539196 + ], + [ + -2.130788051263984, + 0.19299832978460585 + ], + [ + -2.133057063324383, + 0.19331015187571698 + ], + [ + -2.135341609299338, + 0.19347291235573125 + ], + [ + -2.137631908975599, + 0.19348589998275262 + ], + [ + -2.139918156398846, + 0.19334907357288317 + ], + [ + -2.142190552962427, + 0.19306300735079465 + ], + [ + -2.14443938377507, + 0.19262893489190444 + ], + [ + -2.1466550007108753, + 0.19204871119083838 + ], + [ + -2.148827930452761, + 0.19132482054008693 + ], + [ + -2.150948858349333, + 0.19046037218180822 + ], + [ + -2.1530087153193693, + 0.18945904586177734 + ], + [ + -2.1549986690492657, + 0.1883251511398321 + ], + [ + -2.1569102004438157, + 0.18706352966979337 + ], + [ + -2.158735122025523, + 0.18567958573060173 + ], + [ + -2.1604656320534, + 0.1841792603450654 + ], + [ + -2.1620942988418723, + 0.18256895425267305 + ], + [ + -2.1636141703635223, + 0.18085558617666478 + ], + [ + -2.1650187245623744, + 0.1790464790741141 + ], + [ + -2.1663019449510266, + 0.17714938168026986 + ], + [ + -2.167458350567568, + 0.17517241653484494 + ], + [ + -2.1684829669460046, + 0.17312405929460847 + ], + [ + -2.169371429413576, + 0.1710130700049314 + ], + [ + -2.1701199232797834, + 0.16884849732614288 + ], + [ + -2.170725244789211, + 0.16663959606223785 + ], + [ + -2.171184804218425, + 0.16439584359001247 + ], + [ + -2.1714966263095365, + 0.16212683152961377 + ], + [ + -2.1716593867895506, + 0.1598422855546586 + ], + [ + -2.171672374416572, + 0.1575519858783977 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -2.1528191775862653, + 0.24677649038461588 + ], + "yaw_rad": 2.687329016966613, + "footprint_xy": [ + [ + -2.2188537190986457, + 0.25398338760067746 + ], + [ + -2.1065306705273694, + 0.19913329407610164 + ], + [ + -2.0867846360738853, + 0.23956959316855492 + ], + [ + -2.1991076846451616, + 0.29441968669313073 + ] + ], + "tolerance_m": 0.001 + }, + { + "xy": [ + -2.0605888300747353, + 0.1855975076240455 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.0935645023446368, + 0.18686430700722348 + ], + [ + -2.093441587134089, + 0.18255116131948507 + ], + [ + -2.092758840268199, + 0.17828866234724622 + ], + [ + -2.0915328066748904, + 0.17414959541069674 + ], + [ + -2.089780003079761, + 0.17020675213041905 + ], + [ + -2.0875169838986225, + 0.16653291345878687 + ], + [ + -2.084794450467652, + 0.16318285997271284 + ], + [ + -2.081663140881507, + 0.16021133731285958 + ], + [ + -2.0781737467767356, + 0.1576731359356234 + ], + [ + -2.074376997729265, + 0.15562300488244707 + ], + [ + -2.0703441899322126, + 0.15408303905516663 + ], + [ + -2.0661466333930387, + 0.15307528914985147 + ], + [ + -2.061855629457914, + 0.15262183535414456 + ], + [ + -2.0575424837701757, + 0.15274475056469244 + ], + [ + -2.0532799847979364, + 0.15342749743058176 + ], + [ + -2.049140917861387, + 0.15465353102389076 + ], + [ + -2.0451980745811094, + 0.15640633461902018 + ], + [ + -2.041524235909477, + 0.15866935380015842 + ], + [ + -2.038174182423403, + 0.16139188723112874 + ], + [ + -2.0352026597635495, + 0.16452319681727415 + ], + [ + -2.0326644583863134, + 0.1680125909220454 + ], + [ + -2.0306143273331374, + 0.17180933996951653 + ], + [ + -2.029074361505857, + 0.17584214776656873 + ], + [ + -2.028066611600542, + 0.18003970430574245 + ], + [ + -2.027613157804835, + 0.1843307082408671 + ], + [ + -2.027736073015383, + 0.18864385392860555 + ], + [ + -2.0284188198812725, + 0.19290635290084485 + ], + [ + -2.029644853474581, + 0.19704541983739432 + ], + [ + -2.0313976570697103, + 0.20098826311767157 + ], + [ + -2.0336606762508485, + 0.20466210178930416 + ], + [ + -2.0363832096818193, + 0.2080121552753782 + ], + [ + -2.0395145192679642, + 0.21098367793523146 + ], + [ + -2.043003913372736, + 0.21352187931246763 + ], + [ + -2.046800662420207, + 0.21557201036564352 + ], + [ + -2.0508334702172593, + 0.21711197619292444 + ], + [ + -2.0550310267564322, + 0.21811972609823915 + ], + [ + -2.0593220306915576, + 0.21857317989394603 + ], + [ + -2.0636351763792957, + 0.21845026468339815 + ], + [ + -2.0678976753515355, + 0.21776751781750886 + ], + [ + -2.072036742288084, + 0.21654148422419983 + ], + [ + -2.0759795855683616, + 0.21478868062907042 + ], + [ + -2.079653424239994, + 0.2125256614479326 + ], + [ + -2.083003477726068, + 0.2098031280169623 + ], + [ + -2.0859750003859214, + 0.2066718184308169 + ], + [ + -2.088513201763158, + 0.20318242432604564 + ], + [ + -2.090563332816334, + 0.19938567527857454 + ], + [ + -2.0921032986436146, + 0.1953528674815223 + ], + [ + -2.0931110485489297, + 0.19115531094234858 + ] + ], + "tolerance_m": 0.02 + } + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.35, + 0.55, + 0.75, + 0.15, + 0.1 + ], + "native_attempt_index": 4, + "retry_of": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_04/attempt_002", + "retry_reason": "Fresh uninterrupted retry with qualified body2-compensated raised-head return and mandatory ReleaseSweep after preserved physical rejection.", + "fresh_seed_evidence": { + "item_index": 1, + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT04_ITEM01_LIVE_PLACE_PROPOSAL.json", + "proposal_sha256": "f382368b9052f55ce46ec498836ec057f0563d5f946dedce05d1e190d85b74f5", + "seed_controls_sha256": "c8d0258685f152f51f30efe68e43c9e2aad9616f6397a97f0681bae6d0e44661", + "seed_is_not_cached_motion": true + } + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/USER_ACCEPTANCE.json": { + "schema": "multi_episode_user_acceptance_v1", + "layout_id": 4, + "accepted": true, + "acceptance_basis": "explicit_user_visual_review", + "user_instruction": "我看了觉得没问题，验收吧，毫米级别的没事的", + "accepted_unix": 1791306244.094671, + "minor_millimeter_motion_accepted": true, + "recording_sha256": "205375038e8b94c90f98e61d918278da37059ab66d4c6df0f4c452c3643940cf", + "native_result": "PHYSICS_COMPLETE_UNVERIFIED", + "head_return_audit_passed": true, + "strict_automatic_checks_claimed_all_passed": false, + "automatic_diagnostic_reports_retained": true, + "manual_review_scope": "User reports viewing the results; no additional per-frame or per-camera review coverage is inferred.", + "case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04", + "rollout": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout", + "lerobot_export_status": "COMPLETE", + "dataset": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04" + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback/RESULT.json": { + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_04", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/base_link/collisions/mesh_0/box": 0.0, + "/World/Robot/base_link/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_0/box": 0.0, + "/World/Robot/body_link1/collisions/mesh_1/box": 0.0, + "/World/Robot/body_link2/collisions/mesh_0/cylinder": 0.0, + "/World/Robot/body_link2/collisions/mesh_1/box": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_l_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/NONE": 0.0, + "/World/Robot/gripper_r_base_link/Cam/Cam/cam": 0.0, + "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh": 0.0, + "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh": 0.0, + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh": 0.0, + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh": 0.0, + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh": 0.0, + "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh": 0.0, + "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh": 0.0, + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh": 0.0, + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh": 0.0, + "/World/Robot/head_link2/collisions/mesh_0/sphere": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Robot/arm_l_base_link/collisions/mesh_0/cylinder", + "index": 0, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_end_link/collisions/mesh_0/cylinder", + "index": 1, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link1/collisions/mesh_0/cylinder", + "index": 2, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link2/collisions/mesh_0/cylinder", + "index": 3, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link3/collisions/mesh_0/cylinder", + "index": 4, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link4/collisions/mesh_0/cylinder", + "index": 5, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link5/collisions/mesh_0/cylinder", + "index": 6, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_l_link6/collisions/mesh_0/cylinder", + "index": 7, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_base_link/collisions/mesh_0/cylinder", + "index": 8, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_end_link/collisions/mesh_0/cylinder", + "index": 9, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link1/collisions/mesh_0/cylinder", + "index": 10, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link2/collisions/mesh_0/cylinder", + "index": 11, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link3/collisions/mesh_0/cylinder", + "index": 12, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link4/collisions/mesh_0/cylinder", + "index": 13, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link5/collisions/mesh_0/cylinder", + "index": 14, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/arm_r_link6/collisions/mesh_0/cylinder", + "index": 15, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_0/box", + "index": 16, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/base_link/collisions/mesh_1/box", + "index": 17, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_0/box", + "index": 18, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/body_link1/collisions/mesh_1/box", + "index": 19, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_0/cylinder", + "index": 20, + "type": "Cylinder", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/body_link2/collisions/mesh_1/box", + "index": 21, + "type": "Cube", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/NONE", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0074737342074513435, + "request_call_wall_s": 0.0020795930176973343, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_base_link/Cam/Cam/cam", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.014158856123685837, + "request_call_wall_s": 0.005873128771781921, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_base_link/collisions/gripper_base_link/mesh", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1031533912755549, + "request_call_wall_s": 0.006656578276306391, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_inner_link1/collisions/inner_link1/mesh", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13291687797755003, + "request_call_wall_s": 0.003759003710001707, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15813342900946736, + "request_call_wall_s": 0.003261927980929613, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.23428517626598477, + "request_call_wall_s": 0.005865396000444889, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2750452901236713, + "request_call_wall_s": 0.011658983305096626, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_outer_link1/collisions/outer_link1/mesh", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3120373720303178, + "request_call_wall_s": 0.0037023862823843956, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.3334908322431147, + "request_call_wall_s": 0.0030954619869589806, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.40918501326814294, + "request_call_wall_s": 0.005936296656727791, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.47860269621014595, + "request_call_wall_s": 0.005967774894088507, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/NONE", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4870221591554582, + "request_call_wall_s": 0.001841715071350336, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_base_link/Cam/Cam/cam", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.4936885889619589, + "request_call_wall_s": 0.0058220550417900085, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_base_link/collisions/gripper_base_link/mesh", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.5830979282036424, + "request_call_wall_s": 0.006711144931614399, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_inner_link1/collisions/inner_link1/mesh", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6128642740659416, + "request_call_wall_s": 0.0036449641920626163, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.6374976970255375, + "request_call_wall_s": 0.0041322289034724236, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.7124919001944363, + "request_call_wall_s": 0.005595981143414974, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.752003027126193, + "request_call_wall_s": 0.0108620491810143, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_outer_link1/collisions/outer_link1/mesh", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.787780084181577, + "request_call_wall_s": 0.0036614490672945976, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_outer_link2/collisions/outer_link2/mesh", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8090287372469902, + "request_call_wall_s": 0.002985076978802681, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.8843467901460826, + "request_call_wall_s": 0.005633951164782047, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.9524561250582337, + "request_call_wall_s": 0.005536483135074377, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Robot/head_link2/collisions/mesh_0/sphere", + "index": 44, + "type": "Sphere", + "status": "ANALYTIC_EXACT", + "first_observed_frame": 9300, + "first_observed_tick": 27904 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0 + }, + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/datasets/layout_04/sim_info/episode_000000/collision_readback_nonrobot/RESULT.json": { + "status": "CONTEMPORARY_USD_REPRESENTATIONS_RECORDED", + "episode_uid": "chain50_layout_04", + "stage_id": 9223002, + "complete_callbacks_and_analytics": true, + "same_cached_stage": true, + "source_shape_properties_changed": [], + "mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/pring_bbq/VisualMatchedCollision": 0.0 + }, + "owner_local_mount_changed_beyond_float64_roundoff": [], + "colliders": [ + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000", + "index": 0, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0014237361028790474, + "request_call_wall_s": 0.0008107079192996025, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001", + "index": 1, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.00270028505474329, + "request_call_wall_s": 0.0005442197434604168, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002", + "index": 2, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.003777134232223034, + "request_call_wall_s": 0.0004835459403693676, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003", + "index": 3, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.00480792298913002, + "request_call_wall_s": 0.00048057921230793, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004", + "index": 4, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.005824667867273092, + "request_call_wall_s": 0.0004800506867468357, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005", + "index": 5, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.006877453066408634, + "request_call_wall_s": 0.0004919199272990227, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006", + "index": 6, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.007892489898949862, + "request_call_wall_s": 0.0004670522175729275, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007", + "index": 7, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.008888578973710537, + "request_call_wall_s": 0.0004876968450844288, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008", + "index": 8, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.009900841861963272, + "request_call_wall_s": 0.00047486182302236557, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009", + "index": 9, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.010904611088335514, + "request_call_wall_s": 0.00048432406038045883, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010", + "index": 10, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.011936063878238201, + "request_call_wall_s": 0.0004844432696700096, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011", + "index": 11, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.012936579063534737, + "request_call_wall_s": 0.00046274997293949127, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012", + "index": 12, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.013907365966588259, + "request_call_wall_s": 0.0004562530666589737, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013", + "index": 13, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.014917370863258839, + "request_call_wall_s": 0.0004585590213537216, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014", + "index": 14, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01590307103469968, + "request_call_wall_s": 0.00045466236770153046, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015", + "index": 15, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.016881409101188183, + "request_call_wall_s": 0.0004671509377658367, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016", + "index": 16, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.01790642412379384, + "request_call_wall_s": 0.0004659360274672508, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017", + "index": 17, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.018894310109317303, + "request_call_wall_s": 0.0004678056575357914, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018", + "index": 18, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.020020505879074335, + "request_call_wall_s": 0.0004968121647834778, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019", + "index": 19, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0210575801320374, + "request_call_wall_s": 0.0005043968558311462, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020", + "index": 20, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.022077850997447968, + "request_call_wall_s": 0.000488033052533865, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021", + "index": 21, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02308556018397212, + "request_call_wall_s": 0.00047187693417072296, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022", + "index": 22, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.024127201177179813, + "request_call_wall_s": 0.0005248016677796841, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023", + "index": 23, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.025170449167490005, + "request_call_wall_s": 0.00048300810158252716, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024", + "index": 24, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0261907740496099, + "request_call_wall_s": 0.0004780152812600136, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025", + "index": 25, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.027191760949790478, + "request_call_wall_s": 0.00047831470146775246, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026", + "index": 26, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.02818221691995859, + "request_call_wall_s": 0.0004725158214569092, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027", + "index": 27, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.029259060975164175, + "request_call_wall_s": 0.0004864591173827648, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028", + "index": 28, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.030263711232692003, + "request_call_wall_s": 0.0004726261831820011, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029", + "index": 29, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.031249948777258396, + "request_call_wall_s": 0.0004687388427555561, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030", + "index": 30, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.032232637982815504, + "request_call_wall_s": 0.0004606037400662899, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031", + "index": 31, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03330476814880967, + "request_call_wall_s": 0.00047531677410006523, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032", + "index": 32, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03430286608636379, + "request_call_wall_s": 0.0004660198464989662, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033", + "index": 33, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03529492300003767, + "request_call_wall_s": 0.00047613680362701416, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034", + "index": 34, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03634277079254389, + "request_call_wall_s": 0.0013785348273813725, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035", + "index": 35, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.03827852802351117, + "request_call_wall_s": 0.0004890072159469128, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036", + "index": 36, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.039315189234912395, + "request_call_wall_s": 0.0005003651604056358, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037", + "index": 37, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.040338975843042135, + "request_call_wall_s": 0.0004730932414531708, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038", + "index": 38, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04134017415344715, + "request_call_wall_s": 0.0004830770194530487, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039", + "index": 39, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.042378502897918224, + "request_call_wall_s": 0.000488930381834507, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040", + "index": 40, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.043403681833297014, + "request_call_wall_s": 0.0004680240526795387, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041", + "index": 41, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04442609194666147, + "request_call_wall_s": 0.0004914049059152603, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour", + "index": 42, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04746425710618496, + "request_call_wall_s": 0.0017566969618201256, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor", + "index": 43, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.04979506600648165, + "request_call_wall_s": 0.0012818537652492523, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure", + "index": 44, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05175989819690585, + "request_call_wall_s": 0.0010579782538115978, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure", + "index": 45, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.053353377152234316, + "request_call_wall_s": 0.0005366811528801918, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure", + "index": 46, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05450281407684088, + "request_call_wall_s": 0.0007513617165386677, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegX", + "index": 47, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05579526396468282, + "request_call_wall_s": 0.0004804879426956177, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallNegZ", + "index": 48, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05680596502497792, + "request_call_wall_s": 0.0004607047885656357, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosX", + "index": 49, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05780839687213302, + "request_call_wall_s": 0.00045130401849746704, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/CoffeeGrinder/Hopper/WallPosZ", + "index": 50, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05881301313638687, + "request_call_wall_s": 0.000457259826362133, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00", + "index": 51, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.05993146589025855, + "request_call_wall_s": 0.0006785551086068153, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01", + "index": 52, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.061222484800964594, + "request_call_wall_s": 0.000602418091148138, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02", + "index": 53, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06244030222296715, + "request_call_wall_s": 0.00064115971326828, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03", + "index": 54, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06373838288709521, + "request_call_wall_s": 0.0009425189346075058, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04", + "index": 55, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06530885212123394, + "request_call_wall_s": 0.001059073954820633, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05", + "index": 56, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06701004505157471, + "request_call_wall_s": 0.0010388079099357128, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06", + "index": 57, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.06869335193186998, + "request_call_wall_s": 0.0009439298883080482, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07", + "index": 58, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07028301618993282, + "request_call_wall_s": 0.0009439317509531975, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08", + "index": 59, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07185607496649027, + "request_call_wall_s": 0.000910797156393528, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09", + "index": 60, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07337303506210446, + "request_call_wall_s": 0.0009630778804421425, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10", + "index": 61, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07498155301436782, + "request_call_wall_s": 0.0009137997403740883, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11", + "index": 62, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0765032977797091, + "request_call_wall_s": 0.0009039328433573246, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12", + "index": 63, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.07801121100783348, + "request_call_wall_s": 0.0009787012822926044, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13", + "index": 64, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.0796549110673368, + "request_call_wall_s": 0.000961613841354847, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14", + "index": 65, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08123350702226162, + "request_call_wall_s": 0.0009340858086943626, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15", + "index": 66, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08279367489740252, + "request_call_wall_s": 0.0009316722862422466, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16", + "index": 67, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08441250305622816, + "request_call_wall_s": 0.0010049180127680302, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17", + "index": 68, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08604794600978494, + "request_call_wall_s": 0.0009488877840340137, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18", + "index": 69, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08763889595866203, + "request_call_wall_s": 0.0009527378715574741, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19", + "index": 70, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.08921519108116627, + "request_call_wall_s": 0.001031331717967987, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20", + "index": 71, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09089196613058448, + "request_call_wall_s": 0.0009442418813705444, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21", + "index": 72, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09245759807527065, + "request_call_wall_s": 0.001020234078168869, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22", + "index": 73, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09412966389209032, + "request_call_wall_s": 0.000948817003518343, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23", + "index": 74, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09583133086562157, + "request_call_wall_s": 0.0009622490033507347, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24", + "index": 75, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09741713292896748, + "request_call_wall_s": 0.0009503369219601154, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25", + "index": 76, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.09898502379655838, + "request_call_wall_s": 0.0011350801214575768, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26", + "index": 77, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10078707104548812, + "request_call_wall_s": 0.001131631899625063, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27", + "index": 78, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10257631307467818, + "request_call_wall_s": 0.0009080083109438419, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28", + "index": 79, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10412743082270026, + "request_call_wall_s": 0.0008874619379639626, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29", + "index": 80, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10565796121954918, + "request_call_wall_s": 0.0009535998106002808, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30", + "index": 81, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10724975680932403, + "request_call_wall_s": 0.0009893081150949001, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31", + "index": 82, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.10889252787455916, + "request_call_wall_s": 0.0009014410898089409, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal", + "index": 83, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1103955339640379, + "request_call_wall_s": 0.0004352531395852566, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap", + "index": 84, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11145811807364225, + "request_call_wall_s": 0.0009407876059412956, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00", + "index": 85, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11306312680244446, + "request_call_wall_s": 0.0009452048689126968, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01", + "index": 86, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1146366698667407, + "request_call_wall_s": 0.0010070577263832092, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02", + "index": 87, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11627169698476791, + "request_call_wall_s": 0.0009438260458409786, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03", + "index": 88, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11785810021683574, + "request_call_wall_s": 0.0009729312732815742, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04", + "index": 89, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.11946438997983932, + "request_call_wall_s": 0.0009538722224533558, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05", + "index": 90, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12106331111863256, + "request_call_wall_s": 0.0016214498318731785, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06", + "index": 91, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12335747806355357, + "request_call_wall_s": 0.0009635789319872856, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07", + "index": 92, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12495030416175723, + "request_call_wall_s": 0.0009679831564426422, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08", + "index": 93, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12655635783448815, + "request_call_wall_s": 0.0011401199735701084, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00", + "index": 94, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12833556719124317, + "request_call_wall_s": 0.0006366157904267311, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01", + "index": 95, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.12960916198790073, + "request_call_wall_s": 0.0008106669411063194, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02", + "index": 96, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1310700918547809, + "request_call_wall_s": 0.000943067017942667, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03", + "index": 97, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13265318516641855, + "request_call_wall_s": 0.0010317317210137844, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04", + "index": 98, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1343231601640582, + "request_call_wall_s": 0.001004957128316164, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05", + "index": 99, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13597747404128313, + "request_call_wall_s": 0.0010716910474002361, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06", + "index": 100, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13770308904349804, + "request_call_wall_s": 0.0008084969595074654, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07", + "index": 101, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.13914658315479755, + "request_call_wall_s": 0.0006082761101424694, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip", + "index": 102, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14041957585141063, + "request_call_wall_s": 0.0009243129752576351, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00", + "index": 103, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14200019277632236, + "request_call_wall_s": 0.0005254489369690418, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04", + "index": 104, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14316291688010097, + "request_call_wall_s": 0.0004901089705526829, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08", + "index": 105, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14474546909332275, + "request_call_wall_s": 0.0004975460469722748, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12", + "index": 106, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14589467318728566, + "request_call_wall_s": 0.0005345228128135204, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16", + "index": 107, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14707321813330054, + "request_call_wall_s": 0.0004862970672547817, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20", + "index": 108, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14820565981790423, + "request_call_wall_s": 0.000491647981107235, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24", + "index": 109, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.14933128096163273, + "request_call_wall_s": 0.0005052927881479263, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00", + "index": 110, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15050131687894464, + "request_call_wall_s": 0.0005513308569788933, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04", + "index": 111, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.151672778185457, + "request_call_wall_s": 0.00047503598034381866, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08", + "index": 112, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15280074998736382, + "request_call_wall_s": 0.0005295430310070515, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12", + "index": 113, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15396916680037975, + "request_call_wall_s": 0.0005223392508924007, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16", + "index": 114, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15513945510610938, + "request_call_wall_s": 0.0004968796856701374, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20", + "index": 115, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1562725519761443, + "request_call_wall_s": 0.0004854602739214897, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24", + "index": 116, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15739344200119376, + "request_call_wall_s": 0.0005237343721091747, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00", + "index": 117, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1585485702380538, + "request_call_wall_s": 0.00048615364357829094, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04", + "index": 118, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.15969033306464553, + "request_call_wall_s": 0.0005548838526010513, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08", + "index": 119, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16091978689655662, + "request_call_wall_s": 0.0004884828813374043, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12", + "index": 120, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16206119395792484, + "request_call_wall_s": 0.0005459701642394066, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16", + "index": 121, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16326140519231558, + "request_call_wall_s": 0.00048454897478222847, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20", + "index": 122, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16438704822212458, + "request_call_wall_s": 0.00048499973490834236, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24", + "index": 123, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1655199872329831, + "request_call_wall_s": 0.0004900079220533371, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00", + "index": 124, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16663269698619843, + "request_call_wall_s": 0.0004434073343873024, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04", + "index": 125, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16773252980783582, + "request_call_wall_s": 0.00047709234058856964, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08", + "index": 126, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16885518888011575, + "request_call_wall_s": 0.0004722769372165203, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12", + "index": 127, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.16996827814728022, + "request_call_wall_s": 0.0005579651333391666, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16", + "index": 128, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17116295313462615, + "request_call_wall_s": 0.0004864386282861233, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20", + "index": 129, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17270486010238528, + "request_call_wall_s": 0.0008288873359560966, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24", + "index": 130, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1746881869621575, + "request_call_wall_s": 0.0007824143394827843, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00", + "index": 131, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17665390903130174, + "request_call_wall_s": 0.0007788199000060558, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04", + "index": 132, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.17861850280314684, + "request_call_wall_s": 0.0008371211588382721, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08", + "index": 133, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18064580811187625, + "request_call_wall_s": 0.0004600207321345806, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12", + "index": 134, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18176688812673092, + "request_call_wall_s": 0.0005396450869739056, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16", + "index": 135, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.182949251960963, + "request_call_wall_s": 0.00047765905037522316, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20", + "index": 136, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1840507509186864, + "request_call_wall_s": 0.000489578116685152, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24", + "index": 137, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18518723314628005, + "request_call_wall_s": 0.00046182284131646156, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00", + "index": 138, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18627306399866939, + "request_call_wall_s": 0.0004625888541340828, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04", + "index": 139, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18737698113545775, + "request_call_wall_s": 0.0004743589088320732, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08", + "index": 140, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18848196184262633, + "request_call_wall_s": 0.0004732930101454258, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12", + "index": 141, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.18959807697683573, + "request_call_wall_s": 0.0005050790496170521, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16", + "index": 142, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19075625389814377, + "request_call_wall_s": 0.00046362821012735367, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20", + "index": 143, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19187408778816462, + "request_call_wall_s": 0.0004520770162343979, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24", + "index": 144, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19303888408467174, + "request_call_wall_s": 0.0004470529966056347, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00", + "index": 145, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.194140390958637, + "request_call_wall_s": 0.0005015069618821144, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04", + "index": 146, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.1952600427903235, + "request_call_wall_s": 0.00044563738629221916, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08", + "index": 147, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19637061515823007, + "request_call_wall_s": 0.0004696096293628216, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12", + "index": 148, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19755278900265694, + "request_call_wall_s": 0.0004918379709124565, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16", + "index": 149, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.19867770886048675, + "request_call_wall_s": 0.00044661108404397964, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20", + "index": 150, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.199784685857594, + "request_call_wall_s": 0.000480032991617918, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24", + "index": 151, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20091145113110542, + "request_call_wall_s": 0.0004888349212706089, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00", + "index": 152, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2020414718426764, + "request_call_wall_s": 0.0004957141354680061, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04", + "index": 153, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2031755312345922, + "request_call_wall_s": 0.0004548761062324047, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08", + "index": 154, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20427260408177972, + "request_call_wall_s": 0.0005392571911215782, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12", + "index": 155, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20545009709894657, + "request_call_wall_s": 0.0004891650751233101, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16", + "index": 156, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20657388819381595, + "request_call_wall_s": 0.0004851538687944412, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20", + "index": 157, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20771490782499313, + "request_call_wall_s": 0.0005159713327884674, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24", + "index": 158, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2088628620840609, + "request_call_wall_s": 0.0004788963124155998, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00", + "index": 159, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.20995301799848676, + "request_call_wall_s": 0.0004904121160507202, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04", + "index": 160, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21109773684293032, + "request_call_wall_s": 0.0004969784058630466, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08", + "index": 161, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2122316570021212, + "request_call_wall_s": 0.0005140849389135838, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12", + "index": 162, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21349890902638435, + "request_call_wall_s": 0.0005154730752110481, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16", + "index": 163, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21463665505871177, + "request_call_wall_s": 0.0004970701411366463, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20", + "index": 164, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2157615628093481, + "request_call_wall_s": 0.0004954910837113857, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24", + "index": 165, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.2168748821131885, + "request_call_wall_s": 0.0004731379449367523, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + }, + { + "path": "/World/Assets/Tier2Items/pring_bbq/VisualMatchedCollision", + "index": 166, + "type": "Mesh", + "status": "REPRESENTATION_RETURNED", + "callback_called": true, + "result_name": "RESULT_VALID", + "result_value": 0, + "callback_after_request_s": 0.21802848018705845, + "request_call_wall_s": 0.0014804280363023281, + "first_observed_frame": 9300, + "first_observed_tick": 27904 + } + ], + "callback_planes_and_vertices_require_independent_consistency_review": true, + "source_hull_contains_cooked_parts": "Unverified until every returned part is tested against source hull; never assumed.", + "live_PxShape_identity_proven": false, + "physics_accepted": false, + "extra_app_updates": 0, + "extra_physics_steps": 0, + "rigid_owner_mount_matrix_absolute_deltas": { + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_000": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_001": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_002": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_003": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_004": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_005": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_006": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_007": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_008": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_009": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_010": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_011": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_012": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_013": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_014": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_015": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_016": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_017": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_018": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_019": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_020": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_021": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_022": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_023": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_024": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_025": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_026": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_027": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_028": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_029": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_030": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_031": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_032": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_033": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_034": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_035": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_036": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_037": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_038": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_039": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_040": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/LowerPhotoTopContourShell/Segment_041": 0.0, + "/World/Assets/AirFryer/Centered/Body/Collision/UpperPhotoTopContour": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/BasketFloor": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/DrawerFrontLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleConnectorLegacyClosure": 0.0, + "/World/Assets/AirFryer/Centered/Tray/Collision/HandleGripLegacyClosure": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallNegZ": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosX": 0.0, + "/World/Assets/CoffeeGrinder/Hopper/WallPosZ": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_09": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_10": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_11": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_12": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_13": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_14": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_15": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_16": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_17": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_18": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_19": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_20": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_21": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_22": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_23": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_24": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_25": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_26": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_27": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_28": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_29": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_30": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/Body_31": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/CapCenterSeal": 0.0, + "/World/Assets/ShelfItems/gatorade_t/VisualMatchedCollision/OrangeCap": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Body_08": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_00": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_01": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_02": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_03": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_04": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_05": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_06": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/Head_07": 0.0, + "/World/Assets/ShelfItems/good2grow/VisualMatchedCollision/SpoutTip": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_00_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_04_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_08_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_12_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_16_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_20_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_24_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_28_24": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_00": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_04": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_08": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_12": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_16": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_20": 0.0, + "/World/Assets/Tier2Items/chomps_r/PouchCollision/patch_32_24": 0.0, + "/World/Assets/Tier2Items/pring_bbq/VisualMatchedCollision": 0.0 + } + } + }, + "file_count": 801, + "total_bytes": 282646604, + "symlinks": [] +} \ No newline at end of file diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b516eb838a6fa7fac7bd3d4af2c6966fa45521 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_EXTRINSICS_AUDIT.json @@ -0,0 +1,34 @@ +{ + "schema": "multi_camera_extrinsics_audit_v1", + "passed": true, + "checks": { + "camera_order": true, + "shape": true, + "control_tick_mapping": true, + "timestamp_mapping": true, + "global_step_mapping": true, + "finite": true, + "homogeneous_row": true, + "rigid_rotation": true, + "rigid_mount_alignment": true + }, + "failures": [], + "frames": 9301, + "rotation_orthogonality_max_error": 1.3322676295501878e-15, + "rotation_determinant_max_error": 1.9984014443252818e-15, + "mount_errors": { + "top_head": { + "translation_m": 1.2161883888976235e-15, + "rotation_rad": 5.681426303761442e-16 + }, + "hand_left": { + "translation_m": 1.4177095929570765e-15, + "rotation_rad": 6.008056423060437e-16 + }, + "hand_right": { + "translation_m": 1.137640067256873e-15, + "rotation_rad": 6.961408781679454e-16 + } + }, + "camera_extrinsics_sha256": "2ed1bc12c3aa115fc792d0dafc30904a76226c804672b0818851ebb71982805d" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec638bd83b64da702c3cc0b4ef6f953e8398657 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CAMERA_WARMUP_AUDIT.json @@ -0,0 +1,74 @@ +{ + "schema": "multi_camera_warmup_audit_v1", + "passed": true, + "checks": { + "native_rendered": true, + "status": true, + "after_stability": true, + "render_warmups": true, + "discarded_reads": true, + "unrecorded_hold_samples": true, + "preroll_hold_accounting": true, + "no_captured_warmup_frames": true, + "final_prop_stable": true, + "final_camera_stable": true, + "final_driven_stable": true, + "startup_frame_set": true, + "startup_frames_nonempty": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "after_physics_stability": true, + "discarded_render_reads": 3, + "render_only_warmups": 12, + "unrecorded_hold_samples": 3, + "captured_frames": 0, + "final_stability_window": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + } + }, + "receipt_sha256": "4ef6a41b2f45939f97828fa1dc886f9a5002d56ac751cf28afcfa6dd93bcf5b5", + "startup_frame_sha256": { + "hand_left_00.jpg": "a6c5dcd60af60da4d585b003fd2f98a32c8f59c6b7463727424adba4abab874d", + "hand_left_01.jpg": "dbbf4c15afec0dcb64c0317bf6ca4f6630802971e1a80860e960e13592b55a70", + "hand_left_02.jpg": "8b2402fb584bca98c1bc10f5606260d165064df14710d438d44066a0debff5e3", + "hand_left_03.jpg": "b648245f863eaf8fe2697bf862b62a28dac95aa6473b77d07ed808244faf57c8", + "hand_left_04.jpg": "88984ec01d4e832e496c1c9ca96e4d321dc1b27e8563306668de6e76f3fe33e0", + "hand_left_05.jpg": "178de660a1dfdd7cf629f5b7d5bbcccc725660ce1d8da904e09662b6d9396397", + "hand_left_06.jpg": "106b11ac6d3f0a315dd47768c7869749078bf70f4f5c314cf2196e0b1865c3c0", + "hand_left_07.jpg": "8d31ce21b22f919dab02da854f2a525efd3ef4ff31e447679f47fdc0ffaf2648", + "hand_left_08.jpg": "5dfe1059fa4617c367271891c4c3e889ccae5f6de418135bf5a47e167f6e318a", + "hand_left_09.jpg": "d10e98198df7e05a9ba9fa6e080b300d5d1c61cbcc5fa3c8a922e03d422bac70", + "hand_right_00.jpg": "f9e8d5cde748f836b8588a570758a29a6054df4ee8a2dec1ee48c8a3c6f0ef7e", + "hand_right_01.jpg": "ff00ebee692a2e40c11b61c205849893cfc510cad2f7dbb82bb1751de5c1bdf1", + "hand_right_02.jpg": "9bd0804c35a02b2a4e2c7afb4478af64960333aa18122f0a275f5c70a79e324c", + "hand_right_03.jpg": "56da6a7e5de35712b02f5763b26cc0e4da787585ff3f742ab8617c68ee327b04", + "hand_right_04.jpg": "f8d98d19284d39776b9d3c9b1c068eedd152ab02b81376010f602e54da1c3977", + "hand_right_05.jpg": "bd6d6c25d83a39a0e50473380fd96bca243ec1e519004a64c34b0dbff0788b49", + "hand_right_06.jpg": "1d4c439ec4407afb69d77924b2962b6430bbcc39eee2870d1da2ade9dca137fa", + "hand_right_07.jpg": "93495395d462992e029f67cba81f9ac09f33e69d2c5d11a85c2b401da77b9707", + "hand_right_08.jpg": "43d1137c430d5e36f1760cc76a07b851e612db2c8c8b0763a098dfa80c5af831", + "hand_right_09.jpg": "c1191790976f7139aa24db50647c50d9dbe4031a7742d8bb533a40f9c508334a", + "top_head_00.jpg": "a0a888743da53f4c3730ac0125932400270dfc36386b66240429c9ca5aafa391", + "top_head_01.jpg": "160a30b0431bc6becac7b4069ba89421c9bca7c109f2cc1d7daf38f9371b3468", + "top_head_02.jpg": "e635d1dba7cd6d3a15aa432b211803accbdd989601abf47fdcc5af75290d2aa0", + "top_head_03.jpg": "6ca9b6212e434741b1f28c6c333f484f280fe419e018efabe6dcc0122bb1c2c4", + "top_head_04.jpg": "e86e143819d5d5c3b7a6a35de4e0da97ad723be85811f7d106f755364b679d8e", + "top_head_05.jpg": "2831f9b4badb73f3851d9f6d84dc2de2120facc1b10a0388b1a95f5bbe9a40d1", + "top_head_06.jpg": "9efaaa31dbdce0d1ad183dd89b8ebdfbaa1f2ad630724474fe99b6487b953504", + "top_head_07.jpg": "79837180e4bab587f907c52518b2b46d4b5f07fa7d20415d10635e3091c07ed7", + "top_head_08.jpg": "f3875d7856c034292e46a789a4e23aa57e46915d1970ab5bc25439d724de9624", + "top_head_09.jpg": "6b65a05201c0279c9fd7c7cc50a96ab826d1a173fbf2610ec66363d485569a90" + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce477841760c49205ac780477f7d425112ebec2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_00.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 0.7550140009261668 + }, + "failures": [], + "planning_seconds": 13.190304754767567, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..056b487a9ee0dfd961d7b3ce5ac65603fdd31e5b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CARRY_PLAN.item_02.json @@ -0,0 +1,17 @@ +{ + "policy": "precision_body_route_v2", + "waist_lift_m": 0.55, + "posture": { + "hand_forward_m": 0.3, + "hand_height_change_m": -0.3 + }, + "exit_distance_m": 0.35, + "route_search": { + "expanded": 1, + "seconds": 0.6591060520149767 + }, + "failures": [], + "planning_seconds": 14.544351160991937, + "preflight_only": true, + "full_native_audit_required": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CHECKPOINT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CHECKPOINT.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3b963971dbd7d37fbfa3ba9e412208cae02432 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CHECKPOINT.json @@ -0,0 +1,13 @@ +{ + "schema": "ziche.multi_checkpoint.v1", + "completed_objects": [ + "/World/Assets/ShelfItems/good2grow", + "/World/Assets/Tier2Items/honeymaid", + "/World/Assets/ShelfItems/sprite_c1" + ], + "item_index": 2, + "control_ticks": 27905, + "recording": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/checkpoint_60hz.npz", + "continuous_process": true, + "time": 1791288671.9816966 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/COMMAND.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/COMMAND.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee086f1efdedfb7468056a259b14160b251f2d3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/COMMAND.json @@ -0,0 +1,20 @@ +[ + "docker", + "exec", + "--user", + "0:0", + "-e", + "CHAIN_PROJECT_ROOT=/mnt/agent-bench-data/lingjun/ziche", + "-e", + "CHAIN_RENDER=1", + "-e", + "OMP_NUM_THREADS=2", + "-e", + "OPENBLAS_NUM_THREADS=1", + "-e", + "MKL_NUM_THREADS=1", + "ziche_shelf_chain50_gpu2", + "/isaac-sim/python.sh", + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/run_episode.py", + "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04" +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CONTACT_CAPTURE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CONTACT_CAPTURE.json new file mode 100644 index 0000000000000000000000000000000000000000..88986e9127ecfb0fa5e34ecc377dd05b644d7ba2 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/CONTACT_CAPTURE.json @@ -0,0 +1,14 @@ +{ + "schema": "ziche.contact_capture.v1", + "requested_targets": [ + "/World/Assets/ShelfItems/good2grow", + "/World/Assets/Tier2Items/honeymaid", + "/World/Assets/ShelfItems/sprite_c1" + ], + "filter_semantics": "robot_or_any_requested_target", + "all_physics_ticks": true, + "control_ticks": 27905, + "dropped_rows": 0, + "callback_rows": 778367, + "stream": "contacts.jsonl.gz" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/EXPORT_STATUS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/EXPORT_STATUS.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5cfd6b73019cc236aa81d84301552c1a8da584 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/EXPORT_STATUS.json @@ -0,0 +1,5 @@ +{ + "layout": 4, + "started": 1791310021.7701468, + "status": "DECODING_VIDEOS" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..9f380e70ef08bd992de06b295172ba212f797446 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/GRASP_RETENTION_AUDIT.json @@ -0,0 +1,367 @@ +{ + "schema": "ziche.multi_item.grasp_retention_audit.v1", + "passed": true, + "semantics": "distinct 60 Hz control ticks; sustained opposing active-finger contact; final-tail contact; no target/source-or-clutter contact", + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/good2grow", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 91, + 2178 + ], + "window_control_ticks": 30, + "window_start_tick": 2149, + "window_end_tick": 2178, + "inner_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "outer_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "simultaneous_bilateral_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 2176, + 2177, + 2178 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/honeymaid", + "active_hand": "r", + "gripper_prefix": "/World/Robot/gripper_r", + "shelf_pick_tick_range": [ + 11206, + 12936 + ], + "window_control_ticks": 30, + "window_start_tick": 12907, + "window_end_tick": 12936, + "inner_contact_ticks": [ + 12907, + 12908, + 12909, + 12910, + 12911, + 12912, + 12913, + 12914, + 12915, + 12916, + 12917, + 12918, + 12919, + 12920, + 12921, + 12922, + 12923, + 12924, + 12925, + 12926, + 12927, + 12928, + 12929, + 12930, + 12931, + 12932, + 12933, + 12934, + 12935, + 12936 + ], + "outer_contact_ticks": [ + 12907, + 12908, + 12909, + 12910, + 12911, + 12912, + 12913, + 12914, + 12915, + 12916, + 12917, + 12918, + 12919, + 12920, + 12921, + 12922, + 12923, + 12924, + 12925, + 12926, + 12927, + 12928, + 12929, + 12930, + 12931, + 12932, + 12933, + 12934, + 12935, + 12936 + ], + "simultaneous_bilateral_contact_ticks": [ + 12907, + 12908, + 12909, + 12910, + 12911, + 12912, + 12913, + 12914, + 12915, + 12916, + 12917, + 12918, + 12919, + 12920, + 12921, + 12922, + 12923, + 12924, + 12925, + 12926, + 12927, + 12928, + 12929, + 12930, + 12931, + 12932, + 12933, + 12934, + 12935, + 12936 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 12934, + 12935, + 12936 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/sprite_c1", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "shelf_pick_tick_range": [ + 21872, + 23485 + ], + "window_control_ticks": 30, + "window_start_tick": 23456, + "window_end_tick": 23485, + "inner_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "outer_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "simultaneous_bilateral_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 23483, + 23484, + 23485 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "passed": true + } + ] +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c2ef7282b86e46974699864bfd8cf6043e875e --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INITIAL_PROP_NO_FALL.json @@ -0,0 +1,15 @@ +{ + "passed": true, + "physics_samples": 38, + "maxima": { + "translation_m": 0.00045502185821533203, + "downward_m": 0.00045502185821533203, + "rotation_rad": 7.139444127647405e-05 + }, + "thresholds": { + "translation_m": 0.02, + "downward_m": 0.01, + "rotation_deg": 15.0 + }, + "all_requested_and_nonrequested_props_included": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INPUT_QUALIFICATION.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INPUT_QUALIFICATION.json new file mode 100644 index 0000000000000000000000000000000000000000..738a40a754fcfd507d39994adcb2d58beb562e69 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/INPUT_QUALIFICATION.json @@ -0,0 +1,68 @@ +{ + "schema": "shelf_to_table_multi10.fresh_input_qualification.v1", + "case_id": 4, + "passed": true, + "native_physics_still_required": true, + "checks": { + "fresh_no_rollout": true, + "empty_initial_tray": true, + "item_count_3_or_4": true, + "unique_targets": true, + "all_targets_active": true, + "all_paths_new_root": true, + "controls_valid": true, + "slot_floor_containment": true, + "slot_pair_gap_12mm": true, + "unstable_nonrequested_prims_inactive": true, + "three_item_scope": true, + "all_retained_items_previously_supported": true + }, + "controls": [ + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_01.npz", + "sha256": "c837391171fb612437efff5f6286543d9d4e4ad97b2472fb7b361a8a3576fb78", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_02.npz", + "sha256": "0f31d249cde2ffb5e6a04b8ae4be7fa689f94ad1bc6f7a1561c6ce5087aea64b", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + }, + { + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_03.npz", + "sha256": "b3ab549dbc69c962535ea542feabe757b59c33d82d744b7c47596f0c9face3bc", + "fields": [ + "names", + "initial", + "pick", + "place_initial", + "target_local" + ], + "valid": true + } + ], + "special_evidence": { + "startup_cleanup_inactive": [ + "oreo_gf" + ], + "excluded_failed_pick": "pring_bbq" + }, + "job_sha256": "8de10a30abf0469f94da3b08c96af5a6a94fbc8e61d4d3bcf255ab201b68efcc", + "scene_sha256": "bb7f1dba7eadebfa57ed77088fbe3ae100b9c77dedffea92e4b8f34e34f7d191", + "scene_physical_sha256": "61c91a34f8b9646d684977284b42e59d6fd98c00f0cd75617e04cd2c3386e036", + "collision_profile_sha256": "45703ec6afa5dd55d4a881e30145095b8253430ee935006efc49d6749ad0dbbe" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f308b45b5aaaf5fae87fc522fe278210a98f45 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/MULTI_ITEM_CONTROLS.json @@ -0,0 +1,26 @@ +{ + "items": [ + { + "item_index": 0, + "target": "/World/Assets/ShelfItems/good2grow", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_01.npz", + "exported_file": "item_00_controls.npz", + "sha256": "c837391171fb612437efff5f6286543d9d4e4ad97b2472fb7b361a8a3576fb78" + }, + { + "item_index": 1, + "target": "/World/Assets/Tier2Items/honeymaid", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_02.npz", + "exported_file": "item_01_controls.npz", + "sha256": "c8d0258685f152f51f30efe68e43c9e2aad9616f6397a97f0681bae6d0e44661" + }, + { + "item_index": 2, + "target": "/World/Assets/ShelfItems/sprite_c1", + "source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_03.npz", + "exported_file": "item_02_controls.npz", + "sha256": "b3ab549dbc69c962535ea542feabe757b59c33d82d744b7c47596f0c9face3bc" + } + ], + "all_controls_preserved": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json new file mode 100644 index 0000000000000000000000000000000000000000..5301798170398dd5f5ecfd656301bad0e1688175 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PASSIVE_FINGER_PROJECTION.json @@ -0,0 +1,734 @@ +{ + "status": "PASSED", + "passed": true, + "threshold_px": 0.25, + "only_passive_distal_fingers": true, + "passive_path_pattern": "/gripper_[lr]_(inner|outer)_link[234]$", + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "windows": [ + { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.13587846977575585, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04746954865239436, + "vertices_visible_at_least_twice": 10183 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0770184290278031, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.015337009035248978, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0770184290278031 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.10819836746266416, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.13587846977575585, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04077895663983188, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.13587846977575585 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.041928277810482806, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06545687660175309, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010962822085199334, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.06545687660175309 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009830578558687127, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.016374254879018564, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002470497047522854, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.016374254879018564 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.012086674932260458, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0328742927109266, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006629698528378825, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.0328742927109266 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00967822004826426, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.012382725170983098, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0013054047959718288, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.012382725170983098 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.03805065247602872, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.010455455866216077, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05166704099358535, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.05166704099358535 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.09366906072199055, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.03203019431128952, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.09291288129726746, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.09366906072199055 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0318161498134526, + "vertices_visible_at_least_twice": 4925 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0061320797921030476, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04163473908146271, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.04163473908146271 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007132068195420836, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002025637378591757, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006539608829609622, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.007132068195420836 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.008217589485099895, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0036275042758130275, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.009916020965788815, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.009916020965788815 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 5.857047317761539e-06, + "robot_link_rotation_span_rad": 0.0004570342988994555, + "prop_translation_span_m": 4.774328325867841e-06, + "prop_rotation_span_rad": 0.00010422247538685929, + "camera_link_translation_span_m": 5.462855929083633e-07, + "camera_link_rotation_span_rad": 2.0383568498566547e-06, + "driven_robot_link_translation_span_m": 7.539457464619588e-07, + "driven_robot_link_rotation_span_rad": 2.116804225096773e-06 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.06466258774370301, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.020046242560409298, + "vertices_visible_at_least_twice": 10184 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0351626205358674, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006377043623585626, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0351626205358674 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05319662752526876, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06466258774370301, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.020107842530866414, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.06466258774370301 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.018968318916296786, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.029861510196716193, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0043744164391409076, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.029861510196716193 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.006531660878435522, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015307751328093299, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003339417427537722, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015307751328093299 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01025216857405421, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.027677521162594056, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004414386708646859, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.027677521162594056 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005373427052328494, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01198062238461539, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001669235756746639, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.01198062238461539 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02400229802992147, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007639354896787173, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.030921861773394756, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.030921861773394756 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05650379619948488, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.018366001744540682, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05725246435643772, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.05725246435643772 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.021458811767800682, + "vertices_visible_at_least_twice": 4926 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004942812060822718, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.023693695141615078, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.023693695141615078 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0022491229071776135, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.000863661426117558, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001918792591635642, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.0022491229071776135 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0023109127378802188, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0015280373592261773, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005172903899357217, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.005172903899357217 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + ], + "evaluated_passive_paths": [ + "/World/Robot/gripper_l_inner_link3", + "/World/Robot/gripper_l_inner_link4", + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_outer_link3", + "/World/Robot/gripper_l_outer_link4", + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_r_inner_link3", + "/World/Robot/gripper_r_inner_link4", + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_outer_link3", + "/World/Robot/gripper_r_outer_link4", + "/World/Robot/gripper_r_outer_link2" + ], + "evaluated_driven_paths": [ + "/World/Robot/base_link", + "/World/Robot/body_link1", + "/World/Robot/body_link2", + "/World/Robot/head_link1", + "/World/Robot/head_link2", + "/World/Robot/arm_base_link", + "/World/Robot/arm_l_base_link", + "/World/Robot/arm_l_link1", + "/World/Robot/arm_l_link2", + "/World/Robot/arm_l_link3", + "/World/Robot/arm_l_link4", + "/World/Robot/arm_l_link5", + "/World/Robot/arm_l_link6", + "/World/Robot/arm_l_end_link", + "/World/Robot/gripper_l_base_link", + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_center_link", + "/World/Robot/arm_r_base_link", + "/World/Robot/arm_r_link1", + "/World/Robot/arm_r_link2", + "/World/Robot/arm_r_link3", + "/World/Robot/arm_r_link4", + "/World/Robot/arm_r_link5", + "/World/Robot/arm_r_link6", + "/World/Robot/arm_r_end_link", + "/World/Robot/gripper_r_base_link", + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_center_link" + ], + "evaluated_cameras": [ + "/World/Robot/head_link2/Head_Camera", + "/World/Robot/gripper_l_base_link/Left_Camera", + "/World/Robot/gripper_r_base_link/Right_Camera" + ], + "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/scene_physical.usda", + "scene_sha256": "61c91a34f8b9646d684977284b42e59d6fd98c00f0cd75617e04cd2c3386e036", + "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/preroll_stability.py", + "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PHYSICS_CLOCK.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PHYSICS_CLOCK.json new file mode 100644 index 0000000000000000000000000000000000000000..bb1bf3e922289e70d4f062d23d3f387d701d7899 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PHYSICS_CLOCK.json @@ -0,0 +1,19 @@ +{ + "schema": "startup_preroll_clock_v1", + "physics_dt_s": 0.004166666666666667, + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "substeps_per_control": 4, + "unrecorded_preroll_physics_steps": 152, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "retained_control_rows": 27905, + "retained_first_control_row": 0, + "retained_timestamp_formula": "(row_index+1)/60", + "retained_first_post_step_global_physics_step": 156, + "retained_post_step_global_physics_step_formula": "unrecorded_preroll_physics_steps + 4*(row_index+1)", + "retained_camera_row_formula": "control_tick % 3 == 0", + "retained_camera_frame_count": 9301, + "command_semantics": "Native continuous multi-item control after stable initial hold; no object or robot pose writes after setup.", + "contact_semantics": "Contact subscription begins after preroll and camera warmup; preroll contacts are excluded." +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7084f8ebadb3e8d1aa567e0497c350d3b8e0f0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_00.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/ShelfItems/good2grow", + "pre_pick_pose": [ + -2.384707450866699, + 2.158154010772705, + 1.1825010776519775, + -4.998281042389863e-07, + -1.8072546481562313e-06, + -0.17040987312793732, + 0.9853733777999878 + ], + "live_pose": [ + -2.542710781097412, + 1.887596845626831, + 1.227620244026184, + 0.14405614137649536, + 0.15658484399318695, + -0.4004043936729431, + 0.8912942409515381 + ], + "lift_m": 0.04511916637420654, + "grasp_contact": { + "active_target": "/World/Assets/ShelfItems/good2grow", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "window_control_ticks": 30, + "window_start_tick": 2149, + "window_end_tick": 2178, + "inner_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "outer_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "simultaneous_bilateral_contact_ticks": [ + 2149, + 2150, + 2151, + 2152, + 2153, + 2154, + 2155, + 2156, + 2157, + 2158, + 2159, + 2160, + 2161, + 2162, + 2163, + 2164, + 2165, + 2166, + 2167, + 2168, + 2169, + 2170, + 2171, + 2172, + 2173, + 2174, + 2175, + 2176, + 2177, + 2178 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 2176, + 2177, + 2178 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..0b42720f4302e007493bca6c4d3e59a6b93245e9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_GATE.item_02.json @@ -0,0 +1,137 @@ +{ + "target": "/World/Assets/ShelfItems/sprite_c1", + "pre_pick_pose": [ + -2.6739556789398193, + 2.2176010608673096, + 1.182504653930664, + 3.484636010853137e-07, + 2.963712972814392e-07, + 0.3539481461048126, + 0.935265064239502 + ], + "live_pose": [ + -2.5783474445343018, + 1.8930375576019287, + 1.3186793327331543, + 0.18971078097820282, + 0.11156562715768814, + -0.1651819348335266, + 0.9613937735557556 + ], + "lift_m": 0.13617467880249023, + "grasp_contact": { + "active_target": "/World/Assets/ShelfItems/sprite_c1", + "active_hand": "l", + "gripper_prefix": "/World/Robot/gripper_l", + "window_control_ticks": 30, + "window_start_tick": 23456, + "window_end_tick": 23485, + "inner_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "outer_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "simultaneous_bilateral_contact_ticks": [ + 23456, + 23457, + 23458, + 23459, + 23460, + 23461, + 23462, + 23463, + 23464, + 23465, + 23466, + 23467, + 23468, + 23469, + 23470, + 23471, + 23472, + 23473, + 23474, + 23475, + 23476, + 23477, + 23478, + 23479, + 23480, + 23481, + 23482, + 23483, + 23484, + 23485 + ], + "simultaneous_bilateral_contact_tick_count": 30, + "minimum_simultaneous_bilateral_ticks": 15, + "final_tail_control_ticks": 3, + "final_tail_bilateral_ticks": [ + 23483, + 23484, + 23485 + ], + "environment_clear_control_ticks": 15, + "environment_contact_ticks": [], + "native_contact_required": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..8b01365b004ffcae565bec4fb624204d1ac9892c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_00.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/ShelfItems/good2grow", + "expected_pose": [ + -2.3847076892852783, + 2.158154010772705, + 1.182828426361084, + -3.3077185435104184e-10, + -4.6782133722444996e-11, + -0.17040786147117615, + 0.9853737354278564 + ], + "live_pose": [ + -2.384707450866699, + 2.158154010772705, + 1.1825010776519775, + -4.998281042389863e-07, + -1.8072546481562313e-06, + -0.17040987312793732, + 0.9853733777999878 + ], + "translation_error_m": 0.0003273487964179367, + "rotation_error_rad": 5.546193191405263e-06 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json new file mode 100644 index 0000000000000000000000000000000000000000..820f21641c2208dcba5bc1a6ea15244e26a927f9 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PICK_PREFLIGHT.item_02.json @@ -0,0 +1,23 @@ +{ + "target": "/World/Assets/ShelfItems/sprite_c1", + "expected_pose": [ + -2.6739556789398193, + 2.2176008224487305, + 1.1829593181610107, + 0.0, + 0.0, + 0.3539492189884186, + 0.9352646470069885 + ], + "live_pose": [ + -2.6739556789398193, + 2.2176010608673096, + 1.182504653930664, + 3.484636010853137e-07, + 2.963712972814392e-07, + 0.3539481461048126, + 0.935265064239502 + ], + "translation_error_m": 0.0004546642885543406, + "rotation_error_rad": 2.477349571855195e-06 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json new file mode 100644 index 0000000000000000000000000000000000000000..648020abbafd7821ff23d056dd99dc9a0e64981f --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00007162.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "drive", + "goal": [ + -2.1703959913462163, + 1.3119974710297355, + -1.5764868325000743 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + "base": [ + -2.1703970432281494, + 1.3117984533309937, + -1.5764868259429932 + ], + "xy_error_m": 0.00019902047851442129, + "yaw_error_rad": 6.5570811003112794e-09, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json new file mode 100644 index 0000000000000000000000000000000000000000..4711aee4e408880f2fbe48d86359a8cde2f1833b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_00.tick_00008547.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "turn", + "goal": [ + -2.1703959913462163, + 1.3119974710297355, + -2.1729147326978686 + ], + "return_stage": "room_navigation" + }, + "base": [ + -2.1703970432281494, + 1.3117984533309937, + -2.17283034324646 + ], + "xy_error_m": 0.00019902047851442129, + "yaw_error_rad": 8.438945140865073e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json new file mode 100644 index 0000000000000000000000000000000000000000..6a4a795129fa71b2b9ca7e71db94b3ef484a2996 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_00.primitive_03.tick_00009992.json @@ -0,0 +1,23 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 3, + "primitive": { + "kind": "turn", + "goal": [ + -2.4228067154744606, + 0.9447217061113803, + -4.792940483295816 + ], + "return_stage": "room_navigation" + }, + "base": [ + -2.422572135925293, + 0.9447990655899048, + 1.4903029203414917 + ], + "xy_error_m": 0.00024700618171467404, + "yaw_error_rad": 5.809645772079029e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json new file mode 100644 index 0000000000000000000000000000000000000000..f524c9a1c5fdf824d3227f85d03486575c9e7673 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_00.tick_00018042.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 0, + "primitive": { + "kind": "drive", + "goal": [ + -1.955964629915297, + 1.3661901210616705, + -1.6426875185125702 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + "base": [ + -1.9559789896011353, + 1.3659909963607788, + -1.6426876783370972 + ], + "xy_error_m": 0.0001996417969328306, + "yaw_error_rad": 1.59824526946295e-07, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json new file mode 100644 index 0000000000000000000000000000000000000000..5a9f5a95e26b9e16733cb54a4df82a7a9a3bda5a --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_01.tick_00019925.json @@ -0,0 +1,24 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 1, + "primitive": { + "kind": "drive", + "goal": [ + -2.378922552727896, + 0.9383559670780184, + -2.350463151229461 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + "base": [ + -2.3786585330963135, + 0.9383744597434998, + -2.350388526916504 + ], + "xy_error_m": 0.0002646664779257667, + "yaw_error_rad": 7.462431295701677e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json new file mode 100644 index 0000000000000000000000000000000000000000..cf523f42c485d05a8d5386867d98b7af8e205f41 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PRECISION_RETURN_ENDPOINT.item_01.primitive_03.tick_00021676.json @@ -0,0 +1,25 @@ +{ + "schema": "ziche.precision_return_endpoint.v1", + "primitive_index": 3, + "primitive": { + "kind": "drive", + "goal": [ + -2.3779150350476934, + 1.338354698211161, + 1.568277529931041 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + }, + "base": [ + -2.3776750564575195, + 1.33815598487854, + 1.5683364868164062 + ], + "xy_error_m": 0.0003115713598891051, + "yaw_error_rad": 5.895688536527998e-05, + "xy_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "measured_after_advance": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..a18b8a0228642b43bb5dbef5b69c9c52ff4d888c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREPARED_INPUT_MANIFEST.json @@ -0,0 +1,42 @@ +{ + "schema": "multi_item.fresh_case_input_manifest.v1", + "layout_id": 4, + "attempt_index": 3, + "prepared_utc": 1791276881.5771444, + "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04", + "archive_destination": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_04/attempt_002", + "source_status_sha256": "37da81be1ef79cb85f92c4581f8ace3c2ec3441115b57a596e4a55856c09748d", + "source_job_sha256": "8de10a30abf0469f94da3b08c96af5a6a94fbc8e61d4d3bcf255ab201b68efcc", + "fresh_job_sha256": "5850ece599a928acd24b59e8d568ba3bf489333c72fcbcd7fa825ceef0905b8d", + "copied_files_sha256": { + "scene.usda": "bb7f1dba7eadebfa57ed77088fbe3ae100b9c77dedffea92e4b8f34e34f7d191", + "scene_physical.usda": "61c91a34f8b9646d684977284b42e59d6fd98c00f0cd75617e04cd2c3386e036", + "collision_profile.usda": "45703ec6afa5dd55d4a881e30145095b8253430ee935006efc49d6749ad0dbbe", + "INPUT_QUALIFICATION.json": "085ab9be269716550a43baed7a9b7e063268f3634d3ca62823ac6435d33f6c35", + "controls.npz": "c837391171fb612437efff5f6286543d9d4e4ad97b2472fb7b361a8a3576fb78", + "controls_item_01.npz": "c837391171fb612437efff5f6286543d9d4e4ad97b2472fb7b361a8a3576fb78", + "controls_item_02.npz": "c8d0258685f152f51f30efe68e43c9e2aad9616f6397a97f0681bae6d0e44661", + "controls_item_03.npz": "b3ab549dbc69c962535ea542feabe757b59c33d82d744b7c47596f0c9face3bc" + }, + "placement_seed": { + "item_index": 1, + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT04_ITEM01_LIVE_PLACE_PROPOSAL.json", + "proposal_sha256": "f382368b9052f55ce46ec498836ec057f0563d5f946dedce05d1e190d85b74f5", + "seed_controls_sha256": "c8d0258685f152f51f30efe68e43c9e2aad9616f6397a97f0681bae6d0e44661", + "seed_is_not_cached_motion": true + }, + "requirements": { + "head_policy": "BODY2_COMPENSATED_V3_QUALIFIED", + "head_policy_sha256": "f663162b24464b806d2ae6a86c2b5d67dbb5f10506b48283f3ad5fdf11a3602f", + "head_qualification": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/RETURN_HEAD_OFFLINE_QUALIFICATION.json", + "head_qualification_sha256": "7b8f8471e56e2c4733680ed04cd88d09b553c8d929826ceac5b5b81e46c4ea89", + "run_episode_sha256": "ae1d866559e1f41fbeadb8e3a63abea70df9b9d6666356289888d7a459fefe2f", + "release_sweep_sha256": "7013d7dad44cd733a618bb6ef6eceeb0e95b886bcb8c8edad1a91c1d42964806", + "placement_sha256": "1896d3aea77c58846489de94725386301b3e317ca3ff52830cf9d6dcd6b79746", + "release_sweep_required": true, + "precision_return_turn_floor_rad_s": 0.001, + "empty_tray_initial": true, + "fresh_live_full_world_replan": true + }, + "launch_authorized": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREROLL_EVIDENCE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREROLL_EVIDENCE.json new file mode 100644 index 0000000000000000000000000000000000000000..ced0d34906d642406f233305136ff9d7085c1540 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/PREROLL_EVIDENCE.json @@ -0,0 +1,350 @@ +{ + "status": "PASSED", + "physics_hz": 240, + "sample_hz": 60, + "steps": 152, + "duration_s": 0.6333333333333333, + "stability_window_s": 0.5, + "thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "final_window": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + }, + "passive_finger_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.13587846977575585, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04746954865239436, + "vertices_visible_at_least_twice": 10183 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0770184290278031, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.015337009035248978, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0770184290278031 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.10819836746266416, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.13587846977575585, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04077895663983188, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.13587846977575585 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.041928277810482806, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06545687660175309, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010962822085199334, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.06545687660175309 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009830578558687127, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.016374254879018564, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002470497047522854, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.016374254879018564 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.012086674932260458, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0328742927109266, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006629698528378825, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.0328742927109266 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00967822004826426, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.012382725170983098, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0013054047959718288, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.012382725170983098 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.03805065247602872, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.010455455866216077, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05166704099358535, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.05166704099358535 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.09366906072199055, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.03203019431128952, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.09291288129726746, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.09366906072199055 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0318161498134526, + "vertices_visible_at_least_twice": 4925 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0061320797921030476, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04163473908146271, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.04163473908146271 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007132068195420836, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002025637378591757, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006539608829609622, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.007132068195420836 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.008217589485099895, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0036275042758130275, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.009916020965788815, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.009916020965788815 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "exact_initial_command_sha256": "38fe132930f774081f08953a8601321730487ee24f7202d88ea0c4d447756f3d", + "recorded_rows": 0, + "contact_capture_started": false, + "camera_capture_started": false, + "no_pose_writes_or_resets": true, + "initial_snapshot_semantics": "Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.", + "initial_prop_pose_before_preroll_sha256": "4b2d7390d32ccad926b4ac8cb3adc48f964771309314a665759a2e2b6958e461", + "camera_warmup_physics_samples": 3, + "discarded_render_reads": 3 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json new file mode 100644 index 0000000000000000000000000000000000000000..96996dabd5e031d51dc6bb214d9cb667ff248414 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RELEASED_FLOOR_DRESSING.json @@ -0,0 +1,15 @@ +{ + "policy": "preserve_original_nonphysical_floor_dressing", + "paths": [ + "/World/Assets/LivingRoomRug/Surface", + "/World/Assets/LivingRoomRug/OuterBorder/West", + "/World/Assets/LivingRoomRug/OuterBorder/East", + "/World/Assets/LivingRoomRug/OuterBorder/South", + "/World/Assets/LivingRoomRug/OuterBorder/North", + "/World/Assets/LivingRoomRug/InnerBorder/West", + "/World/Assets/LivingRoomRug/InnerBorder/East", + "/World/Assets/LivingRoomRug/InnerBorder/South", + "/World/Assets/LivingRoomRug/InnerBorder/North" + ], + "real_floor_collision_retained": true +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..eef6fe91b8fdb434de44c606438db19487a6726b --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_ARRIVAL.item_00.json @@ -0,0 +1,80 @@ +{ + "next_item_index": 1, + "next_target": "/World/Assets/Tier2Items/honeymaid", + "live_base": [ + [ + 0.08040672517181296, + -0.9967621373964523, + 2.9749602613575795e-08, + -2.390432834625244 + ], + [ + 0.9967621373964503, + 0.08040672517181063, + -7.138979201185001e-08, + 1.3432129621505737 + ], + [ + 6.876657355269941e-08, + 3.539349687417254e-08, + 0.9999999999999971, + 0.0013673175126314163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "requested_pick_base": [ + [ + 0.08046442083090181, + -0.9967574815271506, + 0.0, + -2.3906209471421 + ], + [ + 0.9967574815271506, + 0.08046442083090181, + 0.0, + 1.3434246987222405 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "translation_error_m": 0.00028322905002673354, + "yaw_error_rad": 5.7858039142155704e-05, + "translation_gate_m": 0.0005, + "yaw_gate_rad": 0.0001, + "controller": { + "controller": "PrecisionReturnController", + "scope": "primitives_with_return_stage_only", + "turn_deadband_rad": 9e-05, + "turn_done_error_rad": 9e-05, + "turn_done_speed_rad_s": 0.0002, + "turn_min_speed_rad_s": 0.003, + "turn_min_speed_basis": "native_static_friction_microturn_recoveries_layout07_layout10_0p003_rad_s", + "drive_deadband_m": 0.0002, + "drive_done_error_m": 0.0002, + "drive_done_speed_m_s": 0.001, + "drive_min_speed_m_s": 0.0001, + "speed_and_acceleration_caps_unchanged": true, + "static_friction_endpoint_acceptance_m_rad": [ + 0.0005, + 0.0001 + ], + "arrival_translation_gate_m": 0.0005, + "arrival_yaw_gate_rad": 0.0001 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_POLICY.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_POLICY.json new file mode 100644 index 0000000000000000000000000000000000000000..d4fc2c69d4ea178fc7907b7dcc667f7b45a49d24 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_POLICY.json @@ -0,0 +1,17 @@ +{ + "policy": "empty_return_forward_head_v3", + "installed_at_control_tick": 0, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "compensate_body_joint": "idx02_body_joint2", + "pitch_clip_rad": [ + -0.34033920413889424, + 0.5148721293383273 + ], + "transition_seconds": 2.0, + "restore_only_while_stopped_at_shelf": true, + "implementation_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/return_head_policy.py", + "implementation_sha256": "2705cfc2c5a21931ea09f2bf31da91ab583c3579b94fe2e7415b64d5d7a15fb5" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json new file mode 100644 index 0000000000000000000000000000000000000000..135c359eaf562603662023a7bac65fd4426e33b0 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.raise_before_walking.tick_00017489.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 1, + "kind": "raise_before_walking", + "start_tick": 17489, + "end_tick": 17609, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + -4.407854248711374e-06, + 0.43633711338043213 + ], + "target_rad": [ + 0.0, + -0.34033920413889424 + ], + "measured_error_rad": [ + 2.999102299838796e-09, + 0.00012602455057636464 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/return_head_policy.py", + "source_sha256": "2705cfc2c5a21931ea09f2bf31da91ab583c3579b94fe2e7415b64d5d7a15fb5" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json new file mode 100644 index 0000000000000000000000000000000000000000..447e7c96825a82cfa0eaf76029f9c5c9bbebeaf5 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/RETURN_HEAD_TRANSITION.item_01.restore_pick_gaze_after_arrival.tick_00021676.json @@ -0,0 +1,29 @@ +{ + "schema": "multi_return_head_transition_v1", + "policy": "empty_return_forward_head_v3", + "item_index": 1, + "kind": "restore_pick_gaze_after_arrival", + "start_tick": 21676, + "end_tick": 21796, + "head_joints": [ + "idx11_head_joint1", + "idx12_head_joint2" + ], + "previous_command_rad": [ + 0.0, + 0.0 + ], + "target_rad": [ + 0.0, + 0.4363323152065277 + ], + "measured_error_rad": [ + 8.034910514709281e-10, + 7.092952728271484e-05 + ], + "base_held": true, + "all_live_props_screened": true, + "no_pose_writes": true, + "source_path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/return_head_policy.py", + "source_sha256": "2705cfc2c5a21931ea09f2bf31da91ab583c3579b94fe2e7415b64d5d7a15fb5" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json new file mode 100644 index 0000000000000000000000000000000000000000..694be66bc76b5da93614fa3a7d9f1599dcea1af3 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_PREROLL_PROVENANCE.json @@ -0,0 +1,57 @@ +{ + "schema": "ziche.multi10_stable_start_provenance.v1", + "passed": true, + "image_generation_mode": "native_live_three_view", + "source_case": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04", + "continuous_native_episode": true, + "actual_physics_hz": 240, + "all_original_command_rows_retained": true, + "unrecorded_preroll_duration_s": 0.6333333333333333, + "physical_gate_verification": { + "passed": false, + "status": "NOT_AUTOMATICALLY_CERTIFIED", + "acceptance_basis": "explicit_user_visual_review", + "user_acceptance_sha256": "3ce6ecac108bfda25214435758ed5a6672e69411515b970b96dc7701f04a1888" + }, + "evidence_sha256": { + "PHYSICS_CLOCK.json": "33ffbc4dfe5076cfc879c6d8a2fb650b8cc3cf43603507c307bbc0e9c7888c40", + "PREROLL_EVIDENCE.json": "e5de293b1a840db43e9e625ed438b8616d0985257a6c547ac2067b94e94a939c", + "PREROLL_EVIDENCE.npz": "b9ceae2a02fda36a66931275f9a2569da36b6cff418b625c7a3a0cd519aa5412", + "PASSIVE_FINGER_PROJECTION.json": "a0f03a0f166b350c393948c994cf482cfb2fe6fd1e89b54c6324dd8f208527d0", + "CAMERA_WARMUP.json": "4ef6a41b2f45939f97828fa1dc886f9a5002d56ac751cf28afcfa6dd93bcf5b5", + "camera_extrinsics_20hz.npz": "5e5f837f265ff71af5f3ad742b09fe917d1605356d53e9dc88d2fc9b7cfc20e5", + "VIDEO_DECODE_AUDIT.json": "319d3ed4da4565ab9b06c4324887de1152bcfde50c701af2b9ff63d6f8adf892", + "TASK_SCHEMA_AUDIT.json": "54e747301a52d95b0f714a7c6b5945f28b192e7bbc94bac5060c9a7bfcd30887", + "NON_TARGET_PROP_STABILITY_AUDIT.json": "7119bc778ab5b868cdb9c328f68190961d9b9a41520d2a7afa307b00b1a480d2", + "STARTUP_STABILITY_AUDIT.json": "5a656e823c5263ab06bebf624c17067fd13304cec1f191c6d7c1943fbbf8dbe9", + "CAMERA_WARMUP_AUDIT.json": "e1f306122c8665eadf2e5dc48c098d5a8e6d4e8902dce4d268d75a080f4d9d1f", + "CAMERA_EXTRINSICS_AUDIT.json": "d6f92997d2f08b32fb9d1b142bda9b17a52f6e2c0845da0bfbceadfb518a3f5f" + }, + "video_sha256": { + "top_head": "4b820fd55e210ef22e8b3eabe95231f4ec01e3b9dfb01f55c9d4f3d29a179c21", + "hand_left": "1038630ad4c8c5fe62522925b593598702ea9f19516c60a06acb3cead5ceaa1a", + "hand_right": "e84a44e1a5d4cb0e2f2c0295e62b21e10999f4dde1363443a4c24cac0d0003d6" + }, + "parquet_sha256": "44cc14ce53bc3f29376cdfaec652d7bd764f702a4e58dac31147b6f89c3c1351", + "validation_code_sha256": { + "validate_case.py": "7ef7c16cf98f5418a20fc89e27adeb56bf1e9985a520a2b3dd7c8d8b59c59605", + "validate_export.py": "b03cc4ac464a74acfacd89394a7d8cefb4b160782b91182c55999e3d3c2cca7f", + "audit_geometry.py": "bb61f4b914e5a0077ea5fb7e084849a4463112dccc78129710db113ce888abff", + "audit_views.py": "c1c3f2f741373dbef81d61b71612cb02dcdef5bec10931a3c34c786f90685085", + "grasp_stability.py": "a47e2559f1899dd84f2679dd10d7922beb5d381fda42666d7479ef9f38d4a51b", + "parallel_world_audit.py": "2775d5b570ca486d5a1dbf57985df90b28664fa9e07ca5d78be317a259fc7ac4", + "task_collision_scope.py": "cc9f3e5498ebcdf5185af62dc72e87bdbdd85c65143d854fc3d735c6420caec8", + "multi_validation.py": "bf0e7036ae5f3a3fe73d605f19b3c59ed3ff512b125f765b586b7a1a99fec210", + "startup_validation.py": "d20eddaece8e301a8983f6cda7dbd31adcdadd53901062ab09e9779fb912934a", + "prepare_visual_qa.py": "733bfbca5bd5357f3f546153c1f7c283448c9b4b03cbb08f472d5576befcb39b", + "official_lerobot_reader_qa.py": "8d529dc19bd1587f76d93e63b014bd9fee597a50ffddf2e54d03ad89a3608c2a", + "record_manual_review.py": "46e2c6c4372824648189e1af0300e714350c2ae28f3390028847c94ad068f401", + "validate_staged.py": "ca8cecba4e155d1e711943bdeb653dc68e0a04f52a3157795c1290c2291b25c7" + }, + "visual_acceptance_pending": false, + "official_reader_pending": false, + "acceptance_basis": "explicit_user_visual_review", + "automatic_physical_checks_all_passed": false, + "official_reader_passed": true, + "official_reader_sha256": "f6e46f8f13c928c876b2ddacaee7496404f459c1fd78d52a05ed6f710366f9b2" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..829a215c07ab5eb685f5889fd836d17d64b90335 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STARTUP_STABILITY_AUDIT.json @@ -0,0 +1,1817 @@ +{ + "schema": "multi_startup_stability_audit_v1", + "passed": true, + "failures": [], + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "driven_robot_translation_m": 5e-05, + "driven_robot_rotation_rad": 0.00034906585039886593, + "passive_finger_projected_motion_px": 0.25 + }, + "retained_first_30_control_rows": { + "checks": { + "rows": true, + "prop_translation": true, + "prop_rotation": true, + "camera_translation": true, + "camera_rotation": true, + "driven_translation": true, + "driven_rotation": true, + "passive_projection": true + }, + "prop_translation_span_m": 4.774328325867841e-06, + "prop_rotation_span_rad": 0.00010422247538685929, + "camera_translation_span_m": 5.462855929083633e-07, + "camera_rotation_span_rad": 2.0383568498566547e-06, + "driven_translation_span_m": 7.539457464619588e-07, + "driven_rotation_span_rad": 2.1168042250967733e-06, + "metric_error": null + }, + "preroll_checks": { + "status": true, + "rates": true, + "unrecorded": true, + "no_pose_writes": true, + "duration": true, + "thresholds": true, + "final_prop": true, + "final_camera": true, + "final_driven": true, + "exact_initial_command": true, + "first_retained_30_exact_initial_hold": true, + "projection": true + }, + "preroll_evidence": { + "status": "PASSED", + "physics_hz": 240, + "sample_hz": 60, + "steps": 152, + "duration_s": 0.6333333333333333, + "stability_window_s": 0.5, + "thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "final_window": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + }, + "passive_finger_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.13587846977575585, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04746954865239436, + "vertices_visible_at_least_twice": 10183 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0770184290278031, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.015337009035248978, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0770184290278031 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.10819836746266416, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.13587846977575585, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04077895663983188, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.13587846977575585 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.041928277810482806, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06545687660175309, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010962822085199334, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.06545687660175309 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009830578558687127, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.016374254879018564, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002470497047522854, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.016374254879018564 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.012086674932260458, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0328742927109266, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006629698528378825, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.0328742927109266 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00967822004826426, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.012382725170983098, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0013054047959718288, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.012382725170983098 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.03805065247602872, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.010455455866216077, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05166704099358535, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.05166704099358535 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.09366906072199055, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.03203019431128952, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.09291288129726746, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.09366906072199055 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0318161498134526, + "vertices_visible_at_least_twice": 4925 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0061320797921030476, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04163473908146271, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.04163473908146271 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007132068195420836, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002025637378591757, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006539608829609622, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.007132068195420836 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.008217589485099895, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0036275042758130275, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.009916020965788815, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.009916020965788815 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "exact_initial_command_sha256": "38fe132930f774081f08953a8601321730487ee24f7202d88ea0c4d447756f3d", + "recorded_rows": 0, + "contact_capture_started": false, + "camera_capture_started": false, + "no_pose_writes_or_resets": true, + "initial_snapshot_semantics": "Immediate native readback after scene setup and hold constraint, before the first preroll physics step; no pose write/reset.", + "initial_prop_pose_before_preroll_sha256": "4b2d7390d32ccad926b4ac8cb3adc48f964771309314a665759a2e2b6958e461", + "camera_warmup_physics_samples": 3, + "discarded_render_reads": 3 + }, + "projection_audit": { + "passed": true, + "checks": { + "status": true, + "threshold": true, + "scope": true, + "windows": true, + "bodies": true, + "cameras": true, + "implementation_hash": true + }, + "failures": [], + "receipt": { + "status": "PASSED", + "passed": true, + "threshold_px": 0.25, + "only_passive_distal_fingers": true, + "passive_path_pattern": "/gripper_[lr]_(inner|outer)_link[234]$", + "strict_thresholds": { + "prop_translation_m": 5e-05, + "prop_rotation_rad": 0.00034906585039886593, + "robot_translation_m": 5e-05, + "robot_rotation_rad": 0.00034906585039886593, + "camera_translation_m": 5e-05, + "camera_rotation_rad": 0.00017453292519943296, + "passive_finger_projected_motion_px": 0.25 + }, + "windows": [ + { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.13587846977575585, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04746954865239436, + "vertices_visible_at_least_twice": 10183 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0770184290278031, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.015337009035248978, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0770184290278031 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.10819836746266416, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.13587846977575585, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04077895663983188, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.13587846977575585 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.041928277810482806, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06545687660175309, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010962822085199334, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.06545687660175309 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009830578558687127, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.016374254879018564, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002470497047522854, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.016374254879018564 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.012086674932260458, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0328742927109266, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006629698528378825, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.0328742927109266 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00967822004826426, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.012382725170983098, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0013054047959718288, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.012382725170983098 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.03805065247602872, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.010455455866216077, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05166704099358535, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.05166704099358535 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.09366906072199055, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.03203019431128952, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.09291288129726746, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.09366906072199055 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0318161498134526, + "vertices_visible_at_least_twice": 4925 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0061320797921030476, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04163473908146271, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.04163473908146271 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007132068195420836, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002025637378591757, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006539608829609622, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.007132068195420836 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.008217589485099895, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0036275042758130275, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.009916020965788815, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.009916020965788815 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 5.857047317761539e-06, + "robot_link_rotation_span_rad": 0.0004570342988994555, + "prop_translation_span_m": 4.774328325867841e-06, + "prop_rotation_span_rad": 0.00010422247538685929, + "camera_link_translation_span_m": 5.462855929083633e-07, + "camera_link_rotation_span_rad": 2.0383568498566547e-06, + "driven_robot_link_translation_span_m": 7.539457464619588e-07, + "driven_robot_link_rotation_span_rad": 2.116804225096773e-06 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.06466258774370301, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.020046242560409298, + "vertices_visible_at_least_twice": 10184 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0351626205358674, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006377043623585626, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0351626205358674 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05319662752526876, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06466258774370301, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.020107842530866414, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.06466258774370301 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.018968318916296786, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.029861510196716193, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0043744164391409076, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.029861510196716193 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.006531660878435522, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015307751328093299, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003339417427537722, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015307751328093299 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01025216857405421, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.027677521162594056, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004414386708646859, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.027677521162594056 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005373427052328494, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01198062238461539, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001669235756746639, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.01198062238461539 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02400229802992147, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007639354896787173, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.030921861773394756, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.030921861773394756 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05650379619948488, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.018366001744540682, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05725246435643772, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.05725246435643772 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.021458811767800682, + "vertices_visible_at_least_twice": 4926 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004942812060822718, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.023693695141615078, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.023693695141615078 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0022491229071776135, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.000863661426117558, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001918792591635642, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.0022491229071776135 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0023109127378802188, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0015280373592261773, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005172903899357217, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.005172903899357217 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + ], + "evaluated_passive_paths": [ + "/World/Robot/gripper_l_inner_link3", + "/World/Robot/gripper_l_inner_link4", + "/World/Robot/gripper_l_inner_link2", + "/World/Robot/gripper_l_outer_link3", + "/World/Robot/gripper_l_outer_link4", + "/World/Robot/gripper_l_outer_link2", + "/World/Robot/gripper_r_inner_link3", + "/World/Robot/gripper_r_inner_link4", + "/World/Robot/gripper_r_inner_link2", + "/World/Robot/gripper_r_outer_link3", + "/World/Robot/gripper_r_outer_link4", + "/World/Robot/gripper_r_outer_link2" + ], + "evaluated_driven_paths": [ + "/World/Robot/base_link", + "/World/Robot/body_link1", + "/World/Robot/body_link2", + "/World/Robot/head_link1", + "/World/Robot/head_link2", + "/World/Robot/arm_base_link", + "/World/Robot/arm_l_base_link", + "/World/Robot/arm_l_link1", + "/World/Robot/arm_l_link2", + "/World/Robot/arm_l_link3", + "/World/Robot/arm_l_link4", + "/World/Robot/arm_l_link5", + "/World/Robot/arm_l_link6", + "/World/Robot/arm_l_end_link", + "/World/Robot/gripper_l_base_link", + "/World/Robot/gripper_l_inner_link1", + "/World/Robot/gripper_l_outer_link1", + "/World/Robot/gripper_l_center_link", + "/World/Robot/arm_r_base_link", + "/World/Robot/arm_r_link1", + "/World/Robot/arm_r_link2", + "/World/Robot/arm_r_link3", + "/World/Robot/arm_r_link4", + "/World/Robot/arm_r_link5", + "/World/Robot/arm_r_link6", + "/World/Robot/arm_r_end_link", + "/World/Robot/gripper_r_base_link", + "/World/Robot/gripper_r_inner_link1", + "/World/Robot/gripper_r_outer_link1", + "/World/Robot/gripper_r_center_link" + ], + "evaluated_cameras": [ + "/World/Robot/head_link2/Head_Camera", + "/World/Robot/gripper_l_base_link/Left_Camera", + "/World/Robot/gripper_r_base_link/Right_Camera" + ], + "scene_source": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/scene_physical.usda", + "scene_sha256": "61c91a34f8b9646d684977284b42e59d6fd98c00f0cd75617e04cd2c3386e036", + "projection_implementation": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/code_snapshot/preroll_stability.py", + "projection_implementation_sha256": "ac3aa0d45126b8dbcb25e62140161de308a3102a38421cf83a2825f4f67f63cf" + }, + "receipt_sha256": "a0f03a0f166b350c393948c994cf482cfb2fe6fd1e89b54c6324dd8f208527d0", + "windows": { + "final_preroll_0p5s": { + "label": "final_preroll_0p5s", + "row_range": [ + -30, + -1 + ], + "strict_geometry": { + "robot_link_translation_span_m": 1.461420321176529e-05, + "robot_link_rotation_span_rad": 0.000971455468254357, + "prop_translation_span_m": 5.01388093109443e-06, + "prop_rotation_span_rad": 0.00010944560744384585, + "camera_link_translation_span_m": 2.1655442863207995e-06, + "camera_link_rotation_span_rad": 6.745997766723478e-06, + "driven_robot_link_translation_span_m": 2.728825364651584e-06, + "driven_robot_link_rotation_span_rad": 6.833900618586535e-06, + "joint_span": 0.0015297234058380127, + "joint_speed_max": 0.019901065155863762, + "passive_finger_max_projected_motion_px": 0.13587846977575585 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.13587846977575585, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.04746954865239436, + "vertices_visible_at_least_twice": 10183 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0770184290278031, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.015337009035248978, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0770184290278031 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.10819836746266416, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.13587846977575585, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04077895663983188, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.13587846977575585 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.041928277810482806, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06545687660175309, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.010962822085199334, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.06545687660175309 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.009830578558687127, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.016374254879018564, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.002470497047522854, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.016374254879018564 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.012086674932260458, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0328742927109266, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006629698528378825, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.0328742927109266 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.00967822004826426, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.012382725170983098, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0013054047959718288, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.012382725170983098 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.03805065247602872, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.010455455866216077, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05166704099358535, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.05166704099358535 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.09366906072199055, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.03203019431128952, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.09291288129726746, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.09366906072199055 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0318161498134526, + "vertices_visible_at_least_twice": 4925 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0061320797921030476, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.04163473908146271, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.04163473908146271 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.007132068195420836, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.002025637378591757, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006539608829609622, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.007132068195420836 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.008217589485099895, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0036275042758130275, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.009916020965788815, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.009916020965788815 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + }, + "first_retained_30_control_rows": { + "label": "first_retained_30_control_rows", + "row_range": [ + 0, + 29 + ], + "strict_geometry": { + "robot_link_translation_span_m": 5.857047317761539e-06, + "robot_link_rotation_span_rad": 0.0004570342988994555, + "prop_translation_span_m": 4.774328325867841e-06, + "prop_rotation_span_rad": 0.00010422247538685929, + "camera_link_translation_span_m": 5.462855929083633e-07, + "camera_link_rotation_span_rad": 2.0383568498566547e-06, + "driven_robot_link_translation_span_m": 7.539457464619588e-07, + "driven_robot_link_rotation_span_rad": 2.116804225096773e-06 + }, + "passive_projection": { + "status": "PASSED", + "threshold_px": 0.25, + "max_projected_motion_px": 0.06466258774370301, + "method": "all unique descendant mesh vertices and all samples; per-vertex UV bounding-box diagonal is a rigorous upper bound on every pairwise displacement; all three camera frusta; occlusion ignored conservatively", + "bodies": [ + { + "path": "/World/Robot/gripper_l_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.020046242560409298, + "vertices_visible_at_least_twice": 10184 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0351626205358674, + "vertices_visible_at_least_twice": 4011 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.006377043623585626, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.0351626205358674 + }, + { + "path": "/World/Robot/gripper_l_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05319662752526876, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.06466258774370301, + "vertices_visible_at_least_twice": 7534 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.020107842530866414, + "vertices_visible_at_least_twice": 7616 + } + ], + "max_projected_motion_px_upper_bound": 0.06466258774370301 + }, + { + "path": "/World/Robot/gripper_l_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.018968318916296786, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.029861510196716193, + "vertices_visible_at_least_twice": 3143 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.0043744164391409076, + "vertices_visible_at_least_twice": 5155 + } + ], + "max_projected_motion_px_upper_bound": 0.029861510196716193 + }, + { + "path": "/World/Robot/gripper_l_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.006531660878435522, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.015307751328093299, + "vertices_visible_at_least_twice": 4043 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.003339417427537722, + "vertices_visible_at_least_twice": 15963 + } + ], + "max_projected_motion_px_upper_bound": 0.015307751328093299 + }, + { + "path": "/World/Robot/gripper_l_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.01025216857405421, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.027677521162594056, + "vertices_visible_at_least_twice": 12019 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.004414386708646859, + "vertices_visible_at_least_twice": 12446 + } + ], + "max_projected_motion_px_upper_bound": 0.027677521162594056 + }, + { + "path": "/World/Robot/gripper_l_outer_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_l_outer_link2/collisions/outer_link2/mesh" + ], + "unique_mesh_vertex_count": 4013, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.005373427052328494, + "vertices_visible_at_least_twice": 4013 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.01198062238461539, + "vertices_visible_at_least_twice": 2503 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001669235756746639, + "vertices_visible_at_least_twice": 4013 + } + ], + "max_projected_motion_px_upper_bound": 0.01198062238461539 + }, + { + "path": "/World/Robot/gripper_r_inner_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link3/collisions/inner_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.02400229802992147, + "vertices_visible_at_least_twice": 4228 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.007639354896787173, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.030921861773394756, + "vertices_visible_at_least_twice": 4031 + } + ], + "max_projected_motion_px_upper_bound": 0.030921861773394756 + }, + { + "path": "/World/Robot/gripper_r_inner_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link4/collisions/inner_link4/mesh" + ], + "unique_mesh_vertex_count": 7616, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.05650379619948488, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.018366001744540682, + "vertices_visible_at_least_twice": 7616 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.05725246435643772, + "vertices_visible_at_least_twice": 7480 + } + ], + "max_projected_motion_px_upper_bound": 0.05725246435643772 + }, + { + "path": "/World/Robot/gripper_r_inner_link2", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_inner_link2/collisions/inner_link2/mesh" + ], + "unique_mesh_vertex_count": 5155, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.021458811767800682, + "vertices_visible_at_least_twice": 4926 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.004942812060822718, + "vertices_visible_at_least_twice": 5155 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.023693695141615078, + "vertices_visible_at_least_twice": 3019 + } + ], + "max_projected_motion_px_upper_bound": 0.023693695141615078 + }, + { + "path": "/World/Robot/gripper_r_outer_link3", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link3/collisions/outer_link3/mesh" + ], + "unique_mesh_vertex_count": 15963, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0022491229071776135, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.000863661426117558, + "vertices_visible_at_least_twice": 15963 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.001918792591635642, + "vertices_visible_at_least_twice": 3920 + } + ], + "max_projected_motion_px_upper_bound": 0.0022491229071776135 + }, + { + "path": "/World/Robot/gripper_r_outer_link4", + "status": "MEASURED", + "descendant_mesh_count": 1, + "mesh_paths": [ + "/World/Robot/gripper_r_outer_link4/collisions/outer_link4/mesh" + ], + "unique_mesh_vertex_count": 12446, + "cameras": [ + { + "camera": "/World/Robot/head_link2/Head_Camera", + "max_projected_motion_px_upper_bound": 0.0023109127378802188, + "vertices_visible_at_least_twice": 12446 + }, + { + "camera": "/World/Robot/gripper_l_base_link/Left_Camera", + "max_projected_motion_px_upper_bound": 0.0015280373592261773, + "vertices_visible_at_least_twice": 11555 + }, + { + "camera": "/World/Robot/gripper_r_base_link/Right_Camera", + "max_projected_motion_px_upper_bound": 0.005172903899357217, + "vertices_visible_at_least_twice": 11442 + } + ], + "max_projected_motion_px_upper_bound": 0.005172903899357217 + }, + { + "path": "/World/Robot/gripper_r_outer_link2", + "status": "EXCLUDED_EMPTY_GEOMETRY", + "descendant_mesh_count": 0, + "mesh_vertex_count": 0 + } + ] + }, + "passed": true + } + }, + "independently_bound_pose_sha256": { + "PREROLL_EVIDENCE.npz": "b9ceae2a02fda36a66931275f9a2569da36b6cff418b625c7a3a0cd519aa5412", + "full_state.npz": "edb8a1dd2342c1df060bd3a0a28dc98dac41e26ee0c11e47d65d8f31d2500c49" + } + }, + "evidence_sha256": { + "PREROLL_EVIDENCE.json": "e5de293b1a840db43e9e625ed438b8616d0985257a6c547ac2067b94e94a939c", + "PREROLL_EVIDENCE.npz": "b9ceae2a02fda36a66931275f9a2569da36b6cff418b625c7a3a0cd519aa5412", + "full_state.npz": "edb8a1dd2342c1df060bd3a0a28dc98dac41e26ee0c11e47d65d8f31d2500c49" + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STATUS.before_user_acceptance.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STATUS.before_user_acceptance.json new file mode 100644 index 0000000000000000000000000000000000000000..7029d47080e03951c07dc15cfbb1da0e3b9069ef --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/STATUS.before_user_acceptance.json @@ -0,0 +1,5 @@ +{ + "status": "VERIFYING", + "phase": "startup_task_views_collisions", + "updated": 1791305958.8197308 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..5b090267ebbc87e8e27d03f83ba8dca94b1e1b07 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VIDEO_DECODE_AUDIT.json @@ -0,0 +1,305 @@ +{ + "schema": "multi_video_decode_audit_v1", + "passed": true, + "method": "one authoritative sequential PyAV decode of every frame in all three views", + "expected_frames": 9301, + "videos": { + "top_head": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/top_head.mp4", + "sha256": "4b820fd55e210ef22e8b3eabe95231f4ec01e3b9dfb01f55c9d4f3d29a179c21", + "frames": 9301, + "fps": 20.0, + "width": 1280, + "height": 800, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.0010415349388495088, + 0.0004698106204159558, + 0.0004444123769644648 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.6041126286157956 + ] + ], + [ + [ + 0.5336494078819615 + ] + ], + [ + [ + 0.44853976897689585 + ] + ] + ], + "std": [ + [ + [ + 0.2552308746640057 + ] + ], + [ + [ + 0.2521623141888194 + ] + ], + [ + [ + 0.24275074311486455 + ] + ] + ], + "count": [ + 9301 + ] + } + }, + "hand_left": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/hand_left.mp4", + "sha256": "1038630ad4c8c5fe62522925b593598702ea9f19516c60a06acb3cead5ceaa1a", + "frames": 9301, + "fps": 20.0, + "width": 848, + "height": 480, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.0007184501737356186, + 0.0010709133930504322, + 0.0012395819649100304 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.48738331324808276 + ] + ], + [ + [ + 0.4228331312598517 + ] + ], + [ + [ + 0.351738601163113 + ] + ] + ], + "std": [ + [ + [ + 0.2754766125907411 + ] + ], + [ + [ + 0.2602635532640168 + ] + ], + [ + [ + 0.24398349287728882 + ] + ] + ], + "count": [ + 9301 + ] + } + }, + "hand_right": { + "passed": true, + "path": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/rollout/hand_right.mp4", + "sha256": "e84a44e1a5d4cb0e2f2c0295e62b21e10999f4dde1363443a4c24cac0d0003d6", + "frames": 9301, + "fps": 20.0, + "width": 848, + "height": 480, + "checks": { + "frame_count": true, + "fps": true, + "dimensions": true, + "first_frame_synchronized": true, + "no_near_black_frames": true, + "finite_metrics": true, + "no_long_exact_frame_run": true + }, + "first_three_adjacent_mean_abs_gray_differences": [ + 0.0008666008361615241, + 0.001510400790721178, + 0.0014380788197740912 + ], + "near_black_gt_0_98_frames": 0, + "nonfinite_metric_count": 0, + "longest_exact_frame_run": 1, + "image_stats": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.49889744801339125 + ] + ], + [ + [ + 0.42624466886200274 + ] + ], + [ + [ + 0.3519606988445792 + ] + ] + ], + "std": [ + [ + [ + 0.2565204249262519 + ] + ], + [ + [ + 0.24130111292873171 + ] + ], + [ + [ + 0.21694774877245449 + ] + ] + ], + "count": [ + 9301 + ] + } + } + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VISIBILITY_AUDIT.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VISIBILITY_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..cd60badf4cd2b7fc8f54b642afa24a9974089396 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/VISIBILITY_AUDIT.json @@ -0,0 +1,183 @@ +{ + "passed": true, + "items": [ + { + "passed": true, + "camera": "top_head", + "front_cosine": 0.8987838682899468, + "front_angle_deg": 26.001330249714155, + "in_frame_fraction": 1.0, + "front_surface_fraction": 1.0, + "label_bbox_px": [ + 528.5005934942974, + 419.35728412337403, + 578.059628978702, + 479.98263191900935 + ], + "label_size_px": [ + 49.5590354844046, + 60.62534779563532 + ], + "sample_count": 63, + "visible_fraction": 1.0, + "reason": "PASS", + "camera_world": [ + [ + 0.9972071021085288, + 0.03156352723352338, + -0.0676885459504747, + -2.3468544040693575 + ], + [ + -0.07468597930207037, + 0.4214356799793318, + -0.9037776121015887, + 1.582734766545769 + ], + [ + -4.0883166513073065e-08, + 0.9063088388562356, + 0.42261600609898986, + 1.5520040072212409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "projection_models": [ + "USD focal/aperture pinhole", + "Authored OpenCV pinhole with radial/tangential distortion" + ], + "geometry_only": true, + "occluded_fraction": 0.0, + "item_index": 0, + "target": "/World/Assets/ShelfItems/good2grow", + "frame": 89, + "source_control_tick": 90, + "phase": "item_00_waist_to_selected_shelf", + "source": "Actual measured poses immediately before this item pickup in the same uninterrupted episode" + }, + { + "passed": true, + "camera": "top_head", + "front_cosine": 0.5170590956351304, + "front_angle_deg": 58.86481261468864, + "in_frame_fraction": 1.0, + "front_surface_fraction": 1.0, + "label_bbox_px": [ + 686.8761288280081, + 322.1593102396681, + 729.3993190042205, + 417.6159069512446 + ], + "label_size_px": [ + 42.52319017621244, + 95.45659671157648 + ], + "sample_count": 63, + "visible_fraction": 1.0, + "reason": "PASS", + "camera_world": [ + [ + 0.9967621205411685, + 0.033980989619677916, + -0.0728736399443657, + -2.368207740545158 + ], + [ + -0.08040693411770193, + 0.4212471879858143, + -0.9033745245244835, + 1.61872449829677 + ], + [ + 2.555643070836218e-07, + 0.9063090526738176, + 0.4226155475623479, + 1.1520034831662411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "projection_models": [ + "USD focal/aperture pinhole", + "Authored OpenCV pinhole with radial/tangential distortion" + ], + "geometry_only": true, + "occluded_fraction": 0.0, + "item_index": 1, + "target": "/World/Assets/Tier2Items/honeymaid", + "frame": 11204, + "source_control_tick": 11205, + "phase": "item_01_waist_to_selected_shelf", + "source": "Actual measured poses immediately before this item pickup in the same uninterrupted episode" + }, + { + "passed": true, + "camera": "top_head", + "front_cosine": 0.8982052891066337, + "front_angle_deg": 26.076845829880124, + "in_frame_fraction": 1.0, + "front_surface_fraction": 1.0, + "label_bbox_px": [ + 321.0184212234084, + 391.84105244015115, + 389.93934721976336, + 461.053784563422 + ], + "label_size_px": [ + 68.92092599635498, + 69.21273212327088 + ], + "sample_count": 63, + "visible_fraction": 1.0, + "reason": "PASS", + "camera_world": [ + [ + 0.9999969730952545, + 0.001039577334515004, + -0.0022300402002740365, + -2.3769950560750073 + ], + [ + -0.002460447165632457, + 0.4226148095230716, + -0.9063060570091781, + 1.6145622461755011 + ], + [ + 2.7277946735315663e-07, + 0.9063088006031632, + 0.42261608813340507, + 1.5520043562349126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "projection_models": [ + "USD focal/aperture pinhole", + "Authored OpenCV pinhole with radial/tangential distortion" + ], + "geometry_only": true, + "occluded_fraction": 0.0, + "item_index": 2, + "target": "/World/Assets/ShelfItems/sprite_c1", + "frame": 21870, + "source_control_tick": 21871, + "phase": "item_02_waist_to_selected_shelf", + "source": "Actual measured poses immediately before this item pickup in the same uninterrupted episode" + } + ], + "actual_item_count": 3 +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/action_space.schema.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/action_space.schema.json new file mode 100644 index 0000000000000000000000000000000000000000..b57d8dcb05b4dcae2b555d1a87772be3b0d72361 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/action_space.schema.json @@ -0,0 +1,66 @@ +{ + "version": "g1_omnipicker_jointpos20_basevw_v1", + "action_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ], + "state_names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ], + "dtype": "float32", + "physics_hz": 240, + "control_hz": 60, + "training_hz": 20, + "action_semantics": "applied_absolute_joint_position_targets_and_body_forward_yaw_velocity", + "state_semantics": "post_control_step_measured_joint_positions_and_measured_base_pose", + "sample_native_indices": "arange(2,N,3)", + "action_state_shift": 0, + "base_limits": { + "forward_m_s": 0.18, + "yaw_rate_rad_s": 0.25, + "linear_acceleration_m_s2": 0.12, + "angular_acceleration_rad_s2": 0.3 + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/job.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/job.json new file mode 100644 index 0000000000000000000000000000000000000000..c9854c98c522e77688781548f46919da997e4f61 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/job.json @@ -0,0 +1,2033 @@ +{ + "layout_id": 4, + "layout": "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_04_LIVING_STRAIGHT.usdc", + "layout_sha256": "48a8ee519b7a3c9cfda6ae0e43a0b84f123634a04493a01c18718529e7daad64", + "product": "good2grow", + "hand": "l", + "initial_tray_items": 0, + "seed": 20264001012, + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000438", + "status": "PREPARING", + "attempt_index": 4, + "scene": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/scene_physical.usda", + "target": "/World/Assets/ShelfItems/good2grow", + "clutter": [], + "initial_base": [ + [ + 0.07468558876190977, + -0.997207131358018, + 0.0, + -2.367497669832664 + ], + [ + 0.997207131358018, + 0.07468558876190977, + 0.0, + 1.3070999683527165 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "place_base": [ + [ + -0.006658596344169223, + 0.9999778313016372, + 0.0, + -2.1719886436586844 + ], + [ + -0.9999778313016372, + -0.006658596344169223, + 0.0, + 0.8608163699903244 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "exit_xy": [ + -2.392841131499118, + 0.9841991675196862 + ], + "route": [ + [ + -2.392841131499118, + 0.9841991675196862 + ], + [ + -1.9160787234423862, + 0.9505484466897987 + ] + ], + "obstacles": [ + [ + [ + -2.869023307458252, + 2.0029564280510335 + ], + [ + -1.8690189945453473, + 2.502956781186233 + ] + ], + [ + [ + -0.34999999004138027, + -2.221043494158536 + ], + [ + 0.44999999004138025, + 0.47895642805103317 + ] + ], + [ + [ + -3.717665822950135, + -0.5653689443941903 + ], + [ + -3.692311884668562, + -0.0698599614024079 + ] + ], + [ + [ + -3.7953167573263986, + -0.8724783009470937 + ], + [ + -3.6771651048029206, + 0.34511267069583845 + ] + ], + [ + [ + -3.879706718931999, + -1.1055062473688606 + ], + [ + -3.5797067146712895, + 0.5744936522773821 + ] + ], + [ + [ + -2.349999995986884, + -0.6819883854168793 + ], + [ + -1.5746489719500851, + 0.5180116367883658 + ] + ], + [ + [ + -1.83100000112142, + -0.8950289177686274 + ], + [ + -1.6409999988103023, + -0.6550289052962504 + ] + ], + [ + [ + -2.0310000011214195, + -0.8950289177686274 + ], + [ + -1.840999998810302, + -0.6550289052962504 + ] + ], + [ + [ + -4.095015654990075, + 1.6125724884739365 + ], + [ + -3.9215111634567226, + 2.4144035759633775 + ] + ], + [ + [ + -2.576679802850966, + -2.260362452006366 + ], + [ + -1.1336755045762739, + -2.180600139271895 + ] + ], + [ + [ + -2.5985710506250475, + -2.622115872725699 + ], + [ + -1.6314963192779621, + -1.35118257651793 + ] + ], + [ + [ + -2.438999998180117, + -0.9950289141612855 + ], + [ + -2.041000001819882, + -0.6770289149995352 + ] + ], + [ + [ + -0.472061916588854, + 1.3648232134708587 + ], + [ + 0.4555130441800417, + 2.285494926831597 + ] + ], + [ + [ + -0.792746604489803, + 2.4481512465188766 + ], + [ + 0.41000000000000003, + 2.6216557380522283 + ] + ], + [ + [ + -3.795999997138977, + -2.260000000298023 + ], + [ + -2.7400000028610227, + -2.1199999997019767 + ] + ], + [ + [ + 0.5950000047683717, + -2.260000000298023 + ], + [ + 2.1049999952316285, + -2.1199999997019767 + ] + ], + [ + [ + 0.8150000095367431, + 1.6010000006705523 + ], + [ + 2.334999990463257, + 1.719000000104308 + ] + ], + [ + [ + -2.173730570619366, + -2.234867975138003 + ], + [ + -1.536269429380635, + -2.17 + ] + ], + [ + [ + 4.407259680028043, + -0.8801985582215572 + ], + [ + 4.875749666392801, + -0.2797458998613822 + ] + ], + [ + [ + 4.543283888651052, + 0.9799860985276735 + ], + [ + 4.736640690479851, + 1.1400142704310194 + ] + ], + [ + [ + 2.014350002026558, + -0.027290091365575714 + ], + [ + 2.262349997973442, + 0.2772900913655757 + ] + ], + [ + [ + -1.552000000476837, + 1.9036569887943267 + ], + [ + -0.9779999995231627, + 2.4856570059604643 + ] + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000498", + "tray_floor_z": 0.45490211957462423, + "destination_xyz": [ + -2.136685184643908, + 0.15849871021008857, + 0.45490211957462423 + ], + "tray_polygon_xy": [ + [ + -2.300113186261091, + 0.1110658833797549 + ], + [ + -1.9773777957903993, + 0.09866764001059133 + ], + [ + -1.9753769805662627, + 0.09885907115774108 + ], + [ + -1.9744358596905052, + 0.09921468426490931 + ], + [ + -1.9736044680096572, + 0.09980767232476523 + ], + [ + -1.97294943650644, + 0.10059112722303039 + ], + [ + -1.9725226611963225, + 0.10150222094285104 + ], + [ + -1.972178286358161, + 0.10348245257683705 + ], + [ + -1.9638357970288192, + 0.3206435834753585 + ], + [ + -1.9640272217321122, + 0.3226443765699867 + ], + [ + -1.9643828418427247, + 0.3235855050087762 + ], + [ + -1.9649758228991363, + 0.32441688912659217 + ], + [ + -1.9657592705141633, + 0.3250719203500157 + ], + [ + -1.966670393087143, + 0.32549870406254655 + ], + [ + -1.9686506390078116, + 0.3258430867435339 + ], + [ + -2.2913860294785033, + 0.33824133011269747 + ], + [ + -2.29338684470264, + 0.3380498989655477 + ], + [ + -2.2943279655783977, + 0.33769428585837946 + ], + [ + -2.2951593572592457, + 0.3371012977985236 + ], + [ + -2.2958143887624627, + 0.3363178429002584 + ], + [ + -2.29624116407258, + 0.3354067491804378 + ], + [ + -2.2965855389107417, + 0.33342651754645175 + ], + [ + -2.3049280282400835, + 0.11626538664793032 + ], + [ + -2.3047366035367904, + 0.11426459355330212 + ], + [ + -2.304380983426178, + 0.1133234651145126 + ], + [ + -2.3037880023697666, + 0.11249208099669662 + ], + [ + -2.3030045547547395, + 0.1118370497732731 + ], + [ + -2.30209343218176, + 0.11141026606074225 + ] + ], + "source_dof_names": [ + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx21_arm_l_joint1", + "idx61_arm_r_joint1", + "idx22_arm_l_joint2", + "idx62_arm_r_joint2", + "idx23_arm_l_joint3", + "idx63_arm_r_joint3", + "idx24_arm_l_joint4", + "idx64_arm_r_joint4", + "idx25_arm_l_joint5", + "idx65_arm_r_joint5", + "idx26_arm_l_joint6", + "idx66_arm_r_joint6", + "idx27_arm_l_joint7", + "idx67_arm_r_joint7", + "idx31_gripper_l_inner_joint1", + "idx41_gripper_l_outer_joint1", + "idx71_gripper_r_inner_joint1", + "idx81_gripper_r_outer_joint1", + "idx32_gripper_l_inner_joint3", + "idx42_gripper_l_outer_joint3", + "idx72_gripper_r_inner_joint3", + "idx82_gripper_r_outer_joint3", + "idx33_gripper_l_inner_joint4", + "idx43_gripper_l_outer_joint4", + "idx73_gripper_r_inner_joint4", + "idx83_gripper_r_outer_joint4", + "idx39_gripper_l_inner_joint0", + "idx49_gripper_l_outer_joint0", + "idx79_gripper_r_inner_joint0", + "idx89_gripper_r_outer_joint0" + ], + "source_initial_q": [ + 0.4, + 0.0, + 0.0, + 0.4363323129985824, + -0.9857202373340093, + 0.9479551250532734, + 0.4886918946876161, + -0.5502307453350318, + 0.3636645552723089, + -0.20849551046818482, + -1.3019018261276012, + 1.389866451347179, + 0.6882634480303244, + -0.7555843163443067, + 1.4169375308142538, + -1.49887766377446, + -0.14073732852180593, + 0.15760902761195672, + -0.7844060659408569, + 0.7844061851501465, + -0.7844092845916748, + 0.78440922498703, + -0.06586175411939621, + 0.08891744911670685, + -0.06552468240261078, + 0.08869274705648422, + -0.03039488196372986, + -0.0339159332215786, + -0.031381815671920776, + -0.033230822533369064, + 0.4464392364025116, + -0.39266160130500793, + 0.4472809433937073, + -0.3932376503944397 + ], + "appearance": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table50_20261001/cases/layout_04/APPEARANCE.json", + "schema": "shelf_to_table_multi10.job.v1", + "source_layout_id": 4, + "context": "Picnic drinks and crackers", + "items": [ + { + "target": "/World/Assets/ShelfItems/good2grow", + "hand": "l", + "product": "good2grow", + "label": "Good2Grow", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000438", + "pick_base": [ + [ + 0.07468558876190977, + -0.997207131358018, + 0.0, + -2.367497669832664 + ], + [ + 0.997207131358018, + 0.07468558876190977, + 0.0, + 1.3070999683527165 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_01.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.035000000149012056, + -0.035000000149012056, + 0.0 + ], + [ + 0.035000000149011834, + 0.03500000014901161, + 0.17800000309944153 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000284", + "place_base": [ + [ + -0.006658596344169223, + 0.9999778313016372, + 0.0, + -2.1719886436586844 + ], + [ + -0.9999778313016372, + -0.006658596344169223, + 0.0, + 0.8608163699903244 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8896225366295472, + 0.29504316865236246 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.136685184643908, + 0.15849871021008857, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.136685184643908, + 0.15849871021008857 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.1715355480067027, + 0.15526573845515065 + ], + [ + -2.1712494817846144, + 0.15299334189156932 + ], + [ + -2.170815409325724, + 0.15074451107892664 + ], + [ + -2.170235185624658, + 0.14852889414312137 + ], + [ + -2.169511294973906, + 0.14635596440123594 + ], + [ + -2.168646846615628, + 0.14423503650466343 + ], + [ + -2.1676455202955967, + 0.1421751795346272 + ], + [ + -2.1665116255736514, + 0.14018522580473092 + ], + [ + -2.165250004103613, + 0.13827369441018078 + ], + [ + -2.163866060164421, + 0.13644877282847384 + ], + [ + -2.1623657347788847, + 0.13471826280059662 + ], + [ + -2.1607554286864925, + 0.13308959601212417 + ], + [ + -2.1590420606104845, + 0.13156972449047452 + ], + [ + -2.1572329535079335, + 0.13016517029162245 + ], + [ + -2.1553358561140894, + 0.12888194990297028 + ], + [ + -2.153358890968664, + 0.1277255442864286 + ], + [ + -2.1513105337284277, + 0.12670092790799187 + ], + [ + -2.1491995444387513, + 0.1258124654404201 + ], + [ + -2.1470349717599624, + 0.12506397157421337 + ], + [ + -2.144826070496057, + 0.1244586500647854 + ], + [ + -2.142582318023832, + 0.12399909063557131 + ], + [ + -2.140313305963433, + 0.12368726854446017 + ], + [ + -2.1380287599884777, + 0.12352450806444612 + ], + [ + -2.135738460312217, + 0.12351152043742451 + ], + [ + -2.13345221288897, + 0.12364834684729396 + ], + [ + -2.131179816325389, + 0.12393441306938272 + ], + [ + -2.128930985512746, + 0.1243684855282727 + ], + [ + -2.126715368576941, + 0.12494870922933878 + ], + [ + -2.1245424388350553, + 0.12567259988009044 + ], + [ + -2.122421510938483, + 0.12653704823836892 + ], + [ + -2.1203616539684464, + 0.12753837455840003 + ], + [ + -2.1183717002385505, + 0.12867226928034528 + ], + [ + -2.1164601688440006, + 0.12993389075038378 + ], + [ + -2.114635247262293, + 0.13131783468957542 + ], + [ + -2.112904737234416, + 0.13281816007511174 + ], + [ + -2.111276070445944, + 0.1344284661675041 + ], + [ + -2.109756198924294, + 0.13614183424351237 + ], + [ + -2.108351644725442, + 0.13795094134606325 + ], + [ + -2.1070684243367896, + 0.13984803873990728 + ], + [ + -2.1059120187202476, + 0.1418250038853324 + ], + [ + -2.1048874023418116, + 0.1438733611255689 + ], + [ + -2.1039989398742396, + 0.14598435041524593 + ], + [ + -2.103250446008033, + 0.14814892309403427 + ], + [ + -2.102645124498605, + 0.1503578243579393 + ], + [ + -2.1021855650693912, + 0.1526015768301649 + ], + [ + -2.1018737429782797, + 0.1548705888905636 + ], + [ + -2.1017109824982656, + 0.15715513486551877 + ], + [ + -2.101697994871244, + 0.15944543454177967 + ], + [ + -2.1018348212811135, + 0.1617316819650265 + ], + [ + -2.102120887503202, + 0.16400407852860804 + ], + [ + -2.102554959962092, + 0.1662529093412505 + ], + [ + -2.103135183663158, + 0.16846852627705575 + ], + [ + -2.10385907431391, + 0.1706414560189412 + ], + [ + -2.104723522672188, + 0.1727623839155137 + ], + [ + -2.1057248489922196, + 0.17482224088554996 + ], + [ + -2.106858743714165, + 0.17681219461544623 + ], + [ + -2.1081203651842033, + 0.1787237260099966 + ], + [ + -2.109504309123395, + 0.1805486475917033 + ], + [ + -2.1110046345089315, + 0.18227915761958075 + ], + [ + -2.1126149406013237, + 0.1839078244080532 + ], + [ + -2.1143283086773317, + 0.18542769592970262 + ], + [ + -2.1161374157798827, + 0.18683225012855492 + ], + [ + -2.118034513173727, + 0.18811547051720687 + ], + [ + -2.120011478319152, + 0.18927187613374877 + ], + [ + -2.1220598355593885, + 0.19029649251218528 + ], + [ + -2.124170824849065, + 0.19118495497975704 + ], + [ + -2.126335397527854, + 0.19193344884596378 + ], + [ + -2.128544298791759, + 0.19253877035539196 + ], + [ + -2.130788051263984, + 0.19299832978460585 + ], + [ + -2.133057063324383, + 0.19331015187571698 + ], + [ + -2.135341609299338, + 0.19347291235573125 + ], + [ + -2.137631908975599, + 0.19348589998275262 + ], + [ + -2.139918156398846, + 0.19334907357288317 + ], + [ + -2.142190552962427, + 0.19306300735079465 + ], + [ + -2.14443938377507, + 0.19262893489190444 + ], + [ + -2.1466550007108753, + 0.19204871119083838 + ], + [ + -2.148827930452761, + 0.19132482054008693 + ], + [ + -2.150948858349333, + 0.19046037218180822 + ], + [ + -2.1530087153193693, + 0.18945904586177734 + ], + [ + -2.1549986690492657, + 0.1883251511398321 + ], + [ + -2.1569102004438157, + 0.18706352966979337 + ], + [ + -2.158735122025523, + 0.18567958573060173 + ], + [ + -2.1604656320534, + 0.1841792603450654 + ], + [ + -2.1620942988418723, + 0.18256895425267305 + ], + [ + -2.1636141703635223, + 0.18085558617666478 + ], + [ + -2.1650187245623744, + 0.1790464790741141 + ], + [ + -2.1663019449510266, + 0.17714938168026986 + ], + [ + -2.167458350567568, + 0.17517241653484494 + ], + [ + -2.1684829669460046, + 0.17312405929460847 + ], + [ + -2.169371429413576, + 0.1710130700049314 + ], + [ + -2.1701199232797834, + 0.16884849732614288 + ], + [ + -2.170725244789211, + 0.16663959606223785 + ], + [ + -2.171184804218425, + 0.16439584359001247 + ], + [ + -2.1714966263095365, + 0.16212683152961377 + ], + [ + -2.1716593867895506, + 0.1598422855546586 + ], + [ + -2.171672374416572, + 0.1575519858783977 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.04999999999999993 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/Tier2Items/honeymaid", + "hand": "r", + "product": "honeymaid", + "label": "Honey Maid", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000479", + "pick_base": [ + [ + 0.08046442083090181, + -0.9967574815271506, + 0.0, + -2.3906209471421 + ], + [ + 0.9967574815271506, + 0.08046442083090181, + 0.0, + 1.3434246987222405 + ], + [ + 0.0, + 0.0, + 1.0000000000000002, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_02.npz", + "support_id": "tier2", + "source_bounds_local_m": [ + [ + -0.06250000000000022, + -0.02250000089406967, + 0.0 + ], + [ + 0.06250000000000022, + 0.02250000089406967, + 0.23499999970197682 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000181", + "place_base": [ + [ + -0.07264305582499468, + 0.9973580031465166, + 0.0, + -1.9873859634616522 + ], + [ + -0.9973580031465165, + -0.07264305582499482, + 0.0, + 0.915526495842742 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013684723526239395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -2.1863488973566283, + 0.29041979098677134 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.1528191775862653, + 0.24677649038461588, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.1528191775862653, + 0.24677649038461588 + ], + "yaw_rad": 2.687329016966613, + "footprint_xy": [ + [ + -2.2188537190986457, + 0.25398338760067746 + ], + [ + -2.1065306705273694, + 0.19913329407610164 + ], + [ + -2.0867846360738853, + 0.23956959316855492 + ], + [ + -2.1991076846451616, + 0.29441968669313073 + ] + ], + "tolerance_m": 0.001 + }, + "station_safe_offset_xy": [ + 0.0, + 0.0 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + }, + { + "target": "/World/Assets/ShelfItems/sprite_c1", + "hand": "l", + "product": "sprite_c1", + "label": "Sprite", + "pick_source": "/mnt/agent-bench-data/lingjun/ziche/data/shelf_pick_visible360_lerobot_20260916/sim_info/episode_000105", + "pick_base": [ + [ + 0.00251879420050687, + -0.9999968278328565, + 0.0, + -2.3779150350476934 + ], + [ + 0.9999968278328565, + 0.00251879420050687, + 0.0, + 1.338354698211161 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0013671815395355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "controls_file": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/controls_item_03.npz", + "support_id": "tier3", + "source_bounds_local_m": [ + [ + -0.03327123627080253, + -0.03327123627080253, + -0.0001308859192452605 + ], + [ + 0.03327123627080253, + 0.03327123627080253, + 0.12213088591924515 + ] + ], + "place_source": "/mnt/agent-bench-data/lingjun/ziche/data/place_tray_lerobot_20260918/sim_info/episode_000469", + "place_base": [ + [ + 0.03970531050088537, + 0.9992114332402467, + 0.0, + -2.1495810808736877 + ], + [ + -0.9992114332402467, + 0.03970531050088537, + 0.0, + 0.8762146426955536 + ], + [ + 0.0, + 0.0, + 1.0, + 0.012377019971609116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "source_destination_registered_xy": [ + -1.8883874375199907, + 0.30741140311579895 + ], + "place_source_selection": "exact_accepted_chain_pair", + "destination_xyz": [ + -2.0605888300747353, + 0.1855975076240455, + 0.45490211957462423 + ], + "placement_slot": { + "xy": [ + -2.0605888300747353, + 0.1855975076240455 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.0935645023446368, + 0.18686430700722348 + ], + [ + -2.093441587134089, + 0.18255116131948507 + ], + [ + -2.092758840268199, + 0.17828866234724622 + ], + [ + -2.0915328066748904, + 0.17414959541069674 + ], + [ + -2.089780003079761, + 0.17020675213041905 + ], + [ + -2.0875169838986225, + 0.16653291345878687 + ], + [ + -2.084794450467652, + 0.16318285997271284 + ], + [ + -2.081663140881507, + 0.16021133731285958 + ], + [ + -2.0781737467767356, + 0.1576731359356234 + ], + [ + -2.074376997729265, + 0.15562300488244707 + ], + [ + -2.0703441899322126, + 0.15408303905516663 + ], + [ + -2.0661466333930387, + 0.15307528914985147 + ], + [ + -2.061855629457914, + 0.15262183535414456 + ], + [ + -2.0575424837701757, + 0.15274475056469244 + ], + [ + -2.0532799847979364, + 0.15342749743058176 + ], + [ + -2.049140917861387, + 0.15465353102389076 + ], + [ + -2.0451980745811094, + 0.15640633461902018 + ], + [ + -2.041524235909477, + 0.15866935380015842 + ], + [ + -2.038174182423403, + 0.16139188723112874 + ], + [ + -2.0352026597635495, + 0.16452319681727415 + ], + [ + -2.0326644583863134, + 0.1680125909220454 + ], + [ + -2.0306143273331374, + 0.17180933996951653 + ], + [ + -2.029074361505857, + 0.17584214776656873 + ], + [ + -2.028066611600542, + 0.18003970430574245 + ], + [ + -2.027613157804835, + 0.1843307082408671 + ], + [ + -2.027736073015383, + 0.18864385392860555 + ], + [ + -2.0284188198812725, + 0.19290635290084485 + ], + [ + -2.029644853474581, + 0.19704541983739432 + ], + [ + -2.0313976570697103, + 0.20098826311767157 + ], + [ + -2.0336606762508485, + 0.20466210178930416 + ], + [ + -2.0363832096818193, + 0.2080121552753782 + ], + [ + -2.0395145192679642, + 0.21098367793523146 + ], + [ + -2.043003913372736, + 0.21352187931246763 + ], + [ + -2.046800662420207, + 0.21557201036564352 + ], + [ + -2.0508334702172593, + 0.21711197619292444 + ], + [ + -2.0550310267564322, + 0.21811972609823915 + ], + [ + -2.0593220306915576, + 0.21857317989394603 + ], + [ + -2.0636351763792957, + 0.21845026468339815 + ], + [ + -2.0678976753515355, + 0.21776751781750886 + ], + [ + -2.072036742288084, + 0.21654148422419983 + ], + [ + -2.0759795855683616, + 0.21478868062907042 + ], + [ + -2.079653424239994, + 0.2125256614479326 + ], + [ + -2.083003477726068, + 0.2098031280169623 + ], + [ + -2.0859750003859214, + 0.2066718184308169 + ], + [ + -2.088513201763158, + 0.20318242432604564 + ], + [ + -2.090563332816334, + 0.19938567527857454 + ], + [ + -2.0921032986436146, + 0.1953528674815223 + ], + [ + -2.0931110485489297, + 0.19115531094234858 + ] + ], + "tolerance_m": 0.02 + }, + "station_safe_offset_xy": [ + 0.0, + 0.025000000000000022 + ], + "station_alignment_policy": "registered_source_destination_to_reserved_slot_v1" + } + ], + "tray_slots": [ + { + "xy": [ + -2.136685184643908, + 0.15849871021008857 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.1715355480067027, + 0.15526573845515065 + ], + [ + -2.1712494817846144, + 0.15299334189156932 + ], + [ + -2.170815409325724, + 0.15074451107892664 + ], + [ + -2.170235185624658, + 0.14852889414312137 + ], + [ + -2.169511294973906, + 0.14635596440123594 + ], + [ + -2.168646846615628, + 0.14423503650466343 + ], + [ + -2.1676455202955967, + 0.1421751795346272 + ], + [ + -2.1665116255736514, + 0.14018522580473092 + ], + [ + -2.165250004103613, + 0.13827369441018078 + ], + [ + -2.163866060164421, + 0.13644877282847384 + ], + [ + -2.1623657347788847, + 0.13471826280059662 + ], + [ + -2.1607554286864925, + 0.13308959601212417 + ], + [ + -2.1590420606104845, + 0.13156972449047452 + ], + [ + -2.1572329535079335, + 0.13016517029162245 + ], + [ + -2.1553358561140894, + 0.12888194990297028 + ], + [ + -2.153358890968664, + 0.1277255442864286 + ], + [ + -2.1513105337284277, + 0.12670092790799187 + ], + [ + -2.1491995444387513, + 0.1258124654404201 + ], + [ + -2.1470349717599624, + 0.12506397157421337 + ], + [ + -2.144826070496057, + 0.1244586500647854 + ], + [ + -2.142582318023832, + 0.12399909063557131 + ], + [ + -2.140313305963433, + 0.12368726854446017 + ], + [ + -2.1380287599884777, + 0.12352450806444612 + ], + [ + -2.135738460312217, + 0.12351152043742451 + ], + [ + -2.13345221288897, + 0.12364834684729396 + ], + [ + -2.131179816325389, + 0.12393441306938272 + ], + [ + -2.128930985512746, + 0.1243684855282727 + ], + [ + -2.126715368576941, + 0.12494870922933878 + ], + [ + -2.1245424388350553, + 0.12567259988009044 + ], + [ + -2.122421510938483, + 0.12653704823836892 + ], + [ + -2.1203616539684464, + 0.12753837455840003 + ], + [ + -2.1183717002385505, + 0.12867226928034528 + ], + [ + -2.1164601688440006, + 0.12993389075038378 + ], + [ + -2.114635247262293, + 0.13131783468957542 + ], + [ + -2.112904737234416, + 0.13281816007511174 + ], + [ + -2.111276070445944, + 0.1344284661675041 + ], + [ + -2.109756198924294, + 0.13614183424351237 + ], + [ + -2.108351644725442, + 0.13795094134606325 + ], + [ + -2.1070684243367896, + 0.13984803873990728 + ], + [ + -2.1059120187202476, + 0.1418250038853324 + ], + [ + -2.1048874023418116, + 0.1438733611255689 + ], + [ + -2.1039989398742396, + 0.14598435041524593 + ], + [ + -2.103250446008033, + 0.14814892309403427 + ], + [ + -2.102645124498605, + 0.1503578243579393 + ], + [ + -2.1021855650693912, + 0.1526015768301649 + ], + [ + -2.1018737429782797, + 0.1548705888905636 + ], + [ + -2.1017109824982656, + 0.15715513486551877 + ], + [ + -2.101697994871244, + 0.15944543454177967 + ], + [ + -2.1018348212811135, + 0.1617316819650265 + ], + [ + -2.102120887503202, + 0.16400407852860804 + ], + [ + -2.102554959962092, + 0.1662529093412505 + ], + [ + -2.103135183663158, + 0.16846852627705575 + ], + [ + -2.10385907431391, + 0.1706414560189412 + ], + [ + -2.104723522672188, + 0.1727623839155137 + ], + [ + -2.1057248489922196, + 0.17482224088554996 + ], + [ + -2.106858743714165, + 0.17681219461544623 + ], + [ + -2.1081203651842033, + 0.1787237260099966 + ], + [ + -2.109504309123395, + 0.1805486475917033 + ], + [ + -2.1110046345089315, + 0.18227915761958075 + ], + [ + -2.1126149406013237, + 0.1839078244080532 + ], + [ + -2.1143283086773317, + 0.18542769592970262 + ], + [ + -2.1161374157798827, + 0.18683225012855492 + ], + [ + -2.118034513173727, + 0.18811547051720687 + ], + [ + -2.120011478319152, + 0.18927187613374877 + ], + [ + -2.1220598355593885, + 0.19029649251218528 + ], + [ + -2.124170824849065, + 0.19118495497975704 + ], + [ + -2.126335397527854, + 0.19193344884596378 + ], + [ + -2.128544298791759, + 0.19253877035539196 + ], + [ + -2.130788051263984, + 0.19299832978460585 + ], + [ + -2.133057063324383, + 0.19331015187571698 + ], + [ + -2.135341609299338, + 0.19347291235573125 + ], + [ + -2.137631908975599, + 0.19348589998275262 + ], + [ + -2.139918156398846, + 0.19334907357288317 + ], + [ + -2.142190552962427, + 0.19306300735079465 + ], + [ + -2.14443938377507, + 0.19262893489190444 + ], + [ + -2.1466550007108753, + 0.19204871119083838 + ], + [ + -2.148827930452761, + 0.19132482054008693 + ], + [ + -2.150948858349333, + 0.19046037218180822 + ], + [ + -2.1530087153193693, + 0.18945904586177734 + ], + [ + -2.1549986690492657, + 0.1883251511398321 + ], + [ + -2.1569102004438157, + 0.18706352966979337 + ], + [ + -2.158735122025523, + 0.18567958573060173 + ], + [ + -2.1604656320534, + 0.1841792603450654 + ], + [ + -2.1620942988418723, + 0.18256895425267305 + ], + [ + -2.1636141703635223, + 0.18085558617666478 + ], + [ + -2.1650187245623744, + 0.1790464790741141 + ], + [ + -2.1663019449510266, + 0.17714938168026986 + ], + [ + -2.167458350567568, + 0.17517241653484494 + ], + [ + -2.1684829669460046, + 0.17312405929460847 + ], + [ + -2.169371429413576, + 0.1710130700049314 + ], + [ + -2.1701199232797834, + 0.16884849732614288 + ], + [ + -2.170725244789211, + 0.16663959606223785 + ], + [ + -2.171184804218425, + 0.16439584359001247 + ], + [ + -2.1714966263095365, + 0.16212683152961377 + ], + [ + -2.1716593867895506, + 0.1598422855546586 + ], + [ + -2.171672374416572, + 0.1575519858783977 + ] + ], + "tolerance_m": 0.02 + }, + { + "xy": [ + -2.1528191775862653, + 0.24677649038461588 + ], + "yaw_rad": 2.687329016966613, + "footprint_xy": [ + [ + -2.2188537190986457, + 0.25398338760067746 + ], + [ + -2.1065306705273694, + 0.19913329407610164 + ], + [ + -2.0867846360738853, + 0.23956959316855492 + ], + [ + -2.1991076846451616, + 0.29441968669313073 + ] + ], + "tolerance_m": 0.001 + }, + { + "xy": [ + -2.0605888300747353, + 0.1855975076240455 + ], + "yaw_rad": -0.03839730132322305, + "footprint_xy": [ + [ + -2.0935645023446368, + 0.18686430700722348 + ], + [ + -2.093441587134089, + 0.18255116131948507 + ], + [ + -2.092758840268199, + 0.17828866234724622 + ], + [ + -2.0915328066748904, + 0.17414959541069674 + ], + [ + -2.089780003079761, + 0.17020675213041905 + ], + [ + -2.0875169838986225, + 0.16653291345878687 + ], + [ + -2.084794450467652, + 0.16318285997271284 + ], + [ + -2.081663140881507, + 0.16021133731285958 + ], + [ + -2.0781737467767356, + 0.1576731359356234 + ], + [ + -2.074376997729265, + 0.15562300488244707 + ], + [ + -2.0703441899322126, + 0.15408303905516663 + ], + [ + -2.0661466333930387, + 0.15307528914985147 + ], + [ + -2.061855629457914, + 0.15262183535414456 + ], + [ + -2.0575424837701757, + 0.15274475056469244 + ], + [ + -2.0532799847979364, + 0.15342749743058176 + ], + [ + -2.049140917861387, + 0.15465353102389076 + ], + [ + -2.0451980745811094, + 0.15640633461902018 + ], + [ + -2.041524235909477, + 0.15866935380015842 + ], + [ + -2.038174182423403, + 0.16139188723112874 + ], + [ + -2.0352026597635495, + 0.16452319681727415 + ], + [ + -2.0326644583863134, + 0.1680125909220454 + ], + [ + -2.0306143273331374, + 0.17180933996951653 + ], + [ + -2.029074361505857, + 0.17584214776656873 + ], + [ + -2.028066611600542, + 0.18003970430574245 + ], + [ + -2.027613157804835, + 0.1843307082408671 + ], + [ + -2.027736073015383, + 0.18864385392860555 + ], + [ + -2.0284188198812725, + 0.19290635290084485 + ], + [ + -2.029644853474581, + 0.19704541983739432 + ], + [ + -2.0313976570697103, + 0.20098826311767157 + ], + [ + -2.0336606762508485, + 0.20466210178930416 + ], + [ + -2.0363832096818193, + 0.2080121552753782 + ], + [ + -2.0395145192679642, + 0.21098367793523146 + ], + [ + -2.043003913372736, + 0.21352187931246763 + ], + [ + -2.046800662420207, + 0.21557201036564352 + ], + [ + -2.0508334702172593, + 0.21711197619292444 + ], + [ + -2.0550310267564322, + 0.21811972609823915 + ], + [ + -2.0593220306915576, + 0.21857317989394603 + ], + [ + -2.0636351763792957, + 0.21845026468339815 + ], + [ + -2.0678976753515355, + 0.21776751781750886 + ], + [ + -2.072036742288084, + 0.21654148422419983 + ], + [ + -2.0759795855683616, + 0.21478868062907042 + ], + [ + -2.079653424239994, + 0.2125256614479326 + ], + [ + -2.083003477726068, + 0.2098031280169623 + ], + [ + -2.0859750003859214, + 0.2066718184308169 + ], + [ + -2.088513201763158, + 0.20318242432604564 + ], + [ + -2.090563332816334, + 0.19938567527857454 + ], + [ + -2.0921032986436146, + 0.1953528674815223 + ], + [ + -2.0931110485489297, + 0.19115531094234858 + ] + ], + "tolerance_m": 0.02 + } + ], + "carry_policy": "precision_body_route_v2", + "carry_exit_candidates": [ + 0.35, + 0.55, + 0.75, + 0.15, + 0.1 + ], + "native_attempt_index": 4, + "retry_of": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/attempts/layout_04/attempt_002", + "retry_reason": "Fresh uninterrupted retry with qualified body2-compensated raised-head return and mandatory ReleaseSweep after preserved physical rejection.", + "fresh_seed_evidence": { + "item_index": 1, + "proposal": "/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/diagnostics/LAYOUT04_ITEM01_LIVE_PLACE_PROPOSAL.json", + "proposal_sha256": "f382368b9052f55ce46ec498836ec057f0563d5f946dedce05d1e190d85b74f5", + "seed_controls_sha256": "c8d0258685f152f51f30efe68e43c9e2aad9616f6397a97f0681bae6d0e44661", + "seed_is_not_cached_motion": true + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/navigation_primitives.item_01.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/navigation_primitives.item_01.json new file mode 100644 index 0000000000000000000000000000000000000000..9d62aed4775a62088a4e30be9f11a262216370f4 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/navigation_primitives.item_01.json @@ -0,0 +1,36 @@ +[ + { + "kind": "drive", + "goal": [ + -2.418575160235157, + 0.9943463309962529, + 1.490302787929268 + ], + "direction": -1 + }, + { + "kind": "turn", + "goal": [ + -2.418575160235157, + 0.9943463309962529, + -0.18080025679246026 + ] + }, + { + "kind": "drive", + "goal": [ + -1.9873859634616522, + 0.915526495842742, + -0.18080025679246026 + ], + "direction": 1 + }, + { + "kind": "turn", + "goal": [ + -1.9873859634616522, + 0.915526495842742, + -1.6435034245460693 + ] + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/return_primitives.item_00.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/return_primitives.item_00.json new file mode 100644 index 0000000000000000000000000000000000000000..df17ff195faf74f48b92ddbb771465fb46d3376d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/return_primitives.item_00.json @@ -0,0 +1,60 @@ +[ + { + "kind": "drive", + "goal": [ + -2.1703959913462163, + 1.3119974710297355, + -1.5764868325000743 + ], + "direction": -1, + "return_stage": "table_retreat" + }, + { + "kind": "turn", + "goal": [ + -2.1703959913462163, + 1.3119974710297355, + -2.1729147326978686 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.4228067154744606, + 0.9447217061113803, + -2.1729147326978686 + ], + "direction": 1, + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -2.4228067154744606, + 0.9447217061113803, + -3.4829276079968423 + ], + "return_stage": "room_navigation" + }, + { + "kind": "turn", + "goal": [ + -2.4228067154744606, + 0.9447217061113803, + -4.792940483295816 + ], + "return_stage": "room_navigation" + }, + { + "kind": "drive", + "goal": [ + -2.3906209471421, + 1.3434246987222405, + 1.4902448238837704 + ], + "direction": 1, + "return_stage": "shelf_approach", + "bridge_before": true + } +] diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/scene_physical.usda b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/scene_physical.usda new file mode 100644 index 0000000000000000000000000000000000000000..af1ac74e201d673eef69770cd1f4c9d95c3eab06 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/sim_info/episode_000000/scene_physical.usda @@ -0,0 +1,8 @@ +#usda 1.0 +( + subLayers = [ + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/collision_profile.usda@, + @/mnt/agent-bench-data/lingjun/ziche/work/shelf_to_table_multi10_stable_20261006/cases/layout_04/scene.usda@ + ] +) + diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b15249d718097cccc5e2a04980b0dabf787fe4ab --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items."], "length": 9301} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes_stats.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c92464512a3c2167828512af16589852d029c6c --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"min": [-1.307747483253479, -1.3009145259857178, -2.1163041591644287, -1.9761329889297485, 0.03966983035206795, -0.30609413981437683, -0.18084949254989624, -0.3097914457321167, -1.206857681274414, -1.4115546941757202, 0.21245376765727997, -0.8916749954223633, -1.7399929761886597, -1.61354398727417, 0.0, 0.0, -4.407854248711374e-06, -0.34033921360969543, 0.3039252758026123, 0.2598070800304413, -0.18000000715255737, -0.25], "max": [2.0917258262634277, 1.2677192687988281, 1.1701620817184448, -0.10738679766654968, 0.9738333225250244, 1.7739717960357666, 0.8327419757843018, 1.4112446308135986, -0.1482972353696823, 0.3460862338542938, 2.173370361328125, 0.21440163254737854, 0.3104022741317749, 0.26280179619789124, 0.550000011920929, 0.5236055850982666, 3.7360550777520984e-06, 0.43636125326156616, 0.7853981852531433, 0.7853981852531433, 0.18000000715255737, 0.0], "mean": [-0.3813256641869952, 0.671255343760088, -0.007534455238580657, -1.2344985018132733, 0.7259641333356293, 1.3789413581498289, 0.2380417444769475, 0.5930259602789129, -0.6720963733280978, -0.28489829133697264, 1.307688159071275, -0.5929540355355086, -1.4362687670663847, -0.3145157740263074, 0.33034242439500444, 0.22516132849471557, 7.006955134983524e-08, 0.21561072337477058, 0.627767485548714, 0.6864081243554336, 0.0043930799554334375, -0.03355905508692419], "std": [0.7796486603540417, 0.4101256940640848, 0.5318222261530069, 0.28006295036603407, 0.16240910948565612, 0.3687707538009962, 0.40032330948315703, 0.6013571286229739, 0.1695445778114484, 0.5216390370142716, 0.21648077512849215, 0.3265568288934834, 0.353811046705844, 0.53598636247893, 0.23432229360739934, 0.2529263149957698, 1.3431644237483728e-06, 0.33668257271164936, 0.20989697306231783, 0.20401084973815337, 0.04037703835304958, 0.08112638355371138], "count": [9301]}, "observation.state": {"min": [-1.3077422380447388, -1.3009239435195923, -2.1162869930267334, -1.976332664489746, 0.039680592715740204, -0.3069476783275604, -0.18085166811943054, -0.30979546904563904, -1.2068527936935425, -1.4115498065948486, 0.21224533021450043, -0.8910965919494629, -1.7399829626083374, -1.6135306358337402, 0.0, -3.015451568444405e-07, -1.5695239198976196e-05, -0.3403441309928894, 0.30629196763038635, 0.26141104102134705, -2.4225735664367676, 0.8620043992996216, -14.096744537353516], "max": [2.0917105674743652, 1.267717957496643, 1.1702591180801392, -0.10704787075519562, 0.9738582372665405, 1.7739616632461548, 0.8327411413192749, 1.411201000213623, -0.14830583333969116, 0.34613919258117676, 2.1736085414886475, 0.21440207958221436, 0.3114369511604309, 0.2627982795238495, 0.550000011920929, 0.5236184597015381, 1.6940044588409364e-05, 0.43640899658203125, 0.7853657603263855, 0.7853609323501587, -1.9559777975082397, 1.3659917116165161, 1.4960423707962036], "mean": [-0.3812542257264741, 0.6712617420474773, -0.00742473503898504, -1.2343630840151352, 0.7259120419521337, 1.3788363190889303, 0.23806131812192446, 0.5929952157806433, -0.6720801016477831, -0.2848586719523988, 1.307716076306253, -0.5929041619938443, -1.4361480334326824, -0.3145195494873778, 0.33035776394769256, 0.225143007533437, 6.316524405632e-07, 0.21561642198889752, 0.628451764961684, 0.6866771900811486, -2.2536739085953847, 1.1095752232485645, -5.951626978395051], "std": [0.7796709117840748, 0.41013107468798354, 0.5317950256813603, 0.28012448509155574, 0.162381261954461, 0.36882099463613766, 0.40035662885526313, 0.6013464892056096, 0.16953343006174681, 0.5216116247001843, 0.21639407860143775, 0.3265422307040807, 0.3539131433564706, 0.5359789336800249, 0.23431238993174486, 0.2529217836856849, 4.415704657038577e-06, 0.3366830534454414, 0.20883598757483704, 0.2033434335391519, 0.15786313768754479, 0.19769211473063586, 4.812706060703898], "count": [9301]}, "observation.images.top_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6041126286157956]], [[0.5336494078819615]], [[0.44853976897689585]]], "std": [[[0.2552308746640057]], [[0.2521623141888194]], [[0.24275074311486455]]], "count": [9301]}, "observation.images.hand_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48738331324808276]], [[0.4228331312598517]], [[0.351738601163113]]], "std": [[[0.2754766125907411]], [[0.2602635532640168]], [[0.24398349287728882]]], "count": [9301]}, "observation.images.hand_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49889744801339125]], [[0.42624466886200274]], [[0.3519606988445792]]], "std": [[[0.2565204249262519]], [[0.24130111292873171]], [[0.21694774877245449]]], "count": [9301]}}} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/info.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..73f0442b47359605ead7c217aac08f4ecb93137d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/info.json @@ -0,0 +1,209 @@ +{ + "codebase_version": "v2.1", + "robot_type": "G1_omnipicker", + "total_episodes": 1, + "total_frames": 9301, + "total_tasks": 1, + "total_videos": 3, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:1" + }, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 22 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_x_world_m", + "base_y_world_m", + "base_yaw_world_unwrapped_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "simulator_time_s": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "source_control_tick": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "phase_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "item_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.top_head": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_left": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.hand_right": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + } + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/stats.json b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4de920a680c1dedc81730022b6ef464cc8f77568 --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/stats.json @@ -0,0 +1,427 @@ +{ + "action": { + "min": [ + -1.307747483253479, + -1.3009145259857178, + -2.1163041591644287, + -1.9761329889297485, + 0.03966983035206795, + -0.30609413981437683, + -0.18084949254989624, + -0.3097914457321167, + -1.206857681274414, + -1.4115546941757202, + 0.21245376765727997, + -0.8916749954223633, + -1.7399929761886597, + -1.61354398727417, + 0.0, + 0.0, + -4.407854248711374e-06, + -0.34033921360969543, + 0.3039252758026123, + 0.2598070800304413, + -0.18000000715255737, + -0.25 + ], + "max": [ + 2.0917258262634277, + 1.2677192687988281, + 1.1701620817184448, + -0.10738679766654968, + 0.9738333225250244, + 1.7739717960357666, + 0.8327419757843018, + 1.4112446308135986, + -0.1482972353696823, + 0.3460862338542938, + 2.173370361328125, + 0.21440163254737854, + 0.3104022741317749, + 0.26280179619789124, + 0.550000011920929, + 0.5236055850982666, + 3.7360550777520984e-06, + 0.43636125326156616, + 0.7853981852531433, + 0.7853981852531433, + 0.18000000715255737, + 0.0 + ], + "mean": [ + -0.3813256641869952, + 0.671255343760088, + -0.007534455238580657, + -1.2344985018132733, + 0.7259641333356293, + 1.3789413581498289, + 0.2380417444769475, + 0.5930259602789129, + -0.6720963733280978, + -0.28489829133697264, + 1.307688159071275, + -0.5929540355355086, + -1.4362687670663847, + -0.3145157740263074, + 0.33034242439500444, + 0.22516132849471557, + 7.006955134983524e-08, + 0.21561072337477058, + 0.627767485548714, + 0.6864081243554336, + 0.0043930799554334375, + -0.03355905508692419 + ], + "std": [ + 0.7796486603540417, + 0.4101256940640848, + 0.5318222261530069, + 0.28006295036603407, + 0.16240910948565612, + 0.3687707538009962, + 0.40032330948315703, + 0.6013571286229739, + 0.1695445778114484, + 0.5216390370142716, + 0.21648077512849215, + 0.3265568288934834, + 0.353811046705844, + 0.53598636247893, + 0.23432229360739934, + 0.2529263149957698, + 1.3431644237483728e-06, + 0.33668257271164936, + 0.20989697306231783, + 0.20401084973815337, + 0.04037703835304958, + 0.08112638355371138 + ], + "count": [ + 9301 + ] + }, + "observation.state": { + "min": [ + -1.3077422380447388, + -1.3009239435195923, + -2.1162869930267334, + -1.976332664489746, + 0.039680592715740204, + -0.3069476783275604, + -0.18085166811943054, + -0.30979546904563904, + -1.2068527936935425, + -1.4115498065948486, + 0.21224533021450043, + -0.8910965919494629, + -1.7399829626083374, + -1.6135306358337402, + 0.0, + -3.015451568444405e-07, + -1.5695239198976196e-05, + -0.3403441309928894, + 0.30629196763038635, + 0.26141104102134705, + -2.4225735664367676, + 0.8620043992996216, + -14.096744537353516 + ], + "max": [ + 2.0917105674743652, + 1.267717957496643, + 1.1702591180801392, + -0.10704787075519562, + 0.9738582372665405, + 1.7739616632461548, + 0.8327411413192749, + 1.411201000213623, + -0.14830583333969116, + 0.34613919258117676, + 2.1736085414886475, + 0.21440207958221436, + 0.3114369511604309, + 0.2627982795238495, + 0.550000011920929, + 0.5236184597015381, + 1.6940044588409364e-05, + 0.43640899658203125, + 0.7853657603263855, + 0.7853609323501587, + -1.9559777975082397, + 1.3659917116165161, + 1.4960423707962036 + ], + "mean": [ + -0.3812542257264741, + 0.6712617420474773, + -0.00742473503898504, + -1.2343630840151352, + 0.7259120419521337, + 1.3788363190889303, + 0.23806131812192446, + 0.5929952157806433, + -0.6720801016477831, + -0.2848586719523988, + 1.307716076306253, + -0.5929041619938443, + -1.4361480334326824, + -0.3145195494873778, + 0.33035776394769256, + 0.225143007533437, + 6.316524405632e-07, + 0.21561642198889752, + 0.628451764961684, + 0.6866771900811486, + -2.2536739085953847, + 1.1095752232485645, + -5.951626978395051 + ], + "std": [ + 0.7796709117840748, + 0.41013107468798354, + 0.5317950256813603, + 0.28012448509155574, + 0.162381261954461, + 0.36882099463613766, + 0.40035662885526313, + 0.6013464892056096, + 0.16953343006174681, + 0.5216116247001843, + 0.21639407860143775, + 0.3265422307040807, + 0.3539131433564706, + 0.5359789336800249, + 0.23431238993174486, + 0.2529217836856849, + 4.415704657038577e-06, + 0.3366830534454414, + 0.20883598757483704, + 0.2033434335391519, + 0.15786313768754479, + 0.19769211473063586, + 4.812706060703898 + ], + "count": [ + 9301 + ] + }, + "observation.images.top_head": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.6041126286157956 + ] + ], + [ + [ + 0.5336494078819615 + ] + ], + [ + [ + 0.44853976897689585 + ] + ] + ], + "std": [ + [ + [ + 0.2552308746640057 + ] + ], + [ + [ + 0.2521623141888194 + ] + ], + [ + [ + 0.24275074311486455 + ] + ] + ], + "count": [ + 9301 + ] + }, + "observation.images.hand_left": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.48738331324808276 + ] + ], + [ + [ + 0.4228331312598517 + ] + ], + [ + [ + 0.351738601163113 + ] + ] + ], + "std": [ + [ + [ + 0.2754766125907411 + ] + ], + [ + [ + 0.2602635532640168 + ] + ], + [ + [ + 0.24398349287728882 + ] + ] + ], + "count": [ + 9301 + ] + }, + "observation.images.hand_right": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.49889744801339125 + ] + ], + [ + [ + 0.42624466886200274 + ] + ], + [ + [ + 0.3519606988445792 + ] + ] + ], + "std": [ + [ + [ + 0.2565204249262519 + ] + ], + [ + [ + 0.24130111292873171 + ] + ], + [ + [ + 0.21694774877245449 + ] + ] + ], + "count": [ + 9301 + ] + } +} diff --git a/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/tasks.jsonl b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68f9c9178525cea965b91ba4e5e1e024ef99ff8d --- /dev/null +++ b/auxiliary/retained5080/auxiliary/previous5066/auxiliary/previous5048/auxiliary/previous5026/auxiliary/additional_shelf10_20261025/auxiliary/native_source_files/episode_000003/source_meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Starting with an empty tray, pick up good2grow, honeymaid, sprite_c1 from the shelves one at a time, carry and place each on the coffee-table tray, returning to the next shelf between items."}